mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-11 22:10:21 +08:00
matlabbe
@@ -1003,7 +1003,11 @@ bool RTABMapApp::startCamera()
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cameraJustInitialized_ = true;
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if(useExternalLidar_)
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{
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#if BOOST_VERSION >= 108700
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rtabmap::LidarVLP16 * lidar = new rtabmap::LidarVLP16(boost::asio::ip::make_address("192.168.1.201"), 2368, true);
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#else
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rtabmap::LidarVLP16 * lidar = new rtabmap::LidarVLP16(boost::asio::ip::address_v4::from_string("192.168.1.201"), 2368, true);
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#endif
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lidar->init();
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camera_->setImageRate(0); // if lidar, to get close camera synchronization
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sensorCaptureThread_ = new rtabmap::SensorCaptureThread(lidar, camera_, camera_, rtabmap::Transform::getIdentity());
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@@ -8,6 +8,65 @@
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@@ -16,41 +75,12 @@
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|
||||
4E10D8642DE408EE0015926D /* libboost_container.a */,
|
||||
4E10D8762DE408EF0015926D /* libboost_contract.a */,
|
||||
4E10D8652DE408EE0015926D /* libboost_graph.a */,
|
||||
4E10D8662DE408EE0015926D /* libboost_json.a */,
|
||||
4E10D86A2DE408EF0015926D /* libboost_locale.a */,
|
||||
4E10D87B2DE408EF0015926D /* libboost_nowide.a */,
|
||||
4E10D8792DE408EF0015926D /* libboost_prg_exec_monitor.a */,
|
||||
4E10D8712DE408EF0015926D /* libboost_random.a */,
|
||||
4E10D87A2DE408EF0015926D /* libboost_stacktrace_addr2line.a */,
|
||||
4E10D8672DE408EE0015926D /* libboost_stacktrace_basic.a */,
|
||||
4E10D8602DE408EE0015926D /* libboost_stacktrace_noop.a */,
|
||||
4E10D87C2DE408EF0015926D /* libboost_test_exec_monitor.a */,
|
||||
4E10D8742DE408EF0015926D /* libboost_type_erasure.a */,
|
||||
4E10D8702DE408EF0015926D /* libboost_unit_test_framework.a */,
|
||||
4E10D86F2DE408EF0015926D /* libboost_url.a */,
|
||||
4E10D8722DE408EF0015926D /* libboost_wave.a */,
|
||||
4E10D8612DE408EE0015926D /* libboost_wserialization.a */,
|
||||
4E10D8752DE408EF0015926D /* liblas_c.a */,
|
||||
4E10D86B2DE408EF0015926D /* liblz4.a */,
|
||||
4E10D8622DE408EE0015926D /* libmetis-gtsam.a */,
|
||||
4E10D86C2DE408EF0015926D /* libopencv_dnn_superres.a */,
|
||||
4E10D8772DE408EF0015926D /* libopencv_gapi.a */,
|
||||
4E10D8692DE408EE0015926D /* libopencv_intensity_transform.a */,
|
||||
4E10D87D2DE408EF0015926D /* libopencv_mcc.a */,
|
||||
4E10D86E2DE408EF0015926D /* libopencv_quality.a */,
|
||||
4E10D86D2DE408EF0015926D /* libopencv_rapid.a */,
|
||||
4E10D8782DE408EF0015926D /* libopencv_signal.a */,
|
||||
4E10D8632DE408EE0015926D /* libopencv_wechat_qrcode.a */,
|
||||
4ED73AD02D7FECF3007899C2 /* liblaszip.a */,
|
||||
4EFAA9422CAE4E960055DA51 /* liblas.a */,
|
||||
4EFD0F4D259D67D900575D88 /* liblibjpeg-turbo.a */,
|
||||
@@ -889,7 +877,7 @@
|
||||
ALWAYS_SEARCH_USER_PATHS = NO;
|
||||
CLANG_ANALYZER_NONNULL = YES;
|
||||
CLANG_ANALYZER_NUMBER_OBJECT_CONVERSION = YES_AGGRESSIVE;
|
||||
CLANG_CXX_LANGUAGE_STANDARD = "gnu++14";
|
||||
CLANG_CXX_LANGUAGE_STANDARD = "gnu++17";
|
||||
CLANG_CXX_LIBRARY = "libc++";
|
||||
CLANG_ENABLE_MODULES = YES;
|
||||
CLANG_ENABLE_OBJC_ARC = YES;
|
||||
@@ -920,7 +908,7 @@
|
||||
DEBUG_INFORMATION_FORMAT = dwarf;
|
||||
ENABLE_STRICT_OBJC_MSGSEND = YES;
|
||||
ENABLE_TESTABILITY = YES;
|
||||
GCC_C_LANGUAGE_STANDARD = gnu11;
|
||||
GCC_C_LANGUAGE_STANDARD = gnu17;
|
||||
GCC_DYNAMIC_NO_PIC = NO;
|
||||
GCC_NO_COMMON_BLOCKS = YES;
|
||||
GCC_OPTIMIZATION_LEVEL = 0;
|
||||
@@ -950,7 +938,7 @@
|
||||
ALWAYS_SEARCH_USER_PATHS = NO;
|
||||
CLANG_ANALYZER_NONNULL = YES;
|
||||
CLANG_ANALYZER_NUMBER_OBJECT_CONVERSION = YES_AGGRESSIVE;
|
||||
CLANG_CXX_LANGUAGE_STANDARD = "gnu++14";
|
||||
CLANG_CXX_LANGUAGE_STANDARD = "gnu++17";
|
||||
CLANG_CXX_LIBRARY = "libc++";
|
||||
CLANG_ENABLE_MODULES = YES;
|
||||
CLANG_ENABLE_OBJC_ARC = YES;
|
||||
@@ -981,7 +969,7 @@
|
||||
DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym";
|
||||
ENABLE_NS_ASSERTIONS = NO;
|
||||
ENABLE_STRICT_OBJC_MSGSEND = YES;
|
||||
GCC_C_LANGUAGE_STANDARD = gnu11;
|
||||
GCC_C_LANGUAGE_STANDARD = gnu17;
|
||||
GCC_NO_COMMON_BLOCKS = YES;
|
||||
GCC_PREPROCESSOR_DEFINITIONS = "";
|
||||
GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
|
||||
@@ -1035,6 +1023,7 @@
|
||||
"$(inherited)",
|
||||
"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
|
||||
"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
|
||||
"$(PROJECT_DIR)/RTABMapApp/Libraries/lib/opencv4/3rdparty",
|
||||
);
|
||||
MARKETING_VERSION = 0.21.11;
|
||||
OTHER_CFLAGS = "";
|
||||
@@ -1048,11 +1037,12 @@
|
||||
SYSTEM_HEADER_SEARCH_PATHS = (
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include/eigen3\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.11\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.15\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.21\"",
|
||||
"\"$(SRCROOT)/../android/jni/tango-gl/include\"",
|
||||
"\"$(SRCROOT)/../android/jni/third-party/include\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/lib/vtk.framework/Headers\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include/opencv4\"",
|
||||
);
|
||||
TARGETED_DEVICE_FAMILY = "1,2";
|
||||
VALIDATE_WORKSPACE = NO;
|
||||
@@ -1093,6 +1083,7 @@
|
||||
"$(inherited)",
|
||||
"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
|
||||
"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
|
||||
"$(PROJECT_DIR)/RTABMapApp/Libraries/lib/opencv4/3rdparty",
|
||||
);
|
||||
MARKETING_VERSION = 0.21.11;
|
||||
ONLY_ACTIVE_ARCH = YES;
|
||||
@@ -1107,11 +1098,12 @@
|
||||
SYSTEM_HEADER_SEARCH_PATHS = (
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include/eigen3\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.11\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.15\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.21\"",
|
||||
"\"$(SRCROOT)/../android/jni/tango-gl/include\"",
|
||||
"\"$(SRCROOT)/../android/jni/third-party/include\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/lib/vtk.framework/Headers\"",
|
||||
"\"$(SRCROOT)/RTABMapApp/Libraries/include/opencv4\"",
|
||||
);
|
||||
TARGETED_DEVICE_FAMILY = "1,2";
|
||||
VALIDATE_WORKSPACE = NO;
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
set -euxo pipefail
|
||||
|
||||
# Tested on Apple Silicon Mac, with cmake 3.19.2.
|
||||
# Tested on Apple Silicon Mac, with cmake 4.0.2, XCode 16.3.
|
||||
|
||||
mkdir -p Libraries
|
||||
cd Libraries
|
||||
@@ -28,41 +28,65 @@ sysroot=iphoneos
|
||||
# Boost
|
||||
if [ ! -e $prefix/include/boost ]
|
||||
then
|
||||
if [ ! -e boost_1_59_0 ]
|
||||
if [ ! -e boost-1.88.0 ]
|
||||
then
|
||||
echo "wget boost..."
|
||||
curl -L https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz -o boost_1_59_0.tar.gz
|
||||
tar -xzf boost_1_59_0.tar.gz
|
||||
curl -L https://github.com/boostorg/boost/releases/download/boost-1.88.0/boost-1.88.0-cmake.tar.gz -o boost-1.88.0-cmake.tar.gz
|
||||
tar -xzf boost-1.88.0-cmake.tar.gz
|
||||
fi
|
||||
cd boost_1_59_0
|
||||
curl -L https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/489ff2869eccd6f8d03ffb9090ef839108762741/BoostConfig.cmake.in -o BoostConfig.cmake.in
|
||||
curl -L https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/b07fe7d4e5dfe5f1d110c733e5cf660d79a26378/CMakeLists.txt -o CMakeLists.txt
|
||||
cd boost-1.88.0
|
||||
mkdir -p build
|
||||
cd build
|
||||
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix ..
|
||||
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBOOST_INCOMPATIBLE_LIBRARIES="process;context;coroutine;fiber;fiber_numa;log_setup;log;cobalt" -DBOOST_IOSTREAMS_ENABLE_ZLIB=OFF -DBOOST_IOSTREAMS_ENABLE_BZIP2=OFF ..
|
||||
cmake --build . --config Release
|
||||
cmake --build . --config Release --target install
|
||||
cd $pwd
|
||||
#rm -r boost_1_59_0.tar.gz boost_1_59_0
|
||||
#rm -r boost-1.88.0-cmake.tar.gz boost-1.88.0
|
||||
fi
|
||||
|
||||
# eigen
|
||||
if [ ! -e $prefix/include/eigen3 ]
|
||||
then
|
||||
if [ ! -e eigen-3.3.9 ]
|
||||
if [ ! -e eigen-3.4.0 ]
|
||||
then
|
||||
echo "wget eigen..."
|
||||
curl -L https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.gz -o 3.3.9.tar.gz
|
||||
tar -xzf 3.3.9.tar.gz
|
||||
curl -L https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz -o 3.4.0.tar.gz
|
||||
tar -xzf 3.4.0.tar.gz
|
||||
fi
|
||||
cd eigen-3.3.9
|
||||
cd eigen-3.4.0
|
||||
mkdir -p build
|
||||
cd build
|
||||
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix ..
|
||||
cmake --build . --config Release
|
||||
cmake --build . --config Release --target install
|
||||
cd $pwd
|
||||
#rm -r 3.3.9.tar.gz eigen-3.3.9
|
||||
#rm -r 3.4.0.tar.gz eigen-3.4.0
|
||||
fi
|
||||
|
||||
# lz4 (required by flann)
|
||||
if [ ! -e $prefix/include/lz4.h ]
|
||||
then
|
||||
if [ ! -e lz4 ]
|
||||
then
|
||||
echo "wget lz4..."
|
||||
git clone https://github.com/lz4/lz4.git -b v1.10.0
|
||||
fi
|
||||
cd lz4
|
||||
if [ ! -e LZ4Config.cmake.in ]
|
||||
then
|
||||
curl -L https://gist.githubusercontent.com/matlabbe/abd0242305c29495bbba26065269daf2/raw/ad0b1865c02e61449f58358fdc4ddbed3cb5fb87/LZ4Config.cmake.in -o LZ4Config.cmake.in
|
||||
fi
|
||||
if [ ! -e CMakeLists.txt ]
|
||||
then
|
||||
curl -L https://gist.githubusercontent.com/matlabbe/abd0242305c29495bbba26065269daf2/raw/ad0b1865c02e61449f58358fdc4ddbed3cb5fb87/CMakeLists.txt -o CMakeLists.txt
|
||||
fi
|
||||
mkdir -p build
|
||||
cd build
|
||||
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix ..
|
||||
cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
|
||||
cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
|
||||
cd $pwd
|
||||
#rm -r lz4
|
||||
fi
|
||||
|
||||
# FLANN
|
||||
@@ -71,19 +95,17 @@ then
|
||||
if [ ! -e flann ]
|
||||
then
|
||||
echo "wget flann..."
|
||||
git clone https://github.com/flann-lib/flann.git -b 1.8.4
|
||||
git clone https://github.com/flann-lib/flann.git -b 1.9.2
|
||||
fi
|
||||
cd flann
|
||||
if [ ! -e flann_ios.patch ]
|
||||
if [ ! -e flann_ios_lz4.patch ]
|
||||
then
|
||||
curl -L https://gist.githubusercontent.com/matlabbe/c858ba36fb85d5e44d8667dfb3543e12/raw/8fc40aa9bc3267604869444020476a49f14ab424/flann_ios.patch -o flann_ios.patch
|
||||
git apply flann_ios.patch
|
||||
curl -L https://gist.githubusercontent.com/matlabbe/c858ba36fb85d5e44d8667dfb3543e12/raw/2586a356dec2b11440ec3c1bb113e709e1266d97/flann_ios_lz4.patch -o flann_ios_lz4.patch
|
||||
git apply flann_ios_lz4.patch
|
||||
fi
|
||||
mkdir -p build
|
||||
cd build
|
||||
# comment "add_subdirectory( test )" in top CMakeLists.txt
|
||||
# comment "add_subdirectory( doc )" in top CMakeLists.txt
|
||||
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_PYTHON_BINDINGS=OFF -DBUILD_MATLAB_BINDINGS=OFF -DBUILD_C_BINDINGS=OFF ..
|
||||
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_PYTHON_BINDINGS=OFF -DBUILD_MATLAB_BINDINGS=OFF -DBUILD_C_BINDINGS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DBUILD_DOC=OFF -DUSE_OPENMP=OFF -DLZ4_DIR=$prefix/lib/lz4 ..
|
||||
cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
|
||||
cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS="" CODE_SIGNING_ALLOWED="NO"
|
||||
cd $pwd
|
||||
@@ -95,17 +117,14 @@ if [ ! -e $prefix/include/gtsam ]
|
||||
then
|
||||
if [ ! -e gtsam ]
|
||||
then
|
||||
git clone https://bitbucket.org/gtborg/gtsam.git
|
||||
cd gtsam
|
||||
git checkout fbb9d3bdda8b88df51896bc401bfd170573e66f5
|
||||
else
|
||||
cd gtsam
|
||||
git clone https://github.com/borglab/gtsam.git -b 4.2
|
||||
fi
|
||||
cd gtsam
|
||||
# patch
|
||||
if [ ! -e gtsam_GKlib_ios_fix.patch ]
|
||||
if [ ! -e gtsam_4_2_ios.patch ]
|
||||
then
|
||||
curl -L https://gist.github.com/matlabbe/76d658dddb841b3355ae3a6e32850cd8/raw/7033cba1c89097b0c830651d7277c04dc92cbdd9/gtsam_GKlib_ios_fix.patch -o gtsam_GKlib_ios_fix.patch
|
||||
git apply gtsam_GKlib_ios_fix.patch
|
||||
curl -L https://gist.githubusercontent.com/matlabbe/76d658dddb841b3355ae3a6e32850cd8/raw/e7355348c2d536ec50f41effa775ed251ae4e045/gtsam_4_2_ios.patch -o gtsam_4_2_ios.patch
|
||||
git apply gtsam_4_2_ios.patch
|
||||
fi
|
||||
mkdir -p build
|
||||
cd build
|
||||
@@ -121,17 +140,15 @@ if [ ! -e $prefix/include/g2o ]
|
||||
then
|
||||
if [ ! -e g2o ]
|
||||
then
|
||||
git clone https://github.com/RainerKuemmerle/g2o.git
|
||||
cd g2o
|
||||
git checkout a3f7706bdbb849b2808dc3e1b7aee189f63b498e
|
||||
else
|
||||
cd g2o
|
||||
git clone https://github.com/RainerKuemmerle/g2o.git -b 20241228_git
|
||||
fi
|
||||
cd g2o
|
||||
# patch
|
||||
if [ ! -e g2o_ios_fix.patch ]
|
||||
if [ ! -e g2o_20241228_ios.patch ]
|
||||
then
|
||||
curl -L https://gist.github.com/matlabbe/b9ccfeae8f0744b275cab23510872680/raw/a58e06accba3976420d4b61341685c123193810e/g2o_ios_fix.patch -o g2o_ios_fix.patch
|
||||
git apply g2o_ios_fix.patch
|
||||
ls
|
||||
curl -L https://gist.githubusercontent.com/matlabbe/b9ccfeae8f0744b275cab23510872680/raw/ce516b2ddaec60fd07fdf13482fb108cebef179f/g2o_20241228_ios.patch -o g2o_20241228_ios.patch
|
||||
git apply g2o_20241228_ios.patch
|
||||
fi
|
||||
mkdir -p build
|
||||
cd build
|
||||
@@ -149,11 +166,10 @@ if [ ! -e VTK ]
|
||||
then
|
||||
git clone https://github.com/Kitware/VTK.git
|
||||
cd VTK
|
||||
git checkout tags/v8.2.0
|
||||
git checkout tags/v9.5.0.rc1
|
||||
else
|
||||
cd VTK
|
||||
fi
|
||||
git cherry-pick bf3ae8072df2393c7270509bae41be0776826346
|
||||
mkdir -p build
|
||||
cd build
|
||||
cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_FRAMEWORK_INSTALL_PREFIX=$prefix/lib -DIOS_DEVICE_ARCHITECTURES="arm64" -DIOS_SIMULATOR_ARCHITECTURES="" -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_IOS_BUILD=ON -DModule_vtkFiltersModeling=ON ..
|
||||
@@ -163,26 +179,28 @@ cd $pwd
|
||||
#rm -rf VTK
|
||||
fi
|
||||
|
||||
|
||||
|
||||
# PCL
|
||||
if [ ! -e $prefix/include/pcl-1.11 ]
|
||||
if [ ! -e $prefix/include/pcl-1.15 ]
|
||||
then
|
||||
if [ ! -e pcl ]
|
||||
then
|
||||
git clone https://github.com/PointCloudLibrary/pcl.git
|
||||
cd pcl
|
||||
git checkout tags/pcl-1.11.1
|
||||
git checkout tags/pcl-1.15.0
|
||||
else
|
||||
cd pcl
|
||||
fi
|
||||
# patch
|
||||
if [ ! -e pcl_1_11_1_vtk_ios_support.patch ]
|
||||
if [ ! -e pcl_1_15_0_ios.patch ]
|
||||
then
|
||||
curl -L https://gist.github.com/matlabbe/f3ba9366eb91e1b855dadd2ddce5746d/raw/6869cf26211ab15492599e557b0e729b23b2c119/pcl_1_11_1_vtk_ios_support.patch -o pcl_1_11_1_vtk_ios_support.patch
|
||||
git apply pcl_1_11_1_vtk_ios_support.patch
|
||||
curl -L https://gist.githubusercontent.com/matlabbe/f3ba9366eb91e1b855dadd2ddce5746d/raw/7231688d7fb9e86df72ca7c5f355d6b9727205d5/pcl_1_15_0_ios.patch -o pcl_1_15_0_ios.patch
|
||||
git apply pcl_1_15_0_ios.patch
|
||||
fi
|
||||
mkdir -p build
|
||||
cd build
|
||||
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DPCL_ENABLE_SSE=OFF -DCMAKE_FIND_ROOT_PATH=$prefix ..
|
||||
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_recognition=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_OPENMP=OFF -DWITH_VTK=ON -DPCL_FLANN_REQUIRED_TYPE=STATIC -DPCL_SHARED_LIBS=OFF -DPCL_ENABLE_SSE=OFF -DCMAKE_FIND_ROOT_PATH=$prefix ..
|
||||
cmake --build . --config Release
|
||||
cmake --build . --config Release --target install
|
||||
cd $pwd
|
||||
@@ -190,32 +208,21 @@ cd $pwd
|
||||
fi
|
||||
|
||||
# OpenCV
|
||||
if [ ! -e $prefix/include/opencv2 ]
|
||||
if [ ! -e $prefix/include/opencv4 ]
|
||||
then
|
||||
if [ ! -e opencv_contrib ]
|
||||
then
|
||||
git clone https://github.com/opencv/opencv_contrib.git
|
||||
cd opencv_contrib
|
||||
git checkout tags/3.4.2
|
||||
git clone https://github.com/opencv/opencv_contrib.git -b 4.11.0
|
||||
fi
|
||||
cd $pwd
|
||||
if [ ! -e opencv ]
|
||||
then
|
||||
git clone https://github.com/opencv/opencv.git
|
||||
cd opencv
|
||||
git checkout tags/3.4.2
|
||||
else
|
||||
cd opencv
|
||||
fi
|
||||
if [ ! -e opencv_ios.patch ]
|
||||
then
|
||||
curl -L https://gist.githubusercontent.com/matlabbe/fdc3ab4854f3a68fbde7277f543b4e5b/raw/f340839c09165056d3845645df24b76507542fd2/opencv_ios.patch -o opencv_ios.patch
|
||||
git apply opencv_ios.patch
|
||||
git clone https://github.com/opencv/opencv.git -b 4.11.0
|
||||
fi
|
||||
cd opencv
|
||||
mkdir -p build
|
||||
cd build
|
||||
# add "add_definitions(-DPNG_ARM_NEON_OPT=0)" in 3rdparty/libpng/CMakeLists.txt
|
||||
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DOPENCV_EXTRA_MODULES_PATH=$prefix/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DBUILD_opencv_apps=OFF -DBUILD_opencv_xobjdetect=OFF -DBUILD_opencv_stereo=OFF ..
|
||||
cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DOPENCV_EXTRA_MODULES_PATH=$prefix/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DWITH_WEBP=OFF -DWITH_OPENEXR=OFF -DBUILD_opencv_apps=OFF -DBUILD_opencv_xobjdetect=OFF -DBUILD_opencv_stereo=OFF ..
|
||||
cmake --build . --config Release
|
||||
cmake --build . --config Release --target install
|
||||
cd $pwd
|
||||
@@ -228,12 +235,10 @@ if [ ! -e $prefix/include/laszip ]
|
||||
then
|
||||
if [ ! -e LASzip ]
|
||||
then
|
||||
git clone https://github.com/LASzip/LASzip.git
|
||||
cd LASzip
|
||||
git checkout 2.0.1
|
||||
else
|
||||
cd LASzip
|
||||
git clone https://github.com/LASzip/LASzip.git -b 2.0.1
|
||||
fi
|
||||
cd LASzip
|
||||
sed -i '' 's/cmake_minimum_required(VERSION 2.6.0)/cmake_minimum_required(VERSION 3.5)/g' CMakeLists.txt
|
||||
sed -i '' 's/add_subdirectory(tools)/#add_subdirectory(tools)/g' CMakeLists.txt
|
||||
mkdir -p build
|
||||
cd build
|
||||
@@ -251,6 +256,7 @@ then
|
||||
git clone https://github.com/libLAS/libLAS.git
|
||||
fi
|
||||
cd libLAS
|
||||
sed -i '' 's/cmake_minimum_required(VERSION 2.8.11)/cmake_minimum_required(VERSION 3.5)/g' CMakeLists.txt
|
||||
sed -i '' 's/SHARED/STATIC/g' src/CMakeLists.txt
|
||||
mkdir -p build
|
||||
cd build
|
||||
|
||||
Reference in New Issue
Block a user