mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
5943a8b065
* Integrated OpenGV * Fixed build without opengv * Cmake: moved OpenGV dependency status under solvers group * Added multi-stereocamera models support * Fixed OpenGV 0 sample error when one of the camera doesn't have features. Fixed g2o BA id offset with multi-camera. * Fixed multicam 3d points generated from stereo correspondences * db: Fixed multi stereo models not loaded correctly * gui: fixed stereo rectification option, RegVis: fixed projection error with old databases (image size not set in calibration) * OdomF2M: Fixed map.at error when bundle adjustment is not used * depthai: added imu firmware update option for convenience * Fixed various refactor errors * Moved "large number stereo correspondences rejected" warning outside computeCorrespondences function for multicam * Added error log if ba correspondences are computed with empty signatures * fixed compilation errors with latest opencv Co-authored-by: mathieu86 <mathieu@robust.ai>
792 lines
16 KiB
CMake
792 lines
16 KiB
CMake
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SET(SRC_FILES
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Rtabmap.cpp
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RtabmapThread.cpp
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Statistics.cpp
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Memory.cpp
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DBDriver.cpp
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DBDriverSqlite3.cpp
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DBReader.cpp
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Recovery.cpp
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Camera.cpp
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CameraThread.cpp
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CameraModel.cpp
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camera/CameraFreenect.cpp
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camera/CameraFreenect2.cpp
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camera/CameraImages.cpp
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camera/CameraK4W2.cpp
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camera/CameraK4A.cpp
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camera/CameraOpenni.cpp
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camera/CameraOpenNI2.cpp
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camera/CameraOpenNICV.cpp
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camera/CameraRealSense.cpp
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camera/CameraRealSense2.cpp
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camera/CameraRGBDImages.cpp
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camera/CameraStereoDC1394.cpp
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camera/CameraStereoFlyCapture2.cpp
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camera/CameraStereoImages.cpp
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camera/CameraStereoVideo.cpp
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camera/CameraStereoZed.cpp
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camera/CameraStereoZedOC.cpp
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camera/CameraStereoTara.cpp
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camera/CameraVideo.cpp
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camera/CameraMyntEye.cpp
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camera/CameraDepthAI.cpp
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EpipolarGeometry.cpp
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VisualWord.cpp
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VWDictionary.cpp
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BayesFilter.cpp
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Parameters.cpp
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Signature.cpp
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Features2d.cpp
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Transform.cpp
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GeodeticCoords.cpp
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util2d.cpp
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util3d.cpp
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util3d_filtering.cpp
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util3d_mapping.cpp
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util3d_transforms.cpp
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util3d_registration.cpp
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util3d_surface.cpp
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util3d_features.cpp
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util3d_correspondences.cpp
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util3d_motion_estimation.cpp
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SensorData.cpp
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Graph.cpp
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Compression.cpp
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Link.cpp
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LaserScan.cpp
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Optimizer.cpp
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optimizer/OptimizerTORO.cpp
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optimizer/OptimizerG2O.cpp
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optimizer/OptimizerGTSAM.cpp
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optimizer/OptimizerCVSBA.cpp
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optimizer/OptimizerCeres.cpp
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Registration.cpp
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RegistrationIcp.cpp
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RegistrationVis.cpp
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Odometry.cpp
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OdometryThread.cpp
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odometry/OdometryF2M.cpp
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odometry/OdometryMono.cpp
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odometry/OdometryF2F.cpp
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odometry/OdometryFovis.cpp
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odometry/OdometryViso2.cpp
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odometry/OdometryDVO.cpp
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odometry/OdometryOkvis.cpp
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odometry/OdometryORBSLAM.cpp
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odometry/OdometryLOAM.cpp
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odometry/OdometryFLOAM.cpp
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odometry/OdometryMSCKF.cpp
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odometry/OdometryVINS.cpp
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odometry/OdometryOpenVINS.cpp
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odometry/OdometryOpen3D.cpp
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IMU.cpp
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IMUThread.cpp
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IMUFilter.cpp
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imufilter/ComplementaryFilter.cpp
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Stereo.cpp
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StereoDense.cpp
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StereoCameraModel.cpp
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stereo/StereoBM.cpp
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stereo/StereoSGBM.cpp
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OccupancyGrid.cpp
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MarkerDetector.cpp
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GainCompensator.cpp
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rtflann/ext/lz4.c
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rtflann/ext/lz4hc.c
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FlannIndex.cpp
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#clams stuff
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clams/discrete_depth_distortion_model_helpers.cpp
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clams/discrete_depth_distortion_model.cpp
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clams/frame_projector.cpp
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clams/slam_calibrator.cpp
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opencv/ORBextractor.cc
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opencv/solvepnp.cpp
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opencv/five-point.cpp
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)
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IF(OpenCV_VERSION_MAJOR EQUAL 2)
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SET(SRC_FILES
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${SRC_FILES}
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opencv/Orb.cpp
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)
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ENDIF(OpenCV_VERSION_MAJOR EQUAL 2)
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# to get includes in visual studio
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IF(MSVC)
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FILE(GLOB HEADERS
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../include/${PROJECT_PREFIX}/core/*.h
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)
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SET(SRC_FILES ${SRC_FILES} ${HEADERS})
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ENDIF(MSVC)
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SET(INCLUDE_DIRS
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${CMAKE_CURRENT_BINARY_DIR}/../include
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${PROJECT_SOURCE_DIR}/utilite/include
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${CMAKE_CURRENT_SOURCE_DIR}/../include
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${CMAKE_CURRENT_SOURCE_DIR}
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${CMAKE_CURRENT_BINARY_DIR}
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${OpenCV_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${ZLIB_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${OpenCV_LIBS}
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${PCL_LIBRARIES}
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${ZLIB_LIBRARIES}
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)
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IF(Sqlite3_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${Sqlite3_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${Sqlite3_LIBRARIES}
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)
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ELSE()
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SET(SRC_FILES
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${SRC_FILES}
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sqlite3/sqlite3.c
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)
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SET(INCLUDE_DIRS
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${CMAKE_CURRENT_SOURCE_DIR}/sqlite3
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${INCLUDE_DIRS}
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)
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ENDIF()
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IF(TORCH_FOUND)
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SET(LIBRARIES
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${LIBRARIES}
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${TORCH_LIBRARIES}
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)
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SET(SRC_FILES
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${SRC_FILES}
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superpoint_torch/SuperPoint.cc
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)
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SET(INCLUDE_DIRS
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${TORCH_INCLUDE_DIRS}
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${CMAKE_CURRENT_SOURCE_DIR}/superpoint_torch
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${INCLUDE_DIRS}
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)
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ENDIF(TORCH_FOUND)
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IF(WITH_PYTHON AND Python3_FOUND)
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SET(LIBRARIES
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${LIBRARIES}
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Python3::Python
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Python3::NumPy
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)
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SET(SRC_FILES
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${SRC_FILES}
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python/PythonInterface.cpp
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python/PyMatcher.cpp
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python/PyDetector.cpp
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)
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SET(INCLUDE_DIRS
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${TORCH_INCLUDE_DIRS}
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${CMAKE_CURRENT_SOURCE_DIR}/python
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${INCLUDE_DIRS}
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)
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ENDIF(WITH_PYTHON AND Python3_FOUND)
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IF(Freenect_FOUND)
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IF(Freenect_DASH_INCLUDES)
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ADD_DEFINITIONS("-DFREENECT_DASH_INCLUDES")
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ENDIF(Freenect_DASH_INCLUDES)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${Freenect_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${Freenect_LIBRARIES}
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)
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ENDIF(Freenect_FOUND)
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IF(OpenNI2_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${OpenNI2_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${OpenNI2_LIBRARIES}
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)
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ENDIF(OpenNI2_FOUND)
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IF(freenect2_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${freenect2_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${freenect2_LIBRARIES}
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)
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ENDIF(freenect2_FOUND)
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IF(KinectSDK2_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${KinectSDK2_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${KinectSDK2_LIBRARIES}
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)
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ENDIF(KinectSDK2_FOUND)
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IF(k4a_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${k4a_INCLUDE_DIRS}
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)
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IF(WIN32)
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SET(LIBRARIES
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${LIBRARIES}
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${k4a_LIBRARIES}
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)
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ELSE()
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SET(LIBRARIES
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${LIBRARIES}
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k4a::k4a
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k4a::k4arecord
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)
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ENDIF()
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ENDIF(k4a_FOUND)
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IF(RealSense_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${RealSense_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${RealSense_LIBRARIES}
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)
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ENDIF(RealSense_FOUND)
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IF(realsense2_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${realsense2_INCLUDE_DIRS}
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)
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IF(WIN32)
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SET(LIBRARIES
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${LIBRARIES}
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${RealSense2_LIBRARIES}
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)
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ELSEIF(APPLE)
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SET(LIBRARIES
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${LIBRARIES}
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${realsense2_LIBRARIES}
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)
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ELSE()
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SET(LIBRARIES
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${LIBRARIES}
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realsense2::realsense2 # target
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)
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ENDIF()
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ENDIF(realsense2_FOUND)
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IF(DC1394_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${DC1394_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${DC1394_LIBRARIES}
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)
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ENDIF(DC1394_FOUND)
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IF(FlyCapture2_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${FlyCapture2_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${FlyCapture2_LIBRARIES}
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)
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ENDIF(FlyCapture2_FOUND)
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IF(mynteye_FOUND)
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SET(LIBRARIES
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${LIBRARIES}
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mynteye # target
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)
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ENDIF(mynteye_FOUND)
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IF(depthai_FOUND)
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SET(LIBRARIES
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${LIBRARIES}
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depthai::core
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depthai::opencv
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)
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ENDIF(depthai_FOUND)
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IF(TARGET OpenMP::OpenMP_CXX)
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SET(LIBRARIES
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${LIBRARIES}
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OpenMP::OpenMP_CXX
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)
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ENDIF(TARGET OpenMP::OpenMP_CXX)
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IF(WITH_TORO)
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SET(SRC_FILES
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${SRC_FILES}
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optimizer/toro3d/posegraph3.cpp
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optimizer/toro3d/treeoptimizer3_iteration.cpp
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optimizer/toro3d/treeoptimizer3.cpp
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optimizer/toro3d/posegraph2.cpp
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optimizer/toro3d/treeoptimizer2.cpp
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)
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ENDIF(WITH_TORO)
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IF(G2O_FOUND)
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IF(g2o_FOUND)
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SET(LIBRARIES ${LIBRARIES}
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g2o::core
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g2o::solver_eigen
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g2o::solver_pcg
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g2o::types_slam2d
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g2o::types_slam3d
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g2o::types_sba)
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IF(TARGET g2o::solver_csparse)
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SET(LIBRARIES ${LIBRARIES}
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g2o::solver_csparse
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g2o::csparse_extension)
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ENDIF(TARGET g2o::solver_csparse)
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IF(TARGET g2o::solver_cholmod)
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SET(LIBRARIES ${LIBRARIES}
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g2o::solver_cholmod)
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ENDIF(TARGET g2o::solver_cholmod)
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ELSE()
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${G2O_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${G2O_LIBRARIES}
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)
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ENDIF()
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IF(WITH_VERTIGO)
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SET(SRC_FILES ${SRC_FILES}
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optimizer/vertigo/g2o/edge_se2Switchable.cpp
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optimizer/vertigo/g2o/edge_se3Switchable.cpp
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optimizer/vertigo/g2o/edge_switchPrior.cpp
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optimizer/vertigo/g2o/types_g2o_robust.cpp
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optimizer/vertigo/g2o/vertex_switchLinear.cpp
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)
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ENDIF(WITH_VERTIGO)
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ENDIF(G2O_FOUND)
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IF(cvsba_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${cvsba_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${cvsba_LIBS}
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)
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ENDIF(cvsba_FOUND)
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IF(WITH_CERES AND CERES_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${CERES_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${CERES_LIBRARIES}
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)
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ENDIF(WITH_CERES AND CERES_FOUND)
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IF(libpointmatcher_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${libpointmatcher_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${libpointmatcher_LIBRARIES}
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)
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ENDIF(libpointmatcher_FOUND)
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IF(CCCoreLib_FOUND)
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SET(LIBRARIES
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${LIBRARIES}
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CCCoreLib::CCCoreLib
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)
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ENDIF(CCCoreLib_FOUND)
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IF(Open3D_FOUND)
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SET(LIBRARIES
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${LIBRARIES}
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Open3D::Open3D
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)
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ENDIF(Open3D_FOUND)
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IF(FastCV_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${FastCV_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${FastCV_LIBRARIES}
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)
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ENDIF(FastCV_FOUND)
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|
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IF(opengv_FOUND)
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SET(LIBRARIES
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${LIBRARIES}
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opengv
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)
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ENDIF(opengv_FOUND)
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|
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IF(PDAL_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${PDAL_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${PDAL_LIBRARIES}
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)
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SET(SRC_FILES
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${SRC_FILES}
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PDALWriter.cpp
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)
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IF(PDAL_VERSION VERSION_LESS "1.7")
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add_definitions("-DRTABMAP_PDAL_16")
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ENDIF(PDAL_VERSION VERSION_LESS "1.7")
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ENDIF(PDAL_FOUND)
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IF(loam_velodyne_FOUND)
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|
SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${loam_velodyne_INCLUDE_DIRS}
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|
)
|
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SET(LIBRARIES
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${LIBRARIES}
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${loam_velodyne_LIBRARIES}
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|
)
|
|
ENDIF(loam_velodyne_FOUND)
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|
|
|
IF(floam_FOUND)
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|
SET(INCLUDE_DIRS
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|
${INCLUDE_DIRS}
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|
${floam_INCLUDE_DIRS}
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|
)
|
|
SET(LIBRARIES
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|
${LIBRARIES}
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|
${floam_LIBRARIES}
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|
)
|
|
ENDIF(floam_FOUND)
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|
|
|
IF(ZED_FOUND)
|
|
SET(INCLUDE_DIRS
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|
${INCLUDE_DIRS}
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|
${ZED_INCLUDE_DIRS}
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|
)
|
|
SET(LIBRARIES
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|
${LIBRARIES}
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${ZED_LIBRARIES}
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|
)
|
|
IF(CUDA_FOUND)
|
|
SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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|
${CUDA_INCLUDE_DIRS}
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|
)
|
|
SET(LIBRARIES
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${LIBRARIES}
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${CUDA_LIBRARIES}
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)
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|
ENDIF(CUDA_FOUND)
|
|
ENDIF(ZED_FOUND)
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|
|
|
IF(ZEDOC_FOUND)
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SET(INCLUDE_DIRS
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|
${INCLUDE_DIRS}
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|
${ZEDOC_INCLUDE_DIRS}
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|
${HIDAPI_INCLUDE_DIRS}
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|
)
|
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SET(LIBRARIES
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${LIBRARIES}
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${ZEDOC_LIBRARIES}
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${HIDAPI_LIBRARIES}
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|
)
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ENDIF(ZEDOC_FOUND)
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|
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IF(octomap_FOUND)
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|
SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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|
${OCTOMAP_INCLUDE_DIRS}
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|
)
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SET(LIBRARIES
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${LIBRARIES}
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${OCTOMAP_LIBRARIES}
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)
|
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SET(SRC_FILES
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${SRC_FILES}
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OctoMap.cpp
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|
)
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|
ENDIF(octomap_FOUND)
|
|
|
|
IF(AliceVision_FOUND)
|
|
SET(LIBRARIES
|
|
${LIBRARIES}
|
|
aliceVision_mesh
|
|
aliceVision_sfmDataIO)
|
|
ENDIF(AliceVision_FOUND)
|
|
|
|
IF(libfovis_FOUND)
|
|
SET(INCLUDE_DIRS
|
|
${INCLUDE_DIRS}
|
|
${libfovis_INCLUDE_DIRS}
|
|
)
|
|
SET(LIBRARIES
|
|
${LIBRARIES}
|
|
${libfovis_LIBRARIES}
|
|
)
|
|
ENDIF(libfovis_FOUND)
|
|
|
|
IF(libviso2_FOUND)
|
|
SET(INCLUDE_DIRS
|
|
${INCLUDE_DIRS}
|
|
${libviso2_INCLUDE_DIRS}
|
|
)
|
|
SET(LIBRARIES
|
|
${LIBRARIES}
|
|
${libviso2_LIBRARIES}
|
|
)
|
|
ENDIF(libviso2_FOUND)
|
|
|
|
IF(dvo_core_FOUND)
|
|
SET(INCLUDE_DIRS
|
|
${INCLUDE_DIRS}
|
|
${dvo_core_INCLUDE_DIRS}
|
|
)
|
|
SET(LIBRARIES
|
|
${LIBRARIES}
|
|
${dvo_core_LIBRARIES}
|
|
)
|
|
ENDIF(dvo_core_FOUND)
|
|
|
|
IF(okvis_FOUND)
|
|
SET(INCLUDE_DIRS
|
|
${OKVIS_INCLUDE_DIRS}
|
|
${BRISK_INCLUDE_DIRS}
|
|
${OPENGV_INCLUDE_DIRS}
|
|
${CERES_INCLUDE_DIRS}
|
|
${INCLUDE_DIRS}
|
|
)
|
|
SET(LIBRARIES
|
|
${OKVIS_LIBRARIES}
|
|
${BRISK_LIBRARIES}
|
|
${OPENGV_LIBRARIES}
|
|
${CERES_LIBRARIES}
|
|
${LIBRARIES}
|
|
)
|
|
ENDIF(okvis_FOUND)
|
|
|
|
IF(msckf_vio_FOUND)
|
|
SET(INCLUDE_DIRS
|
|
${msckf_vio_INCLUDE_DIRS}
|
|
${INCLUDE_DIRS}
|
|
)
|
|
SET(LIBRARIES
|
|
${msckf_vio_LIBRARIES}
|
|
${LIBRARIES}
|
|
)
|
|
ENDIF(msckf_vio_FOUND)
|
|
|
|
IF(vins_FOUND)
|
|
SET(INCLUDE_DIRS
|
|
${vins_INCLUDE_DIRS}
|
|
${INCLUDE_DIRS}
|
|
)
|
|
SET(LIBRARIES
|
|
${vins_LIBRARIES}
|
|
${LIBRARIES}
|
|
)
|
|
ENDIF(vins_FOUND)
|
|
|
|
IF(ov_msckf_FOUND)
|
|
SET(INCLUDE_DIRS
|
|
${ov_msckf_INCLUDE_DIRS}
|
|
${INCLUDE_DIRS}
|
|
)
|
|
SET(LIBRARIES
|
|
${ov_msckf_LIBRARIES}
|
|
${LIBRARIES}
|
|
)
|
|
ENDIF(ov_msckf_FOUND)
|
|
|
|
IF(ORB_SLAM_FOUND)
|
|
SET(INCLUDE_DIRS
|
|
${ORB_SLAM_INCLUDE_DIRS} #before so that g2o includes are taken from ORB_SLAM directory before the official g2o one
|
|
${INCLUDE_DIRS}
|
|
)
|
|
SET(LIBRARIES
|
|
${ORB_SLAM_LIBRARIES}
|
|
${LIBRARIES}
|
|
)
|
|
ENDIF(ORB_SLAM_FOUND)
|
|
|
|
IF(GTSAM_FOUND)
|
|
# Make sure GTSAM is built with system Eigen, not the included one in its package
|
|
IF(GTSAM_INCLUDE_DIR)
|
|
SET(INCLUDE_DIRS
|
|
${INCLUDE_DIRS}
|
|
${GTSAM_INCLUDE_DIR}
|
|
)
|
|
ELSE()
|
|
SET(INCLUDE_DIRS
|
|
${INCLUDE_DIRS}
|
|
${GTSAM_INCLUDE_DIRS}
|
|
)
|
|
ENDIF()
|
|
SET(SRC_FILES
|
|
${SRC_FILES}
|
|
optimizer/gtsam/GravityFactor.cpp
|
|
)
|
|
IF(WIN32)
|
|
# GTSAM should be built in STATIC on Windows to avoid "error C2338: THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS" when building GTSAM
|
|
add_definitions("-DGTSAM_IMPORT_STATIC")
|
|
ENDIF(WIN32)
|
|
SET(LIBRARIES
|
|
${LIBRARIES}
|
|
gtsam # Windows: Place static libs at the end
|
|
)
|
|
ENDIF(GTSAM_FOUND)
|
|
|
|
IF(WITH_MADGWICK)
|
|
SET(SRC_FILES
|
|
${SRC_FILES}
|
|
imufilter/MadgwickFilter.cpp
|
|
)
|
|
ENDIF(WITH_MADGWICK)
|
|
|
|
####################################
|
|
# Generate resources files
|
|
####################################
|
|
CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql.in ${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql)
|
|
|
|
SET(RESOURCES
|
|
${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql
|
|
${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_18_3.sql
|
|
${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_18_0.sql
|
|
${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_17_0.sql
|
|
${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_16_2.sql
|
|
${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_16_1.sql
|
|
${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_16_0.sql
|
|
)
|
|
|
|
foreach(arg ${RESOURCES})
|
|
get_filename_component(filename ${arg} NAME)
|
|
string(REPLACE "." "_" output ${filename})
|
|
set(RESOURCES_HEADERS "${RESOURCES_HEADERS}" "${CMAKE_CURRENT_BINARY_DIR}/${output}.h")
|
|
endforeach(arg ${RESOURCES})
|
|
|
|
#MESSAGE(STATUS "RESOURCES = ${RESOURCES}")
|
|
#MESSAGE(STATUS "RESOURCES_HEADERS = ${RESOURCES_HEADERS}")
|
|
|
|
IF(ANDROID OR IOS)
|
|
|
|
IF(NOT RTABMAP_RES_TOOL)
|
|
find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool PATHS ${PROJECT_BINARY_DIR}/../bin)
|
|
IF(NOT RTABMAP_RES_TOOL)
|
|
MESSAGE( FATAL_ERROR "RTABMAP_RES_TOOL is not defined (it is the path to \"rtabmap-res_tool\" application created by a non-Android build)." )
|
|
ENDIF(NOT RTABMAP_RES_TOOL)
|
|
ENDIF(NOT RTABMAP_RES_TOOL)
|
|
|
|
ADD_CUSTOM_COMMAND(
|
|
OUTPUT ${RESOURCES_HEADERS}
|
|
COMMAND ${RTABMAP_RES_TOOL} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
|
|
COMMENT "[Creating resources]"
|
|
DEPENDS ${RESOURCES}
|
|
)
|
|
ELSE()
|
|
ADD_CUSTOM_COMMAND(
|
|
OUTPUT ${RESOURCES_HEADERS}
|
|
COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/rtabmap-res_tool -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
|
|
COMMENT "[Creating resources]"
|
|
DEPENDS ${RESOURCES} res_tool
|
|
)
|
|
ENDIF()
|
|
|
|
####################################
|
|
# Generate resources files END
|
|
####################################
|
|
|
|
add_definitions(${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})
|
|
|
|
SET_TARGET_PROPERTIES(
|
|
rtabmap_core
|
|
PROPERTIES
|
|
VERSION ${RTABMAP_VERSION}
|
|
SOVERSION ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}
|
|
)
|
|
|
|
INSTALL(TARGETS rtabmap_core
|
|
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
|
|
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel
|
|
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel)
|
|
|
|
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/
|
|
DESTINATION "${INSTALL_INCLUDE_DIR}"
|
|
COMPONENT devel
|
|
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
|
|
PATTERN ".svn" EXCLUDE)
|
|
|
|
# For generated Version.h
|
|
install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/../include/
|
|
DESTINATION "${INSTALL_INCLUDE_DIR}"
|
|
COMPONENT devel
|
|
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
|
|
PATTERN ".svn" EXCLUDE)
|
|
|