mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
matlabbeandFrank Dellaert
0156bc22ed
* Fixing 4.3.1-ros gtsam compatibility * javobian fix in SwitchVariable * Fix GTSAM scalar switch traits, Jacobians and attitude API detection * Separate sigmoid factor correction from GTSAM compatibility * Correct sigmoid switch Jacobian and add focused factor regression * combined gtsam tests in same file * cmake refactor --------- Co-authored-by: Frank Dellaert <[email protected]>
28 lines
1.3 KiB
CMake
28 lines
1.3 KiB
CMake
# Detects GTSAM API variations that the version number alone can't tell
|
|
# apart. Included after FIND_PACKAGE(GTSAM) succeeded.
|
|
|
|
# Pose3AttitudeFactor has been replaced by AttitudeFactor<Pose3> in 4.3, but
|
|
# the 4.3 ROS snapshots share a numeric version (4.3.0) while exposing either
|
|
# API, so probe which one compiles. Older versions only have
|
|
# Pose3AttitudeFactor. The probe links the imported gtsam target, so it
|
|
# inherits GTSAM's usage requirements (including cxx_std_17 for 4.3) and
|
|
# doesn't depend on the C++ standard selected later in the main CMakeLists.txt.
|
|
IF(GTSAM_VERSION VERSION_GREATER_EQUAL "4.3.0")
|
|
INCLUDE(CheckCXXSourceCompiles)
|
|
INCLUDE(CMakePushCheckState)
|
|
CMAKE_PUSH_CHECK_STATE(RESET)
|
|
SET(CMAKE_REQUIRED_LIBRARIES gtsam)
|
|
UNSET(RTABMAP_GTSAM_HAS_ATTITUDE_FACTOR_TEMPLATE CACHE)
|
|
CHECK_CXX_SOURCE_COMPILES("
|
|
#include <gtsam/navigation/AttitudeFactor.h>
|
|
int main() {
|
|
gtsam::AttitudeFactor<gtsam::Pose3> factor(1, gtsam::Unit3(0,0,1),
|
|
gtsam::noiseModel::Isotropic::Sigma(2, 1.0));
|
|
return factor.evaluateError(gtsam::Pose3()).size() != 2;
|
|
}" RTABMAP_GTSAM_HAS_ATTITUDE_FACTOR_TEMPLATE)
|
|
CMAKE_POP_CHECK_STATE()
|
|
IF(RTABMAP_GTSAM_HAS_ATTITUDE_FACTOR_TEMPLATE)
|
|
ADD_DEFINITIONS(-DRTABMAP_GTSAM_HAS_ATTITUDE_FACTOR_TEMPLATE)
|
|
ENDIF()
|
|
ENDIF()
|