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Added MRPT optional dependency. Updated localization_pose + its covariance to be always published.

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matlabbe
2023-02-03 17:25:38 -08:00
parent e4edee33eb
commit dcedd8bb6b
10 changed files with 120 additions and 67 deletions
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40
CMakeLists.txt
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@@ -183,6 +183,7 @@ option(WITH_G2O "Include g2o support" ON)
option(WITH_GTSAM "Include GTSAM support" ON)
option(WITH_TORO "Include TORO support" ON)
option(WITH_CERES "Include Ceres support" OFF)
option(WITH_MRPT "Include MRPT support" ON)
option(WITH_VERTIGO "Include Vertigo support" ON)
option(WITH_CVSBA "Include cvsba support" OFF)
option(WITH_POINTMATCHER "Include libpointmatcher support" ON)
@@ -477,6 +478,14 @@ IF(WITH_GTSAM)
FIND_PACKAGE(GTSAM CONFIG QUIET)
ENDIF(WITH_GTSAM)
IF(WITH_MRPT)
FIND_PACKAGE(MRPT COMPONENTS poses QUIET)
IF(MRPT_FOUND)
message(STATUS "MRPT_VERSION: ${MRPT_VERSION}")
message(STATUS "MRPT_LIBRARIES: ${MRPT_LIBRARIES}")
ENDIF(MRPT_FOUND)
ENDIF(WITH_MRPT)
IF(WITH_FLYCAPTURE2)
FIND_PACKAGE(FlyCapture2 QUIET)
IF(FlyCapture2_FOUND)
@@ -849,6 +858,9 @@ IF(NOT GTSAM_FOUND)
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${GTSAM_LIBRARIES})
ENDIF()
IF(NOT MRPT_FOUND)
SET(MRPT "//")
ENDIF(NOT MRPT_FOUND)
IF(NOT CERES_FOUND)
SET(CERES "//")
ENDIF(NOT CERES_FOUND)
@@ -1318,7 +1330,7 @@ MESSAGE(STATUS " With FastCV = NO (FastCV not found)")
ENDIF()
IF(PDAL_FOUND)
MESSAGE(STATUS " With PDAL = YES (License: BSD)")
MESSAGE(STATUS " With PDAL ${PDAL_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_PDAL)
MESSAGE(STATUS " With PDAL = NO (WITH_PDAL=OFF)")
ELSE()
@@ -1334,7 +1346,7 @@ MESSAGE(STATUS " With TORO = NO (WITH_TORO=OFF)")
ENDIF()
IF(G2O_FOUND)
MESSAGE(STATUS " *With g2o = YES (License: BSD)")
MESSAGE(STATUS " *With g2o ${g2o_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_G2O)
MESSAGE(STATUS " *With g2o = NO (WITH_G2O=OFF)")
ELSE()
@@ -1342,7 +1354,7 @@ MESSAGE(STATUS " *With g2o = NO (g2o not found)")
ENDIF()
IF(GTSAM_FOUND)
MESSAGE(STATUS " *With GTSAM = YES (License: BSD)")
MESSAGE(STATUS " *With GTSAM ${GTSAM_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_GTSAM)
MESSAGE(STATUS " *With GTSAM = NO (WITH_GTSAM=OFF)")
ELSE()
@@ -1351,9 +1363,9 @@ ENDIF()
IF(CERES_FOUND)
IF(WITH_CERES)
MESSAGE(STATUS " *With Ceres ${Ceres_VERSION} = YES (License: BSD)")
MESSAGE(STATUS " *With Ceres ${Ceres_VERSION} = YES (License: BSD)")
ELSE()
MESSAGE(STATUS " *With Ceres ${Ceres_VERSION} = YES (License: BSD, WITH_CERES=OFF but it is enabled by okvis or floam dependencies)")
MESSAGE(STATUS " *With Ceres ${Ceres_VERSION} = YES (License: BSD, WITH_CERES=OFF but it is enabled by okvis or floam dependencies)")
ENDIF()
ELSEIF(NOT WITH_CERES)
MESSAGE(STATUS " *With Ceres = NO (WITH_CERES=OFF)")
@@ -1361,6 +1373,14 @@ ELSE()
MESSAGE(STATUS " *With Ceres = NO (Ceres not found)")
ENDIF()
IF(MRPT_FOUND)
MESSAGE(STATUS " With MRPT ${MRPT_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_MRPT)
MESSAGE(STATUS " With MRPT = NO (WITH_MRPT=OFF)")
ELSE()
MESSAGE(STATUS " With MRPT = NO (MRPT not found)")
ENDIF()
IF(G2O_FOUND OR GTSAM_FOUND)
IF(WITH_VERTIGO)
MESSAGE(STATUS " With VERTIGO = YES (License: GPLv3)")
@@ -1380,7 +1400,7 @@ MESSAGE(STATUS " With cvsba = NO (cvsba not found)")
ENDIF()
IF(libpointmatcher_FOUND)
MESSAGE(STATUS " *With libpointmatcher = YES (License: BSD)")
MESSAGE(STATUS " *With libpointmatcher ${libpointmatcher_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_POINTMATCHER)
MESSAGE(STATUS " *With libpointmatcher = NO (WITH_POINTMATCHER=OFF)")
ELSE()
@@ -1406,7 +1426,7 @@ MESSAGE(STATUS " With Open3D = NO (Open3D not found)")
ENDIF()
IF(opengv_FOUND)
MESSAGE(STATUS " With OpenGV = YES (License: BSD)")
MESSAGE(STATUS " With OpenGV ${opengv_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_OPENGV)
MESSAGE(STATUS " With OpenGV = NO (WITH_OPENGV=OFF)")
ELSE()
@@ -1416,7 +1436,7 @@ ENDIF()
MESSAGE(STATUS "")
MESSAGE(STATUS " Reconstruction Approaches:")
IF(octomap_FOUND)
MESSAGE(STATUS " With OCTOMAP = YES (License: BSD)")
MESSAGE(STATUS " With OCTOMAP ${octomap_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_OCTOMAP)
MESSAGE(STATUS " With OCTOMAP = NO (WITH_OCTOMAP=OFF)")
ELSE()
@@ -1537,7 +1557,7 @@ MESSAGE(STATUS " With RealSense = NO (librealsense not found)")
ENDIF()
IF(realsense2_FOUND)
MESSAGE(STATUS " With RealSense2 = YES (License: Apache-2)")
MESSAGE(STATUS " With RealSense2 ${realsense2_VERSION} = YES (License: Apache-2)")
ELSEIF(NOT WITH_REALSENSE2)
MESSAGE(STATUS " With RealSense2 = NO (WITH_REALSENSE2=OFF)")
ELSE()
@@ -1553,7 +1573,7 @@ MESSAGE(STATUS " With MyntEyeS = NO (mynteye s sdk not found)")
ENDIF()
IF(depthai_FOUND)
MESSAGE(STATUS " With DepthAI = YES (License: MIT)")
MESSAGE(STATUS " With DepthAI ${depthai_VERSION} = YES (License: MIT)")
ELSEIF(NOT WITH_DEPTHAI)
MESSAGE(STATUS " With DepthAI = NO (WITH_DEPTHAI=OFF)")
ELSE()