mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
106874845f
* update cuvslam api call to adhere to new v4.0 changes * update comment * parse cuvslam major version from the header and throw an error if theversion doesn't match the expected * moving average filter + extensive debug logging * lots more logs * improvement by turning off use_motion_model in cuvslam config. lots of debug logs. * slight improvements to velocity guard logic. lots of debug logs * removing debug logs. working. * let find_package_handle_standard_args handle the version comparison logic. Custom logic to handle newer then requested major version * proper warning message if the major version doesn't match * add back debug logs. Handle no guess transform case. * adding warnings when no guess transform is provided * clean up comments * lowering average window to 5 * moderate odometry mode, 5 value averaging window * adding comment * add reset logs to investigate reset issue * try returning guess or identity on init to avoid reset cascade * disable motion model again * big log when tracking * remove some debug logs * flag to use original covariance from cuVSLAM * use raw covariance * data collection for revised lost detection * compare guess to estimated transform for lost detection * re-enable motion model, it appears to reduce false-positives for the new lost detection * run pose estimation afer init on first frame * don't initialize if we don't have enough features * dont warm up GPU everytime we reset * low estimate velocity guard. Passes all challenges. Debug comments still everywhere. * Remove debug logs. Add thresholds to header in a config section. * Cleanup logs * exposing multi-cam mode as a rtabmap param * remove max frame delta * change to use assertion instead of conditional * replaced some UERROR by UWARN --------- Co-authored-by: Felix Toft <felix@robust.ai> Co-authored-by: matlabbe <matlabbe@gmail.com>
106 lines
4.3 KiB
CMake
106 lines
4.3 KiB
CMake
# - Find cuVSLAM library (https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam)
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#
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# CUVSLAM_ROOT_DIR environment variable can be set to find the library.
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#
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# It sets the following variables:
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# CUVSLAM_FOUND - Set to false, or undefined, if cuVSLAM isn't found.
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# CUVSLAM_VERSION - The version of cuVSLAM found (e.g., "14.0.0").
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# CUVSLAM_INCLUDE_DIRS - The cuVSLAM include directory.
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# CUVSLAM_LIBRARIES - The cuVSLAM library to link against.
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find_package(CUDA REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_path(CUVSLAM_INCLUDE_DIRS
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NAMES cuvslam.h
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PATHS
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/usr/include
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/usr/local/include
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/opt/cuvslam/include
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/opt/ros/humble/share/isaac_ros_nitros/cuvslam/include
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$ENV{CUVSLAM_ROOT}/include
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$ENV{CUVSLAM_ROOT_DIR}/include
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)
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find_library(CUVSLAM_LIBRARY
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NAMES cuvslam
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PATHS
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/usr/lib
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/usr/local/lib
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/opt/cuvslam/lib
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/opt/ros/humble/share/isaac_ros_nitros/cuvslam/lib
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$ENV{CUVSLAM_ROOT}/lib
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$ENV{CUVSLAM_ROOT_DIR}/lib
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)
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if(CUVSLAM_INCLUDE_DIRS AND CUVSLAM_LIBRARY)
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# Extract version from cuvslam.h header
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file(STRINGS "${CUVSLAM_INCLUDE_DIRS}/cuvslam.h" CUVSLAM_VERSION_MAJOR_LINE
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REGEX "^#define CUVSLAM_API_VERSION_MAJOR")
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file(STRINGS "${CUVSLAM_INCLUDE_DIRS}/cuvslam.h" CUVSLAM_VERSION_MINOR_LINE
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REGEX "^#define CUVSLAM_API_VERSION_MINOR")
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if(CUVSLAM_VERSION_MAJOR_LINE AND CUVSLAM_VERSION_MINOR_LINE)
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string(REGEX MATCH "[0-9]+" CUVSLAM_VERSION_MAJOR "${CUVSLAM_VERSION_MAJOR_LINE}")
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string(REGEX MATCH "[0-9]+" CUVSLAM_VERSION_MINOR "${CUVSLAM_VERSION_MINOR_LINE}")
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set(CUVSLAM_VERSION "${CUVSLAM_VERSION_MAJOR}.${CUVSLAM_VERSION_MINOR}.0")
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endif()
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set(CUVSLAM_LIBRARIES
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${CUVSLAM_LIBRARY}
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${CUDA_LIBRARIES}
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# Eigen3 is header-only, so we don't need to link to it
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)
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set(CUVSLAM_INCLUDE_DIRS
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${CUVSLAM_INCLUDE_DIRS}
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${CUDA_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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)
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endif()
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# Version compatibility check - cuVSLAM only guarantees API compatibility within the same major version
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set(CUVSLAM_VERSION_MISMATCH_REASON "")
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if(CuVSLAM_FIND_VERSION AND CUVSLAM_VERSION)
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string(REGEX MATCH "^[0-9]+" REQUESTED_MAJOR_VERSION "${CuVSLAM_FIND_VERSION}")
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if(NOT CUVSLAM_VERSION_MAJOR EQUAL REQUESTED_MAJOR_VERSION)
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set(CUVSLAM_VERSION_MISMATCH_REASON "Major version mismatch: found ${CUVSLAM_VERSION_MAJOR}.x but requested ${REQUESTED_MAJOR_VERSION}.x.\ncuVSLAM only guarantees API compatibility within the same major version.\nPlease install cuVSLAM ${REQUESTED_MAJOR_VERSION}.x or update CMakeLists.txt to request version ${CUVSLAM_VERSION_MAJOR}.0.0")
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if(CuVSLAM_FIND_REQUIRED)
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message(FATAL_ERROR
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"cuVSLAM major version mismatch: found version ${CUVSLAM_VERSION} but version ${CuVSLAM_FIND_VERSION} is required.\n"
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"cuVSLAM only guarantees API compatibility within the same major version.\n"
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"Found major version ${CUVSLAM_VERSION_MAJOR} is not compatible with requested major version ${REQUESTED_MAJOR_VERSION}.\n"
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"Please install cuVSLAM ${REQUESTED_MAJOR_VERSION}.x or update CMakeLists.txt to request version ${CUVSLAM_VERSION_MAJOR}.x."
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)
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else()
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# Clear the found variables to indicate incompatibility
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unset(CUVSLAM_LIBRARIES)
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unset(CUVSLAM_INCLUDE_DIRS)
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endif()
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endif()
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endif()
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# Handle the QUIET and REQUIRED arguments
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(CuVSLAM
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FOUND_VAR CUVSLAM_FOUND
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REQUIRED_VARS CUVSLAM_LIBRARIES CUVSLAM_INCLUDE_DIRS
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VERSION_VAR CUVSLAM_VERSION
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REASON_FAILURE_MESSAGE "${CUVSLAM_VERSION_MISMATCH_REASON}"
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HANDLE_COMPONENTS
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)
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if(CUVSLAM_FOUND)
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# Create imported target for modern CMake usage
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if(NOT TARGET cuvslam::cuvslam)
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add_library(cuvslam::cuvslam UNKNOWN IMPORTED)
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set_target_properties(cuvslam::cuvslam PROPERTIES
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IMPORTED_LOCATION "${CUVSLAM_LIBRARY}"
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INTERFACE_INCLUDE_DIRECTORIES "${CUVSLAM_INCLUDE_DIRS}"
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INTERFACE_LINK_LIBRARIES "${CUVSLAM_LIBRARIES};Eigen3::Eigen"
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)
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endif()
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endif()
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mark_as_advanced(CUVSLAM_INCLUDE_DIRS CUVSLAM_LIBRARY)
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