i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 18:47:48 +08:00
Code Issues Packages Projects Releases Wiki Activity
Files
49aa56661316470f03a92cc204a932d6d7a6394b
rtabmap/guilib/src/AboutDialog.cpp
T
matlabbe 018b804a46 Adding OpenGV as submodule (optional) and use Github actions for windows CI (#1656) 
* Adding OpenGV as submodule (optional)

* Remove submodule to migrate to FetchContent

* using FetchContent

* remove empty .gitmodules

* Fixing OpenGV not able to find eigen on windows

* patching opengv to adjust -march=native based on PCL

* fixing patching on windows

* eigen fix

* PR cancel on-going CI builds if new commit is added to PR

* try another approach

* updating patch with some logs

* more debug mesage

* fixing EIGEN_INCLUDE_DIR

* enable rolling_builds on appveyor

* removed rolling_builds appveyor

* fixing eigen cache

* test

* more debug logs

* another try

* cleanup

* updated appveyor to work with fetchcontent

* removed mkdir build (appveyor)

* appveyor: trying ninja to increase CI speed

* removed mkdr

* appveyor: spitting opengv and rtabmap builds to be under 60 min per job

* appveyor: caching dependencies

* using global configuration

* using baked image

* fixing wget in ps

* fixing not support for

* pip error

* reverted pip install

* fixed realsense cache

* fixing multi step build

* removing baked image

* typo

* Windows: Converted appveyor to github actions

* updated boost version

* fixing boost

* udpated  boost config

* boost...

* platform_version

* install boost directly

* silent boost install

* very silent boost

* fixing ls

* added boost install dir

* showing boost install dir

* moved windows dependencies in external action file

* explicitly save boost cache to same time on iterations

* pip install gdown

* update

* caching more deps

* caching all depts

* removed explicit boost cache save

* mscv 14.0

* forcing building visual studio 14 2015

* installing v12 in 2022 instead

* setup cmd prompt

* init right toolset

* fixing system version for opengv compilation error

* fixing package and artifact

* CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION

* removing cmd

* find manually psapi.lib

* resolve

* refactor psapi env

* forcing 10.0.19041.0

* using windows=2022 runner instead

* added vcpkg

* commenting windows-latest for now

* trying vcpkg instead

* search path

* updated path

* moved json

* removed deleted file for git

* adding a real version

* using version-string

* cleanup vcpkg

* building artifacts with vcpkg

* removed old windows build approach, added custom dependencies (gtsam, libpointmatcher) to vcpkg build

* udpated vcpkg version for issue https://github.com/microsoft/vcpkg/pull/49103

* try with minimal dep first

* disable opengv for now

* try vcpkg single compilation

* space

* updated link

* fixed qupote

* fixing cache name

* adding debug folder

* adjust path

* adjust path

* providing vcpkg binaries instead

* ident

* added triplet

* added BOOST_ROOT

* boost root

* boost root

* fixed path

* adding eigen headers

* try path

* cmake prefix path

* boost timer def

* libnabo fixes

* pointmatcher prefix

* disabling pointmathcer tests

* updated cmake parameters

* changed how file is downloaded

* trying curl instead

* puttoing backe InvokeWeb because it is a dropbox issue

* skipping optional deps for now

* ficing env variable

* triplet

* installing triplets

* not overriding default vcpkg env variables

* missing path

* manifet install off

* that was working locally

* missing protobuf path

* fixing tiff not found

* fixing vtk not found

* more vtk fixes

* another thy

* changing download url

* updated url

* try

* shoudl work now

* protobuf exe

* readding tiff

* explicit vcpkg installed folder

* missing commands

* try without tiff

* ficing vtk comple path

* -DPSAPI_LIBRARIES=Psapi.lib

* quoting

* fixing psapi required

* Set up MSVC Developer Command Prompt

* disabling pckaging for now

* openni.ini

* renabling packing

* Added stripped deps

* fix name

* updated binaries

* format

* updated opengv eigen path

* added tbb dep

* updatd archive name with vs version

* updated archive in action

* fixing patch error

* corrupted

* updated gtsam version / vcpkg

* removed appveyor. Set internal opengv build disabled by defaut (because build can be very long on some machines), will enable it inside the ros release branches instead.

* updated opengv patch

* gtsam mkl dep

* updated vcpkg binaries

* updated patches

* removed mkl dep

* missing eigen in gtsam dep

* disabling gtsam till we find a compatible version locally

* all working locally!

* removed ninja

* working python calls

* fixed hard symlink for python3.dll

* fixed qt missing png, fixed opengv not finding eigen with config, fixed python3.dll missing

* fixed flaoting dockwidget on start, removed cmd line window when launching bundled app

* use sub-packages cudnn

* Added cuda dev workflow

* fixed archive name

* Updated deps with pytorch cuda

* updating ci PATH

* fixing ci build without torch

* rename cuda artifacts

* cache cuda, add job to test internal opengv build

* Updated output artifacts zip name

* windows package: only zip on pull request

* Change USE_INTERNAL_OPENGV to BUILD_OPENGV

* use use-github-cache

* updated artifacts path
2026-03-15 14:57:27 -07:00

332 lines
12 KiB
C++
Raw Blame History

/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/gui/AboutDialog.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraStereo.h"
#include "rtabmap/core/Optimizer.h"
#include "ui_aboutDialog.h"
#include <opencv2/core/version.hpp>
#include <pcl/pcl_config.h>
#include <vtkVersion.h>
namespace rtabmap {
AboutDialog::AboutDialog(QWidget * parent) :
QDialog(parent)
{
_ui = new Ui_aboutDialog();
_ui->setupUi(this);
QString version = Parameters::getVersion().c_str();
QString cv_version = CV_VERSION;
#if CV_MAJOR_VERSION < 3
#ifdef RTABMAP_NONFREE
_ui->label_opencv_license->setText("Not Commercial [With nonfree module]");
#else
_ui->label_opencv_license->setText("BSD [Without nonfree module]");
#endif
#elif defined(HAVE_OPENCV_XFEATURES2D)
#ifdef RTABMAP_NONFREE
_ui->label_opencv_license->setText("Not Commercial [With xfeatures2d and nonfree modules]");
#else
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION<5)
_ui->label_opencv_license->setText("BSD [With xfeatures2d module]");
#else
_ui->label_opencv_license->setText("Apache 3 [With xfeatures2d module]");
#endif
#endif
#else
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION<5)
_ui->label_opencv_license->setText("BSD [Without xfeatures2d and nonfree modules]");
#else
_ui->label_opencv_license->setText("Apache 3 [Without xfeatures2d and nonfree modules]");
#endif
#endif
_ui->label_version->setText(version);
_ui->label_opencv_version->setText(cv_version);
_ui->label_pcl_version->setText(PCL_VERSION_PRETTY);
_ui->label_vtk_version->setText(vtkVersion::GetVTKVersion());
_ui->label_qt_version->setText(qVersion());
#ifdef RTABMAP_ORB_OCTREE
_ui->label_orboctree->setText("Yes");
_ui->label_orboctree_license->setEnabled(true);
#else
_ui->label_orboctree->setText("No");
_ui->label_orboctree_license->setEnabled(false);
#endif
#ifdef RTABMAP_TORCH
_ui->label_sptorch->setText("Yes");
_ui->label_sptorch_license->setEnabled(true);
#else
_ui->label_sptorch->setText("No");
_ui->label_sptorch_license->setEnabled(false);
#endif
#if defined(RTABMAP_TORCH) && defined(RTABMAP_PYTHON)
_ui->label_sprpautrat->setText("Yes");
_ui->label_sprpautrat_license->setEnabled(true);
#else
_ui->label_sprpautrat->setText("No");
_ui->label_sprpautrat_license->setEnabled(false);
#endif
#ifdef RTABMAP_PYTHON
_ui->label_pymatcher->setText("Yes");
_ui->label_pymatcher_license->setEnabled(true);
#else
_ui->label_pymatcher->setText("No");
_ui->label_pymatcher_license->setEnabled(false);
#endif
#ifdef RTABMAP_FASTCV
_ui->label_fastcv->setText("Yes");
_ui->label_fastcv_license->setEnabled(true);
#else
_ui->label_fastcv->setText("No");
_ui->label_fastcv_license->setEnabled(false);
#endif
#ifdef RTABMAP_PDAL
_ui->label_pdal->setText("Yes");
_ui->label_pdal_license->setEnabled(true);
#else
_ui->label_pdal->setText("No");
_ui->label_pdal_license->setEnabled(false);
#endif
#ifdef RTABMAP_LIBLAS
_ui->label_liblas->setText("Yes");
_ui->label_liblas_license->setEnabled(true);
#else
_ui->label_liblas->setText("No");
_ui->label_liblas_license->setEnabled(false);
#endif
#ifdef RTABMAP_OPENGV
_ui->label_opengv->setText("Yes");
_ui->label_opengv_license->setEnabled(true);
#else
_ui->label_opengv->setText("No");
_ui->label_opengv_license->setEnabled(false);
#endif
#ifdef RTABMAP_CUDASIFT
_ui->label_cudasift->setText("Yes");
_ui->label_cudasift_license->setEnabled(true);
#else
_ui->label_cudasift->setText("No");
_ui->label_cudasift_license->setEnabled(false);
#endif
#ifdef RTABMAP_OCTOMAP
_ui->label_octomap->setText("Yes");
_ui->label_octomap_license->setEnabled(true);
#else
_ui->label_octomap->setText("No");
_ui->label_octomap_license->setEnabled(false);
#endif
#ifdef RTABMAP_GRIDMAP
_ui->label_gridmap->setText("Yes");
_ui->label_gridmap_license->setEnabled(true);
#else
_ui->label_gridmap->setText("No");
_ui->label_gridmap_license->setEnabled(false);
#endif
#ifdef RTABMAP_CPUTSDF
_ui->label_cputsdf->setText("Yes");
_ui->label_cputsdf_license->setEnabled(true);
#else
_ui->label_cputsdf->setText("No");
_ui->label_cputsdf_license->setEnabled(false);
#endif
#ifdef RTABMAP_OPENCHISEL
_ui->label_openchisel->setText("Yes");
#else
_ui->label_openchisel->setText("No");
#endif
#ifdef RTABMAP_ALICE_VISION
_ui->label_aliceVision->setText("Yes");
_ui->label_aliceVision_license->setEnabled(true);
#else
_ui->label_aliceVision->setText("No");
_ui->label_aliceVision_license->setEnabled(false);
#endif
_ui->label_freenect->setText(CameraFreenect::available()?"Yes":"No");
_ui->label_freenect_license->setEnabled(CameraFreenect::available());
_ui->label_openni->setText(CameraOpenni::available()?"Yes":"No");
_ui->label_openni_license->setEnabled(CameraOpenni::available());
_ui->label_openni2->setText(CameraOpenNI2::available()?"Yes":"No");
_ui->label_openni2_license->setEnabled(CameraOpenNI2::available());
_ui->label_freenect2->setText(CameraFreenect2::available()?"Yes":"No");
_ui->label_freenect2_license->setEnabled(CameraFreenect2::available());
_ui->label_realsense->setText(CameraRealSense::available() ? "Yes" : "No");
_ui->label_realsense_license->setEnabled(CameraRealSense::available());
_ui->label_realsense2->setText(CameraRealSense2::available() ? "Yes" : "No");
_ui->label_realsense2_license->setEnabled(CameraRealSense2::available());
_ui->label_dc1394->setText(CameraStereoDC1394::available()?"Yes":"No");
_ui->label_dc1394_license->setEnabled(CameraStereoDC1394::available());
_ui->label_flycapture2->setText(CameraStereoFlyCapture2::available()?"Yes":"No");
_ui->label_zed->setText(CameraStereoZed::available()?"Yes":"No");
_ui->label_zedOC->setText(CameraStereoZedOC::available()?"Yes":"No");
_ui->label_zedOC_license->setEnabled(CameraStereoZedOC::available());
_ui->label_k4w2->setText(CameraK4W2::available() ? "Yes" : "No");
_ui->label_k4a->setText(CameraK4A::available() ? "Yes" : "No");
_ui->label_mynteye->setText(CameraMyntEye::available() ? "Yes" : "No");
_ui->label_depthai->setText(CameraDepthAI::available() ? "Yes" : "No");
_ui->label_depthai_license->setEnabled(CameraDepthAI::available());
_ui->label_xvsdk->setText(CameraSeerSense::available() ? "Yes" : "No");
_ui->label_orbbec_sdk->setText(CameraOrbbecSDK::available() ? "Yes" : "No");
_ui->label_orbbec_sdk_license->setEnabled(CameraOrbbecSDK::available());
_ui->label_toro->setText(Optimizer::isAvailable(Optimizer::kTypeTORO)?"Yes":"No");
_ui->label_toro_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeTORO)?true:false);
_ui->label_g2o->setText(Optimizer::isAvailable(Optimizer::kTypeG2O)?"Yes":"No");
_ui->label_g2o_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeG2O)?true:false);
_ui->label_gtsam->setText(Optimizer::isAvailable(Optimizer::kTypeGTSAM)?"Yes":"No");
_ui->label_gtsam_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeGTSAM)?true:false);
_ui->label_cvsba->setText(Optimizer::isAvailable(Optimizer::kTypeCVSBA)?"Yes":"No");
_ui->label_cvsba_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeCVSBA)?true:false);
_ui->label_ceres->setText(Optimizer::isAvailable(Optimizer::kTypeCeres)?"Yes":"No");
_ui->label_ceres_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeCeres)?true:false);
#ifdef RTABMAP_MRPT
_ui->label_mrpt->setText("Yes");
_ui->label_mrpt_license->setEnabled(true);
#else
_ui->label_mrpt->setText("No");
_ui->label_mrpt_license->setEnabled(false);
#endif
#ifdef RTABMAP_POINTMATCHER
_ui->label_libpointmatcher->setText("Yes");
_ui->label_libpointmatcher_license->setEnabled(true);
#else
_ui->label_libpointmatcher->setText("No");
_ui->label_libpointmatcher_license->setEnabled(false);
#endif
#ifdef RTABMAP_CCCORELIB
_ui->label_cccorelib->setText("Yes");
_ui->label_cccorelib_license->setEnabled(true);
#else
_ui->label_cccorelib->setText("No");
_ui->label_cccorelib_license->setEnabled(false);
#endif
#ifdef RTABMAP_OPEN3D
_ui->label_open3d->setText("Yes");
_ui->label_open3d_license->setEnabled(true);
#else
_ui->label_open3d->setText("No");
_ui->label_open3d_license->setEnabled(false);
#endif
#ifdef RTABMAP_FOVIS
_ui->label_fovis->setText("Yes");
_ui->label_fovis_license->setEnabled(true);
#else
_ui->label_fovis->setText("No");
_ui->label_fovis_license->setEnabled(false);
#endif
#ifdef RTABMAP_VISO2
_ui->label_viso2->setText("Yes");
_ui->label_viso2_license->setEnabled(true);
#else
_ui->label_viso2->setText("No");
_ui->label_viso2_license->setEnabled(false);
#endif
#ifdef RTABMAP_DVO
_ui->label_dvo->setText("Yes");
_ui->label_dvo_license->setEnabled(true);
#else
_ui->label_dvo->setText("No");
_ui->label_dvo_license->setEnabled(false);
#endif
#ifdef RTABMAP_ORB_SLAM
#if RTABMAP_ORB_SLAM == 3
_ui->label_orbslam_title->setText("With ORB SLAM3 :");
#elif RTABMAP_ORB_SLAM == 2
_ui->label_orbslam_title->setText("With ORB SLAM2 :");
#endif
_ui->label_orbslam->setText("Yes");
_ui->label_orbslam_license->setEnabled(true);
#else
_ui->label_orbslam->setText("No");
_ui->label_orbslam_license->setEnabled(false);
#endif
#ifdef RTABMAP_OKVIS
_ui->label_okvis->setText("Yes");
_ui->label_okvis_license->setEnabled(true);
#else
_ui->label_okvis->setText("No");
_ui->label_okvis_license->setEnabled(false);
#endif
#ifdef RTABMAP_LOAM
_ui->label_loam->setText("Yes");
_ui->label_loam_license->setEnabled(true);
#else
_ui->label_loam->setText("No");
_ui->label_loam_license->setEnabled(false);
#endif
#ifdef RTABMAP_MSCKF_VIO
_ui->label_msckf->setText("Yes");
_ui->label_msckf_license->setEnabled(true);
#else
_ui->label_msckf->setText("No");
_ui->label_msckf_license->setEnabled(false);
#endif
#ifdef RTABMAP_VINS_FUSION
_ui->label_vins_fusion->setText("Yes");
_ui->label_vins_fusion_license->setEnabled(true);
#else
_ui->label_vins_fusion->setText("No");
_ui->label_vins_fusion_license->setEnabled(false);
#endif
#ifdef RTABMAP_OPENVINS
_ui->label_openvins->setText("Yes");
_ui->label_openvins_license->setEnabled(true);
#else
_ui->label_openvins->setText("No");
_ui->label_openvins_license->setEnabled(false);
#endif
#ifdef RTABMAP_CUVSLAM
_ui->label_cuvslam->setText("Yes");
_ui->label_cuvslam_license->setEnabled(true);
#else
_ui->label_cuvslam->setText("No");
_ui->label_cuvslam_license->setEnabled(false);
#endif
}
AboutDialog::~AboutDialog()
{
delete _ui;
}
}
Reference in New Issue View Git Blame Copy Permalink