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Supporting g2o from ORB_SLAM2

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matlabbe
2017-09-17 13:28:25 -04:00
parent 16ffcc7684
commit b2fb7d5d5b
4 changed files with 153 additions and 23 deletions
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cmake_modules/FindORB_SLAM2.cmake
+7 -5
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@@ -9,13 +9,15 @@
find_path(ORB_SLAM2_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM2_ROOT_DIR}/include)
find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM2_ROOT_DIR}/lib)
find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o/lib)
find_path(g2o_INCLUDE_DIR NAMES g2o/core/sparse_optimizer.h PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o NO_DEFAULT_PATH)
find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o/lib NO_DEFAULT_PATH)
find_library(DBoW2_LIBRARY NAMES DBoW2 PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/DBoW2/lib NO_DEFAULT_PATH)
IF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND g2o_LIBRARY)
IF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
SET(ORB_SLAM2_FOUND TRUE)
SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIR} $ENV{ORB_SLAM2_ROOT_DIR})
SET(ORB_SLAM2_LIBRARIES ${g2o_LIBRARY} ${ORB_SLAM2_LIBRARY})
ENDIF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND g2o_LIBRARY)
SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIR} ${g2o_INCLUDE_DIR} $ENV{ORB_SLAM2_ROOT_DIR})
SET(ORB_SLAM2_LIBRARIES ${g2o_LIBRARY} ${ORB_SLAM2_LIBRARY} ${DBoW2_LIBRARY})
ENDIF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
IF (ORB_SLAM2_FOUND)
# show which ORB_SLAM2 was found only if not quiet