mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-08 11:07:46 +08:00
Merge branch 'master' of github.com:introlab/rtabmap into gtest
This commit is contained in:
matlabbe
+136
-73
@@ -19,8 +19,8 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
|
||||
# VERSION
|
||||
#######################
|
||||
SET(RTABMAP_MAJOR_VERSION 0)
|
||||
SET(RTABMAP_MINOR_VERSION 22)
|
||||
SET(RTABMAP_PATCH_VERSION 0)
|
||||
SET(RTABMAP_MINOR_VERSION 23)
|
||||
SET(RTABMAP_PATCH_VERSION 3)
|
||||
SET(RTABMAP_VERSION
|
||||
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
|
||||
|
||||
@@ -83,14 +83,6 @@ IF(MINGW)
|
||||
SET(CMAKE_SHARED_LINKER_FLAGS "-Wl,--enable-auto-import")
|
||||
ENDIF(MINGW)
|
||||
|
||||
# GCC 4 required
|
||||
IF(UNIX OR MINGW)
|
||||
EXEC_PROGRAM( gcc ARGS "-dumpversion" OUTPUT_VARIABLE GCC_VERSION )
|
||||
IF(GCC_VERSION VERSION_LESS "4.0.0")
|
||||
MESSAGE(FATAL_ERROR "GCC ${GCC_VERSION} found, but version 4.x.x minimum is required")
|
||||
ENDIF(GCC_VERSION VERSION_LESS "4.0.0")
|
||||
ENDIF(UNIX OR MINGW)
|
||||
|
||||
#The CDT Error Parser cannot handle error messages that span
|
||||
#more than one line, which is the default gcc behavior.
|
||||
#In order to force gcc to generate single line error messages with no line wrapping
|
||||
@@ -220,10 +212,11 @@ option(WITH_ZED "Include ZED sdk support" ON)
|
||||
option(WITH_ZEDOC "Include ZED Open Capture support" ON)
|
||||
option(WITH_REALSENSE "Include RealSense support" ON)
|
||||
option(WITH_REALSENSE_SLAM "Include RealSenseSlam support" ON)
|
||||
option(WITH_REALSENSE2 "Include RealSense support" ON)
|
||||
option(WITH_REALSENSE2 "Include RealSense2 support" ON)
|
||||
option(WITH_MYNTEYE "Include mynteye-s support" ON)
|
||||
option(WITH_DEPTHAI "Include depthai-core support" OFF)
|
||||
option(WITH_XVSDK "Include XVisio SDK support" OFF)
|
||||
option(WITH_ORBBEC_SDK "Include Orbbec SDK v2 support" OFF)
|
||||
option(WITH_OCTOMAP "Include OctoMap support" ON)
|
||||
option(WITH_GRIDMAP "Include GridMap support" OFF)
|
||||
option(WITH_CPUTSDF "Include CPUTSDF support" OFF)
|
||||
@@ -235,8 +228,9 @@ option(WITH_DVO "Include DVO support" OFF)
|
||||
option(WITH_ORB_SLAM "Include ORB_SLAM2 or ORB_SLAM3 support" OFF)
|
||||
option(WITH_OKVIS "Include OKVIS support" OFF)
|
||||
option(WITH_MSCKF_VIO "Include MSCKF_VIO support" OFF)
|
||||
option(WITH_VINS "Include VINS-Fusion support" OFF)
|
||||
option(WITH_VINS_FUSION "Include VINS-Fusion support" OFF)
|
||||
option(WITH_OPENVINS "Include OpenVINS support" OFF)
|
||||
option(WITH_CUVSLAM "Include cuVSLAM support" OFF)
|
||||
option(WITH_MADGWICK "Include Madgwick IMU filtering support" ON)
|
||||
option(WITH_FASTCV "Include FastCV support" ON)
|
||||
option(WITH_OPENMP "Include OpenMP support" ON)
|
||||
@@ -413,7 +407,7 @@ IF(NOT VTK_FOUND)
|
||||
ENDIF(NOT VTK_FOUND)
|
||||
|
||||
IF(WITH_TORCH)
|
||||
FIND_PACKAGE(Torch QUIET)
|
||||
FIND_PACKAGE(Torch)
|
||||
IF(TORCH_FOUND)
|
||||
MESSAGE(STATUS "Found Torch: ${TORCH_INCLUDE_DIRS}")
|
||||
ENDIF(TORCH_FOUND)
|
||||
@@ -435,14 +429,14 @@ IF(WITH_PDAL)
|
||||
ENDIF(WITH_PDAL)
|
||||
|
||||
IF(WITH_LIBLAS)
|
||||
FIND_PACKAGE(libLAS QUIET)
|
||||
FIND_PACKAGE(libLAS)
|
||||
IF(libLAS_FOUND)
|
||||
MESSAGE(STATUS "Found libLAS ${libLAS_VERSION}: ${libLAS_INCLUDE_DIRS}")
|
||||
ENDIF(libLAS_FOUND)
|
||||
ENDIF(WITH_LIBLAS)
|
||||
|
||||
IF(WITH_CUDASIFT)
|
||||
FIND_PACKAGE(CudaSift 3 QUIET)
|
||||
FIND_PACKAGE(CudaSift 3)
|
||||
IF(CudaSift_FOUND)
|
||||
MESSAGE(STATUS "Found CudaSift")
|
||||
ENDIF(CudaSift_FOUND)
|
||||
@@ -513,35 +507,34 @@ ENDIF(WITH_DC1394)
|
||||
IF(WITH_G2O)
|
||||
FIND_PACKAGE(g2o NO_MODULE)
|
||||
IF(g2o_FOUND)
|
||||
MESSAGE(STATUS "Found g2o (targets)")
|
||||
SET(G2O_FOUND ${g2o_FOUND})
|
||||
get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES)
|
||||
MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}")
|
||||
FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
|
||||
MESSAGE(STATUS "Found g2o (targets)")
|
||||
SET(G2O_FOUND ${g2o_FOUND})
|
||||
get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES)
|
||||
MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}")
|
||||
FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
|
||||
PATHS ${G2O_INCLUDES}
|
||||
NO_DEFAULT_PATH)
|
||||
FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
|
||||
STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
|
||||
IF(${matchres} EQUAL -1)
|
||||
FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
|
||||
STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
|
||||
IF(${matchres} EQUAL -1)
|
||||
MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
|
||||
SET(G2O_CPP11 2)
|
||||
ELSE()
|
||||
ELSE()
|
||||
MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
|
||||
SET(G2O_CPP11 1)
|
||||
ENDIF()
|
||||
ENDIF()
|
||||
FIND_FILE(G2O_SBA_UTILS_FILE g2o/types/sba/sba_utils.h
|
||||
PATHS ${G2O_INCLUDES}
|
||||
NO_DEFAULT_PATH)
|
||||
IF(G2O_SBA_UTILS_FILE)
|
||||
SET(G2O_WITH_SBA_UTILS 1)
|
||||
ELSE()
|
||||
SET(G2O_WITH_SBA_UTILS 0)
|
||||
ENDIF()
|
||||
ELSE()
|
||||
FIND_PACKAGE(G2O QUIET)
|
||||
IF(G2O_FOUND)
|
||||
MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}")
|
||||
FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
|
||||
PATHS ${G2O_INCLUDES}
|
||||
NO_DEFAULT_PATH)
|
||||
FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
|
||||
STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
|
||||
IF(NOT ${matchres} EQUAL -1)
|
||||
MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
|
||||
SET(G2O_CPP11 1)
|
||||
ENDIF()
|
||||
ENDIF(G2O_FOUND)
|
||||
ENDIF()
|
||||
ENDIF(WITH_G2O)
|
||||
@@ -549,6 +542,16 @@ ENDIF(WITH_G2O)
|
||||
IF(WITH_GTSAM)
|
||||
# Force config mode to ignore PCL's findGTSAM.cmake file
|
||||
FIND_PACKAGE(GTSAM CONFIG QUIET)
|
||||
IF(GTSAM_FOUND)
|
||||
# For issue https://github.com/introlab/rtabmap/pull/1626
|
||||
FIND_FILE(GTSAM_NOISE_MODEL_FACTOR_N_FILE gtsam/nonlinear/NoiseModelFactorN.h
|
||||
PATHS ${GTSAM_INCLUDE_DIR}
|
||||
NO_DEFAULT_PATH)
|
||||
IF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
|
||||
MESSAGE(STATUS "GTSAM with NoiseModelFactorN.h")
|
||||
ADD_DEFINITIONS("-DGTSAM_WITH_NOISE_MODEL_FACTOR_N")
|
||||
ENDIF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
|
||||
ENDIF(GTSAM_FOUND)
|
||||
ENDIF(WITH_GTSAM)
|
||||
|
||||
IF(WITH_MRPT)
|
||||
@@ -567,7 +570,7 @@ IF(WITH_FLYCAPTURE2)
|
||||
ENDIF(WITH_FLYCAPTURE2)
|
||||
|
||||
IF(WITH_CVSBA)
|
||||
FIND_PACKAGE(cvsba QUIET)
|
||||
FIND_PACKAGE(cvsba)
|
||||
IF(cvsba_FOUND)
|
||||
MESSAGE(STATUS "Found cvsba: ${cvsba_INCLUDE_DIRS}")
|
||||
ENDIF(cvsba_FOUND)
|
||||
@@ -593,10 +596,14 @@ IF(WITH_POINTMATCHER)
|
||||
ENDIF(WITH_POINTMATCHER)
|
||||
|
||||
IF(libpointmatcher_FOUND OR GTSAM_FOUND)
|
||||
find_package(Boost COMPONENTS thread filesystem system program_options date_time REQUIRED)
|
||||
IF(Boost_MINOR_VERSION GREATER 47)
|
||||
find_package(Boost COMPONENTS thread filesystem program_options date_time REQUIRED)
|
||||
IF(Boost_MINOR_VERSION GREATER 80)
|
||||
find_package(Boost COMPONENTS thread filesystem program_options date_time chrono timer serialization REQUIRED)
|
||||
ELSEIF(Boost_MINOR_VERSION GREATER 47)
|
||||
find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono timer serialization REQUIRED)
|
||||
ENDIF(Boost_MINOR_VERSION GREATER 47)
|
||||
ELSE()
|
||||
find_package(Boost COMPONENTS thread filesystem system program_options date_time REQUIRED)
|
||||
ENDIF()
|
||||
IF(WIN32)
|
||||
MESSAGE(STATUS "Boost_LIBRARY_DIRS=${Boost_LIBRARY_DIRS}")
|
||||
link_directories(${Boost_LIBRARY_DIRS})
|
||||
@@ -604,7 +611,7 @@ IF(libpointmatcher_FOUND OR GTSAM_FOUND)
|
||||
ENDIF(libpointmatcher_FOUND OR GTSAM_FOUND)
|
||||
|
||||
IF(WITH_CCCORELIB)
|
||||
find_package(CCCoreLib QUIET)
|
||||
find_package(CCCoreLib)
|
||||
IF(CCCoreLib_FOUND)
|
||||
MESSAGE(STATUS "Found CCCoreLib: ${CCCoreLib_INCLUDE_DIRS}")
|
||||
ENDIF(CCCoreLib_FOUND)
|
||||
@@ -616,7 +623,7 @@ IF(WITH_OPEN3D)
|
||||
ELSE()
|
||||
# Build Open3D like this to avoid linker errors in rtabmap:
|
||||
# cmake -DBUILD_SHARED_LIBS=ON -DGLIBCXX_USE_CXX11_ABI=ON -DCMAKE_BUILD_TYPE=Release ..
|
||||
find_package(Open3D QUIET)
|
||||
find_package(Open3D)
|
||||
IF(Open3D_FOUND)
|
||||
MESSAGE(STATUS "Found Open3D: ${Open3DINCLUDE_DIRS}")
|
||||
ENDIF(Open3D_FOUND)
|
||||
@@ -624,17 +631,17 @@ IF(WITH_OPEN3D)
|
||||
ENDIF(WITH_OPEN3D)
|
||||
|
||||
IF(WITH_LOAM)
|
||||
find_package(loam_velodyne QUIET)
|
||||
find_package(loam_velodyne)
|
||||
IF(loam_velodyne_FOUND)
|
||||
MESSAGE(STATUS "Found loam_velodyne: ${loam_velodyne_INCLUDE_DIRS}")
|
||||
ENDIF(loam_velodyne_FOUND)
|
||||
ENDIF(WITH_LOAM)
|
||||
|
||||
IF(WITH_FLOAM)
|
||||
find_package(floam QUIET)
|
||||
find_package(floam)
|
||||
IF(floam_FOUND)
|
||||
MESSAGE(STATUS "Found floam: ${floam_INCLUDE_DIRS}")
|
||||
FIND_PACKAGE(Ceres QUIET REQUIRED)
|
||||
FIND_PACKAGE(Ceres REQUIRED)
|
||||
ENDIF(floam_FOUND)
|
||||
ENDIF(WITH_FLOAM)
|
||||
|
||||
@@ -701,19 +708,26 @@ IF(WITH_MYNTEYE)
|
||||
ENDIF(WITH_MYNTEYE)
|
||||
|
||||
IF(WITH_DEPTHAI)
|
||||
FIND_PACKAGE(depthai 2.24 QUIET)
|
||||
FIND_PACKAGE(depthai 2.24)
|
||||
IF(depthai_FOUND)
|
||||
MESSAGE(STATUS "Found depthai-core (targets)")
|
||||
ENDIF(depthai_FOUND)
|
||||
ENDIF(WITH_DEPTHAI)
|
||||
|
||||
IF(WITH_XVSDK)
|
||||
FIND_PACKAGE(xvsdk QUIET)
|
||||
FIND_PACKAGE(xvsdk)
|
||||
IF(xvsdk_FOUND)
|
||||
MESSAGE(STATUS "Found xvsdk (targets)")
|
||||
ENDIF(xvsdk_FOUND)
|
||||
ENDIF(WITH_XVSDK)
|
||||
|
||||
IF(WITH_ORBBEC_SDK)
|
||||
FIND_PACKAGE(OrbbecSDK 2)
|
||||
IF(OrbbecSDK_FOUND)
|
||||
MESSAGE(STATUS "Found OrbbecSDK v2 (targets)")
|
||||
ENDIF(OrbbecSDK_FOUND)
|
||||
ENDIF(WITH_ORBBEC_SDK)
|
||||
|
||||
IF(WITH_OCTOMAP)
|
||||
FIND_PACKAGE(octomap QUIET)
|
||||
IF(octomap_FOUND)
|
||||
@@ -725,35 +739,35 @@ IF(WITH_OCTOMAP)
|
||||
ENDIF(WITH_OCTOMAP)
|
||||
|
||||
IF(WITH_GRIDMAP)
|
||||
FIND_PACKAGE(grid_map_core QUIET)
|
||||
FIND_PACKAGE(grid_map_core)
|
||||
IF(grid_map_core_FOUND)
|
||||
MESSAGE(STATUS "Found grid_map_core ${grid_map_core_VERSION}: ${grid_map_core_INCLUDE_DIRS}")
|
||||
ENDIF(grid_map_core_FOUND)
|
||||
ENDIF(WITH_GRIDMAP)
|
||||
|
||||
IF(WITH_CPUTSDF)
|
||||
FIND_PACKAGE(CPUTSDF QUIET)
|
||||
FIND_PACKAGE(CPUTSDF)
|
||||
IF(CPUTSDF_FOUND)
|
||||
MESSAGE(STATUS "Found CPUTSDF: ${CPUTSDF_INCLUDE_DIRS}")
|
||||
ENDIF(CPUTSDF_FOUND)
|
||||
ENDIF(WITH_CPUTSDF)
|
||||
|
||||
IF(WITH_OPENCHISEL)
|
||||
find_package(open_chisel QUIET)
|
||||
find_package(open_chisel)
|
||||
if(open_chisel_FOUND)
|
||||
MESSAGE(STATUS "Found open_chisel: ${open_chisel_INCLUDE_DIRS}")
|
||||
endif(open_chisel_FOUND)
|
||||
ENDIF(WITH_OPENCHISEL)
|
||||
|
||||
IF(WITH_ALICE_VISION)
|
||||
find_package(AliceVision CONFIG QUIET)
|
||||
find_package(AliceVision CONFIG)
|
||||
IF(AliceVision_FOUND)
|
||||
IF(${AliceVision_VERSION} VERSION_LESS_EQUAL "2.2")
|
||||
find_package(Boost COMPONENTS log log_setup container REQUIRED)
|
||||
ENDIF(${AliceVision_VERSION} VERSION_LESS_EQUAL "2.2")
|
||||
SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/local/lib/cmake/modules")
|
||||
find_package(Geogram REQUIRED QUIET)
|
||||
find_package(assimp QUIET)
|
||||
find_package(Geogram REQUIRED)
|
||||
find_package(assimp)
|
||||
add_definitions("-DRTABMAP_ALICE_VISION_MAJOR=${AliceVision_VERSION_MAJOR}")
|
||||
add_definitions("-DRTABMAP_ALICE_VISION_MINOR=${AliceVision_VERSION_MINOR}")
|
||||
add_definitions("-DRTABMAP_ALICE_VISION_PATCH=${AliceVision_VERSION_PATCH}")
|
||||
@@ -761,28 +775,28 @@ IF(WITH_ALICE_VISION)
|
||||
ENDIF(WITH_ALICE_VISION)
|
||||
|
||||
IF(WITH_FOVIS)
|
||||
FIND_PACKAGE(libfovis QUIET)
|
||||
FIND_PACKAGE(libfovis)
|
||||
IF(libfovis_FOUND)
|
||||
MESSAGE(STATUS "Found libfovis: ${libfovis_INCLUDE_DIRS}")
|
||||
ENDIF(libfovis_FOUND)
|
||||
ENDIF(WITH_FOVIS)
|
||||
|
||||
IF(WITH_VISO2)
|
||||
FIND_PACKAGE(libviso2 QUIET)
|
||||
FIND_PACKAGE(libviso2)
|
||||
IF(libviso2_FOUND)
|
||||
MESSAGE(STATUS "Found libviso2: ${libviso2_INCLUDE_DIRS}")
|
||||
ENDIF(libviso2_FOUND)
|
||||
ENDIF(WITH_VISO2)
|
||||
|
||||
IF(WITH_DVO)
|
||||
FIND_PACKAGE(dvo_core QUIET)
|
||||
FIND_PACKAGE(dvo_core)
|
||||
IF(dvo_core_FOUND)
|
||||
MESSAGE(STATUS "Found dvo_core: ${dvo_core_INCLUDE_DIRS}")
|
||||
ENDIF(dvo_core_FOUND)
|
||||
ENDIF(WITH_DVO)
|
||||
|
||||
IF(WITH_OKVIS)
|
||||
FIND_PACKAGE(okvis 1.1 QUIET)
|
||||
FIND_PACKAGE(okvis 1.1)
|
||||
IF(okvis_FOUND)
|
||||
MESSAGE(STATUS "Found okvis: ${OKVIS_INCLUDE_DIRS}")
|
||||
find_package(brisk 2 REQUIRED)
|
||||
@@ -797,7 +811,7 @@ ENDIF(WITH_OKVIS)
|
||||
# If built with okvis, we found already ceres above
|
||||
IF(WITH_CERES)
|
||||
IF(NOT okvis_FOUND AND NOT floam_FOUND)
|
||||
FIND_PACKAGE(Ceres QUIET)
|
||||
FIND_PACKAGE(Ceres)
|
||||
MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}")
|
||||
ENDIF(NOT okvis_FOUND AND NOT floam_FOUND)
|
||||
ELSEIF(Ceres_FOUND)
|
||||
@@ -805,28 +819,33 @@ ELSEIF(Ceres_FOUND)
|
||||
ENDIF()
|
||||
|
||||
IF(WITH_MSCKF_VIO)
|
||||
FIND_PACKAGE(msckf_vio QUIET)
|
||||
FIND_PACKAGE(msckf_vio)
|
||||
IF(msckf_vio_FOUND)
|
||||
MESSAGE(STATUS "Found msckf_vio: ${msckf_vio_INCLUDE_DIRS}")
|
||||
ENDIF(msckf_vio_FOUND)
|
||||
ENDIF(WITH_MSCKF_VIO)
|
||||
|
||||
IF(WITH_VINS)
|
||||
FIND_PACKAGE(vins QUIET)
|
||||
IF(WITH_VINS AND NOT WITH_VINS_FUSION)
|
||||
message(DEPRECATION "The option WITH_VINS is deprecated and will be removed in a future version. Please use WITH_VINS_FUSION instead.")
|
||||
set(WITH_VINS_FUSION ON)
|
||||
ENDIF(WITH_VINS AND NOT WITH_VINS_FUSION)
|
||||
|
||||
IF(WITH_VINS_FUSION)
|
||||
FIND_PACKAGE(vins)
|
||||
IF(vins_FOUND)
|
||||
MESSAGE(STATUS "Found vins: ${vins_INCLUDE_DIRS}")
|
||||
MESSAGE(STATUS "Found vins-fusion: ${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.")
|
||||
MESSAGE(WARNING "VINS-Fusion and OKVIS will be both linked to project, make sure VINS-Fusion has been built with against same Ceres version than OKVIS to avoid some crashes.")
|
||||
ENDIF(okvis_FOUND)
|
||||
ENDIF(vins_FOUND)
|
||||
ENDIF(WITH_VINS)
|
||||
ENDIF(WITH_VINS_FUSION)
|
||||
|
||||
IF(WITH_OPENVINS)
|
||||
FIND_PACKAGE(ov_msckf QUIET)
|
||||
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 QUIET)
|
||||
FIND_PACKAGE(ov_init QUIET)
|
||||
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
|
||||
${ov_msckf_INCLUDE_DIRS}
|
||||
@@ -855,12 +874,19 @@ IF(WITH_OPENGV)
|
||||
ENDIF(WITH_OPENGV)
|
||||
|
||||
IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
|
||||
FIND_PACKAGE(ORB_SLAM QUIET)
|
||||
FIND_PACKAGE(ORB_SLAM)
|
||||
IF(ORB_SLAM_FOUND)
|
||||
MESSAGE(STATUS "Found ORB_SLAM${ORB_SLAM_VERSION}: ${ORB_SLAM_INCLUDE_DIRS}")
|
||||
ENDIF(ORB_SLAM_FOUND)
|
||||
ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
|
||||
|
||||
IF(WITH_CUVSLAM)
|
||||
FIND_PACKAGE(CuVSLAM 14.0.0)
|
||||
IF(CUVSLAM_FOUND)
|
||||
MESSAGE(STATUS "Found cuVSLAM: ${CUVSLAM_INCLUDE_DIRS}")
|
||||
ENDIF()
|
||||
ENDIF(WITH_CUVSLAM)
|
||||
|
||||
SET(DISABLE_NEW_DTAGS_FLAG "--disable-new-dtags")
|
||||
IF(NOT (APPLE OR WIN32) AND BUILD_WITH_RPATH_NOT_RUNPATH)
|
||||
ADD_LINK_OPTIONS(LINKER:${DISABLE_NEW_DTAGS_FLAG})
|
||||
@@ -955,10 +981,14 @@ ENDIF()
|
||||
IF(NOT G2O_FOUND)
|
||||
SET(G2O "//")
|
||||
SET(G2O_CPP_CONF "//")
|
||||
SET(G2O_WITH_SBA_UTILS "//")
|
||||
ELSE()
|
||||
IF(NOT G2O_CPP11)
|
||||
SET(G2O_CPP_CONF "//")
|
||||
ENDIF(NOT G2O_CPP11)
|
||||
IF(NOT G2O_WITH_SBA_UTILS)
|
||||
SET(G2O_WITH_SBA_UTILS_CONF "//")
|
||||
ENDIF(NOT G2O_WITH_SBA_UTILS)
|
||||
ENDIF()
|
||||
IF(NOT GTSAM_FOUND)
|
||||
SET(GTSAM "//")
|
||||
@@ -1084,6 +1114,9 @@ IF(NOT xvsdk_FOUND)
|
||||
ELSE()
|
||||
SET(CONF_WITH_XVSDK 1)
|
||||
ENDIF()
|
||||
IF(NOT OrbbecSDK_FOUND)
|
||||
SET(ORBBEC_SDK "//")
|
||||
ENDIF(NOT OrbbecSDK_FOUND)
|
||||
IF(NOT octomap_FOUND)
|
||||
SET(OCTOMAP "//")
|
||||
SET(CONF_WITH_OCTOMAP 0)
|
||||
@@ -1118,11 +1151,14 @@ IF(NOT msckf_vio_FOUND)
|
||||
SET(MSCKF_VIO "//")
|
||||
ENDIF()
|
||||
IF(NOT vins_FOUND)
|
||||
SET(VINS "//")
|
||||
SET(VINSFUSION "//")
|
||||
ENDIF()
|
||||
IF(NOT ov_msckf_FOUND)
|
||||
SET(OPENVINS "//")
|
||||
ENDIF()
|
||||
IF(NOT CUVSLAM_FOUND)
|
||||
SET(CUVSLAM "//")
|
||||
ENDIF()
|
||||
IF(NOT ORB_SLAM_FOUND)
|
||||
SET(ORB_SLAM "//")
|
||||
ENDIF()
|
||||
@@ -1437,15 +1473,26 @@ MESSAGE(STATUS " With ORB OcTree = NO (WITH_ORB_OCTREE=OFF)")
|
||||
ENDIF()
|
||||
|
||||
IF(TORCH_FOUND)
|
||||
MESSAGE(STATUS " With SuperPoint = YES (License: GPLv3) libtorch=${Torch_VERSION}")
|
||||
MESSAGE(STATUS " With SuperPoint = YES (License: GPLv3) libtorch=${Torch_VERSION}")
|
||||
ELSEIF(NOT WITH_TORCH)
|
||||
MESSAGE(STATUS " With SuperPoint = NO (WITH_TORCH=OFF)")
|
||||
MESSAGE(STATUS " With SuperPoint = NO (WITH_TORCH=OFF)")
|
||||
ELSE()
|
||||
MESSAGE(STATUS " With SuperPoint = NO (libtorch not found)")
|
||||
MESSAGE(STATUS " With SuperPoint = NO (libtorch not found)")
|
||||
ENDIF()
|
||||
|
||||
IF(TORCH_FOUND AND WITH_PYTHON AND Python3_FOUND)
|
||||
MESSAGE(STATUS " With Superpoint Rpautrat = YES (Liscense: MIT) libtorch=${Torch_VERSION}")
|
||||
ELSEIF(NOT WITH_TORCH)
|
||||
MESSAGE(STATUS " With Superpoint Rpautrat = NO (WITH_TORCH=OFF)")
|
||||
ELSEIF(NOT WITH_PYTHON)
|
||||
MESSAGE(STATUS " With Superpoint Rpautrat = NO (WITH_PYTHON=OFF)")
|
||||
ELSE()
|
||||
MESSAGE(STATUS " Wtih Superpoint Rpautrat = NO (libtorch and/or python3 not found)")
|
||||
ENDIF()
|
||||
|
||||
|
||||
IF(WITH_PYTHON AND Python3_FOUND)
|
||||
MESSAGE(STATUS " With Python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR} = YES (License: PSF)")
|
||||
MESSAGE(STATUS " With Python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR} = YES (License: PSF)")
|
||||
ELSEIF(NOT WITH_PYTHON)
|
||||
MESSAGE(STATUS " With Python3 = NO (WITH_PYTHON=OFF)")
|
||||
ELSE()
|
||||
@@ -1594,7 +1641,7 @@ ENDIF()
|
||||
|
||||
IF(grid_map_core_FOUND)
|
||||
MESSAGE(STATUS " With GridMap ${grid_map_core_VERSION} = YES (License: BSD)")
|
||||
ELSEIF(NOT WITH_OCTOMAP)
|
||||
ELSEIF(NOT WITH_GRIDMAP)
|
||||
MESSAGE(STATUS " With GridMap = NO (WITH_GRIDMAP=OFF)")
|
||||
ELSE()
|
||||
MESSAGE(STATUS " With GridMap = NO (grid_map_core not found)")
|
||||
@@ -1757,6 +1804,14 @@ ELSE()
|
||||
MESSAGE(STATUS " With XVisio SDK = NO (xvsdk not found)")
|
||||
ENDIF()
|
||||
|
||||
IF(OrbbecSDK_FOUND)
|
||||
MESSAGE(STATUS " With Orbbec SDK ${OrbbecSDK_VERSION} = YES (License: MIT)")
|
||||
ELSEIF(NOT WITH_ORBBEC_SDK)
|
||||
MESSAGE(STATUS " With Orbbec SDK = NO (WITH_ORBBEC_SDK=OFF)")
|
||||
ELSE()
|
||||
MESSAGE(STATUS " With Orbbec SDK = NO (OrbbecSDK v2 not found)")
|
||||
ENDIF()
|
||||
|
||||
MESSAGE(STATUS "")
|
||||
MESSAGE(STATUS " Odometry Approaches:")
|
||||
IF(loam_velodyne_FOUND)
|
||||
@@ -1818,7 +1873,7 @@ ENDIF()
|
||||
IF(vins_FOUND)
|
||||
MESSAGE(STATUS " With VINS-Fusion = YES (License: GPLv3)")
|
||||
ELSEIF(NOT WITH_VINS)
|
||||
MESSAGE(STATUS " With VINS-Fusion = NO (WITH_VINS=OFF)")
|
||||
MESSAGE(STATUS " With VINS-Fusion = NO (WITH_VINS_FUSION=OFF)")
|
||||
ELSE()
|
||||
MESSAGE(STATUS " With VINS-Fusion = NO (VINS-Fusion not found)")
|
||||
ENDIF()
|
||||
@@ -1841,6 +1896,14 @@ ELSE()
|
||||
MESSAGE(STATUS " With ORB_SLAM = NO (ORB_SLAM2 and ORB_SLAM3 not found, make sure environment variable ORB_SLAM_ROOT_DIR is set)")
|
||||
ENDIF()
|
||||
|
||||
IF(CUVSLAM_FOUND)
|
||||
MESSAGE(STATUS " With cuVSLAM = YES (License: NVIDIA ISAAC ROS SOFTWARE LICENSE)")
|
||||
ELSEIF(NOT WITH_CUVSLAM)
|
||||
MESSAGE(STATUS " With cuVSLAM = NO (WITH_CUVSLAM=OFF)")
|
||||
ELSE()
|
||||
MESSAGE(STATUS " With cuVSLAM = NO (cuVSLAM not found, make sure cuVSLAM is installed)")
|
||||
ENDIF()
|
||||
|
||||
MESSAGE(STATUS "Show all options with: cmake -LA | grep WITH_")
|
||||
MESSAGE(STATUS "--------------------------------------------")
|
||||
|
||||
|
||||
Reference in New Issue
Block a user