mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-08 20:40:21 +08:00
matlabbe
21dbeed4b7
* Added Odom Sensor option * Odom Sensor: Added pose time offset parameter * Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras) * Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib. * Fixed a warning * OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option. * FindG2O.cmake: updated path suffixes to find EXTERNAL csparse * Pose3GravityFactor: fixed dllimport error on windows * UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics(). * Removed vtkOutputWindow on Windows * Odom Sensor: added zed sdk support * bump version 0.20.11
128 lines
4.5 KiB
CMake
128 lines
4.5 KiB
CMake
#Pre-requisites: Look for csparse
|
|
FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h PATH_SUFFIXES suitesparse csparse EXTERNAL/suitesparse EXTERNAL/csparse g2o/EXTERNAL/suitesparse g2o/EXTERNAL/csparse
|
|
PATHS "C:\\Program Files\\g2o\\include\\EXTERNAL")
|
|
FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse g2o_ext_csparse
|
|
PATHS "C:\\Program Files\\g2o\\lib")
|
|
|
|
include(FindPackageHandleStandardArgs)
|
|
find_package_handle_standard_args(CSPARSE DEFAULT_MSG CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)
|
|
|
|
# chmold dependency
|
|
FIND_PATH(CHOLMOD_INCLUDE_DIR NAMES cholmod.h PATH_SUFFIXES suitesparse ufsparse
|
|
PATHS $ENV{CHOLMODDIR} ${INCLUDE_INSTALL_DIR} )
|
|
FIND_LIBRARY(CHOLMOD_LIB cholmod)
|
|
|
|
# G2O: Find the header files
|
|
|
|
FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h
|
|
PATHS "C:\\Program Files\\g2o\\include")
|
|
|
|
FIND_FILE(G2O_CONFIG_FILE g2o/config.h
|
|
PATHS ${G2O_INCLUDE_DIR}
|
|
NO_DEFAULT_PATH)
|
|
|
|
#ifdef G2O_NUMBER_FORMAT_STR
|
|
#define G2O_CPP11 // we assume that if G2O_NUMBER_FORMAT_STR is defined, this is the new g2o code with c++11 interface
|
|
#endif
|
|
|
|
# Macro to unify finding both the debug and release versions of the
|
|
# libraries; this is adapted from the rtabmap config
|
|
|
|
MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)
|
|
|
|
FIND_LIBRARY("${MYLIBRARY}_DEBUG"
|
|
NAMES "g2o_${MYLIBRARYNAME}_d"
|
|
PATHS "C:\\Program Files\\g2o\\lib")
|
|
|
|
FIND_LIBRARY(${MYLIBRARY}
|
|
NAMES "g2o_${MYLIBRARYNAME}"
|
|
PATHS "C:\\Program Files\\g2o\\lib")
|
|
|
|
IF(${MYLIBRARY}_DEBUG AND ${MYLIBRARY})
|
|
SET(${MYLIBRARY}
|
|
debug ${${MYLIBRARY}_DEBUG}
|
|
optimized ${${MYLIBRARY}}
|
|
)
|
|
ELSEIF(${MYLIBRARY}_DEBUG)
|
|
SET(${MYLIBRARY} ${${MYLIBRARY}_DEBUG})
|
|
ENDIF()
|
|
|
|
ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)
|
|
|
|
# Find the core elements
|
|
FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)
|
|
FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)
|
|
|
|
# Find the CLI library
|
|
FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)
|
|
|
|
# Find the pluggable solvers
|
|
FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)
|
|
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)
|
|
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)
|
|
FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)
|
|
FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)
|
|
FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)
|
|
FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)
|
|
FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)
|
|
|
|
# Find the predefined types
|
|
FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)
|
|
FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)
|
|
FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)
|
|
FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)
|
|
FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)
|
|
FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)
|
|
FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)
|
|
|
|
# G2O solvers declared found if we found at least one solver
|
|
SET(G2O_SOLVERS_FOUND "NO")
|
|
IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
|
|
SET(G2O_SOLVERS_FOUND "YES")
|
|
ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
|
|
|
|
# G2O itself declared found if we found the core libraries and at least one solver
|
|
SET(G2O_FOUND "NO")
|
|
IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_SOLVERS_FOUND)
|
|
SET(G2O_INCLUDE_DIRS ${G2O_INCLUDE_DIR})
|
|
SET(G2O_LIBRARIES
|
|
${G2O_CORE_LIBRARY}
|
|
${G2O_TYPES_SLAM2D}
|
|
${G2O_TYPES_SLAM3D}
|
|
${G2O_TYPES_SBA}
|
|
${G2O_STUFF_LIBRARY})
|
|
|
|
IF(CSPARSE_FOUND)
|
|
SET(G2O_INCLUDE_DIRS
|
|
${G2O_INCLUDE_DIRS}
|
|
${CSPARSE_INCLUDE_DIR})
|
|
SET(G2O_LIBRARIES
|
|
${G2O_LIBRARIES}
|
|
${G2O_SOLVER_CSPARSE}
|
|
${G2O_SOLVER_CSPARSE_EXTENSION}
|
|
${CSPARSE_LIBRARY})
|
|
ENDIF(CSPARSE_FOUND)
|
|
|
|
IF(G2O_SOLVER_CHOLMOD)
|
|
SET(G2O_INCLUDE_DIRS
|
|
${G2O_INCLUDE_DIRS}
|
|
${CHOLMOD_INCLUDE_DIR})
|
|
SET(G2O_LIBRARIES
|
|
${G2O_LIBRARIES}
|
|
${G2O_SOLVER_CHOLMOD}
|
|
${CHOLMOD_LIB})
|
|
ENDIF(G2O_SOLVER_CHOLMOD)
|
|
|
|
FILE(READ ${G2O_CONFIG_FILE} TMPTXT)
|
|
STRING(FIND "${TMPTXT}" "G2O_NUMBER_FORMAT_STR" matchres)
|
|
IF(${matchres} EQUAL -1)
|
|
MESSAGE(STATUS "Old g2o version detected with c++03 interface (config file: ${G2O_CONFIG_FILE}).")
|
|
SET(G2O_CPP11 0)
|
|
ELSE()
|
|
MESSAGE(WARNING "Latest g2o version detected with c++11 interface (config file: ${G2O_CONFIG_FILE}). Make sure g2o is built with \"-DBUILD_WITH_MARCH_NATIVE=OFF\" to avoid segmentation faults caused by Eigen.")
|
|
SET(G2O_CPP11 1)
|
|
ENDIF()
|
|
|
|
SET(G2O_FOUND "YES")
|
|
ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_SOLVERS_FOUND)
|