i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

OKVIS: force ceres 1.9.0 version

Browse Source
This commit is contained in:
matlabbe
2019-03-20 12:58:06 -04:00
parent e8e3649f24
commit b2fe138dbf
1 changed files with 7 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
CMakeLists.txt
View File

@@ -470,8 +470,8 @@ IF(WITH_OKVIS)
MESSAGE(STATUS "Found brisk: ${BRISK_INCLUDE_DIRS}")
find_package(opengv REQUIRED)
MESSAGE(STATUS "Found opengv: ${OPENGV_INCLUDE_DIRS}")
find_package(Ceres REQUIRED CONFIG PATHS ${OKVIS_CERES_CONFIG} NO_DEFAULT_PATH)
MESSAGE(STATUS "Found ceres: ${CERES_INCLUDE_DIRS}")
find_package(Ceres 1.9.0 REQUIRED EXACT) # OKVIS requires this specific version
MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}")
ENDIF(okvis_FOUND)
ENDIF(WITH_OKVIS)
@@ -482,12 +482,15 @@ IF(WITH_MSCKF_VIO)
ENDIF(msckf_vio_FOUND)
ENDIF(WITH_MSCKF_VIO)
IF(WITH_VINS AND NOT okvis_FOUND)
IF(WITH_VINS)
FIND_PACKAGE(vins QUIET)
IF(vins_FOUND)
MESSAGE(STATUS "Found vins: ${vins_INCLUDE_DIRS}")
IF(okvis_FOUND)
MESSAGE(WARNING "VINS and OKVIS will be both linked to project, make sure VINS has been built with against same Ceres version than OKVIS to avoid some crashes.")
ENDIF(okvis_FOUND)
ENDIF(vins_FOUND)
ENDIF(WITH_VINS AND NOT okvis_FOUND)
ENDIF(WITH_VINS)
IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
@@ -1151,8 +1154,6 @@ IF(vins_FOUND)
MESSAGE(STATUS " With VINS-Fusion = YES (License: GPLv3)")
ELSEIF(NOT WITH_VINS)
MESSAGE(STATUS " With VINS-Fusion = NO (WITH_VINS=OFF)")
ELSEIF(okvis_FOUND)
MESSAGE(STATUS " With VINS-Fusion = NO (WITH_OKVIS should be OFF to avoid conflicts with ceres library built by okvis)")
ELSE()
MESSAGE(STATUS " With VINS-Fusion = NO (VINS-Fusion not found)")
ENDIF()