mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
65b79cd7a2
Odometry: added "local map history" option to increase precision Added new Nearest neighbor options (LSH, brute Force, GPU brute Force) Added FREAK/ORB features Increased version to 0.6.5 git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83
129 lines
2.7 KiB
CMake
129 lines
2.7 KiB
CMake
|
|
SET(SRC_FILES
|
|
Rtabmap.cpp
|
|
RtabmapThread.cpp
|
|
|
|
Statistics.cpp
|
|
|
|
Memory.cpp
|
|
|
|
DBDriver.cpp
|
|
DBDriverSqlite3.cpp
|
|
DBReader.cpp
|
|
|
|
Camera.cpp
|
|
CameraThread.cpp
|
|
CameraRGBD.cpp
|
|
|
|
EpipolarGeometry.cpp
|
|
VisualWord.cpp
|
|
VWDictionary.cpp
|
|
BayesFilter.cpp
|
|
Parameters.cpp
|
|
Signature.cpp
|
|
Features2d.cpp
|
|
Transform.cpp
|
|
|
|
util3d.cpp
|
|
Odometry.cpp
|
|
|
|
toro3d/posegraph3.cpp
|
|
toro3d/treeoptimizer3_iteration.cpp
|
|
toro3d/treeoptimizer3.cpp
|
|
|
|
sqlite3/sqlite3.c
|
|
)
|
|
|
|
SET(INCLUDE_DIRS
|
|
${PROJECT_SOURCE_DIR}/utilite/include
|
|
${CMAKE_CURRENT_SOURCE_DIR}/../include
|
|
${CMAKE_CURRENT_SOURCE_DIR}
|
|
${CMAKE_CURRENT_BINARY_DIR}
|
|
${OpenCV_INCLUDE_DIRS}
|
|
${PCL_INCLUDE_DIRS}
|
|
${ZLIB_INCLUDE_DIRS}
|
|
)
|
|
|
|
SET(LIBRARIES
|
|
${OpenCV_LIBS}
|
|
${PCL_LIBRARIES}
|
|
${ZLIB_LIBRARIES}
|
|
)
|
|
|
|
IF(Freenect_FOUND)
|
|
ADD_DEFINITIONS("-DWITH_FREENECT")
|
|
IF(Freenect_DASH_INCLUDES)
|
|
ADD_DEFINITIONS("-DFREENECT_DASH_INCLUDES")
|
|
ENDIF(Freenect_DASH_INCLUDES)
|
|
SET(INCLUDE_DIRS
|
|
${INCLUDE_DIRS}
|
|
${Freenect_INCLUDE_DIRS}
|
|
)
|
|
SET(LIBRARIES
|
|
${LIBRARIES}
|
|
${Freenect_LIBRARIES}
|
|
)
|
|
ENDIF(Freenect_FOUND)
|
|
|
|
IF(OpenNI2_FOUND)
|
|
ADD_DEFINITIONS("-DWITH_OPENNI2")
|
|
SET(INCLUDE_DIRS
|
|
${INCLUDE_DIRS}
|
|
${OpenNI2_INCLUDE_DIRS}
|
|
)
|
|
SET(LIBRARIES
|
|
${LIBRARIES}
|
|
${OpenNI2_LIBRARIES}
|
|
)
|
|
ENDIF(OpenNI2_FOUND)
|
|
|
|
####################################
|
|
# Generate resources files
|
|
####################################
|
|
SET(R
|
|
${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql
|
|
)
|
|
|
|
#replace semicolons by spaces
|
|
foreach(arg ${R})
|
|
set(RESOURCES "${RESOURCES}" "${arg}")
|
|
endforeach(arg ${R})
|
|
|
|
SET(RESOURCES_HEADERS
|
|
${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h
|
|
)
|
|
|
|
ADD_CUSTOM_COMMAND(
|
|
OUTPUT ${RESOURCES_HEADERS}
|
|
COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/uresourcegenerator -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
|
|
COMMENT "[Creating resources]"
|
|
DEPENDS ${R} uresourcegenerator
|
|
)
|
|
|
|
####################################
|
|
# Generate resources files END
|
|
####################################
|
|
|
|
add_definitions(${PCL_DEFINITIONS})
|
|
|
|
|
|
# Make sure the compiler can find include files from our library.
|
|
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
|
|
|
|
# Add binary that is built from the source file "main.cpp".
|
|
# The extension is automatically found.
|
|
ADD_LIBRARY(rtabmap_core ${SRC_FILES} ${RESOURCES_HEADERS})
|
|
TARGET_LINK_LIBRARIES(rtabmap_core rtabmap_utilite ${LIBRARIES})
|
|
|
|
INSTALL(TARGETS rtabmap_core
|
|
RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
|
|
LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel
|
|
ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel)
|
|
|
|
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/
|
|
DESTINATION "${INSTALL_INCLUDE_DIR}"
|
|
COMPONENT devel
|
|
FILES_MATCHING PATTERN "*.h"
|
|
PATTERN ".svn" EXCLUDE)
|
|
|