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https://github.com/introlab/rtabmap.git
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matlabbeandFrank Dellaert
0156bc22ed
* Fixing 4.3.1-ros gtsam compatibility * javobian fix in SwitchVariable * Fix GTSAM scalar switch traits, Jacobians and attitude API detection * Separate sigmoid factor correction from GTSAM compatibility * Correct sigmoid switch Jacobian and add focused factor regression * combined gtsam tests in same file * cmake refactor --------- Co-authored-by: Frank Dellaert <[email protected]>
28 lines
1.3 KiB
CMake
28 lines
1.3 KiB
CMake
# Detects GTSAM API variations that the version number alone can't tell
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# apart. Included after FIND_PACKAGE(GTSAM) succeeded.
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# Pose3AttitudeFactor has been replaced by AttitudeFactor<Pose3> in 4.3, but
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# the 4.3 ROS snapshots share a numeric version (4.3.0) while exposing either
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# API, so probe which one compiles. Older versions only have
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# Pose3AttitudeFactor. The probe links the imported gtsam target, so it
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# inherits GTSAM's usage requirements (including cxx_std_17 for 4.3) and
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# doesn't depend on the C++ standard selected later in the main CMakeLists.txt.
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IF(GTSAM_VERSION VERSION_GREATER_EQUAL "4.3.0")
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INCLUDE(CheckCXXSourceCompiles)
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INCLUDE(CMakePushCheckState)
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CMAKE_PUSH_CHECK_STATE(RESET)
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SET(CMAKE_REQUIRED_LIBRARIES gtsam)
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UNSET(RTABMAP_GTSAM_HAS_ATTITUDE_FACTOR_TEMPLATE CACHE)
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CHECK_CXX_SOURCE_COMPILES("
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#include <gtsam/navigation/AttitudeFactor.h>
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int main() {
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gtsam::AttitudeFactor<gtsam::Pose3> factor(1, gtsam::Unit3(0,0,1),
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gtsam::noiseModel::Isotropic::Sigma(2, 1.0));
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return factor.evaluateError(gtsam::Pose3()).size() != 2;
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}" RTABMAP_GTSAM_HAS_ATTITUDE_FACTOR_TEMPLATE)
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CMAKE_POP_CHECK_STATE()
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IF(RTABMAP_GTSAM_HAS_ATTITUDE_FACTOR_TEMPLATE)
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ADD_DEFINITIONS(-DRTABMAP_GTSAM_HAS_ATTITUDE_FACTOR_TEMPLATE)
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ENDIF()
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ENDIF()
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