mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 10:00:23 +08:00
9c1e117384
* Sparse Bayes * updated perf test * improved tests with real data * Making sparse works in incremental mapping * bookkeeping optimization * small opt * refactoring * splitting dense and sparse in different classes to make the code more lisible * cleanup comments * fixing CI * Making all Bayes tests testing both dense and sparse * Added multisession_3it integration test (test memory management, multisession and dense/sparse bayes in that settings) * optimized sparse when transfer/retrieval happens (was slower than dense for that case) * Testing retrieval param variants * Updated multisession_3it integration tests to compare loop closure hypotheses * bump version * Fixed ui sum of prediction * adding g2o gtsam to linux ci * cleanup * added debug crash log for ci * Simplified Bayes/SparsePrediction description * Dont show too dense for sparse on small maps (e.g., when we just started a new map) * fixing amd64v3 issue with gtsam on ci ubuntu 26 * Dot not auto switch to dense based on map size. * updating test range * added coverage tests * Adressing coverage * ignore one line in coverage for purpose
54 lines
2.4 KiB
Diff
54 lines
2.4 KiB
Diff
diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in
|
|
index 338ff85..0b738ea 100644
|
|
--- a/cmake/Config.cmake.in
|
|
+++ b/cmake/Config.cmake.in
|
|
@@ -28,7 +28,7 @@ if(@GTSAM_USE_TBB@)
|
|
endif()
|
|
|
|
if(@GTSAM_USE_SYSTEM_EIGEN@)
|
|
-find_dependency(Eigen3 REQUIRED)
|
|
+find_dependency(Eigen3 REQUIRED CONFIG)
|
|
endif()
|
|
|
|
# Load exports
|
|
diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake
|
|
index cf0dfdf..75c390e 100644
|
|
--- a/cmake/GtsamBuildTypes.cmake
|
|
+++ b/cmake/GtsamBuildTypes.cmake
|
|
@@ -131,7 +131,7 @@ else()
|
|
endif()
|
|
|
|
set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON
|
|
- -Werror # Enable warnings as errors
|
|
+ #-Werror # Enable warnings as errors
|
|
-Wall # Enable common warnings
|
|
-Wpedantic # Enable pedantic warnings
|
|
$<$<COMPILE_LANGUAGE:CXX>:-Wextra -Wno-unused-parameter> # Enable extra warnings, but ignore no-unused-parameter (as we ifdef out chunks of code)
|
|
diff --git a/cmake/HandleBoost.cmake b/cmake/HandleBoost.cmake
|
|
index 0325112..f6a73f5 100644
|
|
--- a/cmake/HandleBoost.cmake
|
|
+++ b/cmake/HandleBoost.cmake
|
|
@@ -23,12 +23,12 @@ endif()
|
|
|
|
# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
|
|
set(BOOST_FIND_MINIMUM_VERSION 1.65)
|
|
-set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
|
|
+set(BOOST_FIND_MINIMUM_COMPONENTS serialization filesystem thread program_options date_time timer chrono regex)
|
|
|
|
find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS} REQUIRED)
|
|
|
|
# Required components
|
|
-if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
|
|
+if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
|
|
NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
|
|
message(FATAL_ERROR "Missing required Boost components >= v1.65, please install/upgrade Boost or configure your search paths.")
|
|
endif()
|
|
@@ -37,7 +37,6 @@ option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
|
|
# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
|
|
set(GTSAM_BOOST_LIBRARIES
|
|
Boost::serialization
|
|
- Boost::system
|
|
Boost::filesystem
|
|
Boost::thread
|
|
Boost::date_time
|