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OpenVINS config file support (#1719)

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matlabbe
2026-06-13 16:20:37 -07:00
committed by GitHub
parent 1dddb350b9
commit 9f464db7c9
8 changed files with 293 additions and 137 deletions
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21
CMakeLists.txt
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@@ -842,22 +842,7 @@ IF(WITH_VINS_FUSION)
ENDIF(WITH_VINS_FUSION)
IF(WITH_OPENVINS)
FIND_PACKAGE(ov_msckf)
# On ROS2, the indirect includes and libraries
# are not forwarded by ov_msckf target, append them manually
FIND_PACKAGE(ov_core)
FIND_PACKAGE(ov_init)
IF(ov_msckf_FOUND AND ov_core_FOUND AND ov_init_FOUND)
SET(ov_msckf_INCLUDE_DIRS
${ov_msckf_INCLUDE_DIRS}
${ov_core_INCLUDE_DIRS}
${ov_init_INCLUDE_DIRS})
SET(ov_msckf_LIBRARIES
${ov_msckf_LIBRARIES}
${ov_core_LIBRARIES}
${ov_init_LIBRARIES})
MESSAGE(STATUS "Found OpenVINS: ${ov_msckf_INCLUDE_DIRS}")
ENDIF()
FIND_PACKAGE(OpenVINS)
ENDIF(WITH_OPENVINS)
IF(WITH_FASTCV)
@@ -1223,7 +1208,7 @@ ENDIF()
IF(NOT vins_FOUND)
SET(VINSFUSION "//")
ENDIF()
IF(NOT ov_msckf_FOUND)
IF(NOT OpenVINS_FOUND)
SET(OPENVINS "//")
ENDIF()
IF(NOT CUVSLAM_FOUND)
@@ -1981,7 +1966,7 @@ ELSE()
MESSAGE(STATUS " With VINS-Fusion = NO (VINS-Fusion not found)")
ENDIF()
IF(ov_msckf_FOUND)
IF(OpenVINS_FOUND)
MESSAGE(STATUS " With OpenVINS = YES (License: GPLv3)")
ELSEIF(NOT WITH_OPENVINS)
MESSAGE(STATUS " With OpenVINS = NO (WITH_OPENVINS=OFF)")