First version rtabmap_launch working

2026-10-04 08:47:45 +08:00 · 2023-02-19 18:55:24 -08:00
parent 2f4aadacbb
commit 2dd931248e
418 changed files with 5304 additions and 3493 deletions
@@ -0,0 +1,136 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rtabmap_sync)
+
+find_package(catkin REQUIRED COMPONENTS
+            cv_bridge roscpp sensor_msgs nav_msgs image_transport
+            nodelet message_filters rtabmap_msgs rtabmap_conversions
+)
+
+option(RTABMAP_SYNC_MULTI_RGBD "Build with multi RGBD camera synchronization support"  OFF)
+option(RTABMAP_SYNC_USER_DATA "Build with input user data support"  OFF)
+MESSAGE(STATUS "RTABMAP_SYNC_MULTI_RGBD = ${RTABMAP_SYNC_MULTI_RGBD}")
+MESSAGE(STATUS "RTABMAP_SYNC_USER_DATA  = ${RTABMAP_SYNC_USER_DATA}")
+IF(RTABMAP_SYNC_MULTI_RGBD)
+  add_definitions("-DRTABMAP_SYNC_MULTI_RGBD")
+  SET(RTABMAP_SYNC_MULTI_RGBD_CONF 1)
+ELSE()
+  SET(RTABMAP_SYNC_MULTI_RGBD_CONF 0)
+ENDIF()
+IF(RTABMAP_SYNC_USER_DATA)
+  add_definitions("-DRTABMAP_SYNC_USER_DATA")
+  SET(RTABMAP_SYNC_USER_DATA_CONF 1)
+ELSE()
+  SET(RTABMAP_SYNC_USER_DATA_CONF 0)
+ENDIF()
+
+IF(WIN32)
+add_compile_options(-bigobj)
+ENDIF(WIN32)
+
+configure_file(cmake/extra_configs.cmake.in cmake/extra_configs.cmake IMMEDIATE @ONLY)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES rtabmap_sync rtabmap_sync_plugins
+  CATKIN_DEPENDS cv_bridge roscpp sensor_msgs nav_msgs image_transport
+                 nodelet message_filters rtabmap_msgs rtabmap_conversions
+  CFG_EXTRAS extra_configs.cmake
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+  ${catkin_INCLUDE_DIRS}
+)
+ 
+SET(rtabmap_sync_lib_src
+   src/CommonDataSubscriber.cpp
+   src/impl/CommonDataSubscriberDepth.cpp
+   src/impl/CommonDataSubscriberStereo.cpp
+   src/impl/CommonDataSubscriberRGB.cpp
+   src/impl/CommonDataSubscriberRGBD.cpp
+   src/impl/CommonDataSubscriberRGBDX.cpp
+   src/impl/CommonDataSubscriberScan.cpp
+   src/impl/CommonDataSubscriberOdom.cpp
+)
+IF(RTABMAP_SYNC_MULTI_RGBD)
+  SET(rtabmap_sync_lib_src
+    ${rtabmap_sync_lib_src}
+    src/impl/CommonDataSubscriberRGBD2.cpp
+    src/impl/CommonDataSubscriberRGBD3.cpp
+    src/impl/CommonDataSubscriberRGBD4.cpp
+    src/impl/CommonDataSubscriberRGBD5.cpp
+    src/impl/CommonDataSubscriberRGBD6.cpp
+  )
+ENDIF(RTABMAP_SYNC_MULTI_RGBD)
+  
+SET(rtabmap_sync_plugins_lib_src
+   src/nodelets/rgbdx_sync.cpp
+)
+
+IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
+   SET(rtabmap_sync_plugins_lib_src ${rtabmap_sync_plugins_lib_src} src/nodelets/rgbd_sync.cpp src/nodelets/stereo_sync.cpp src/nodelets/rgb_sync.cpp)
+ELSE()
+   ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
+ENDIF()   
+
+############################
+## Declare a cpp library
+############################
+add_library(rtabmap_sync
+   ${rtabmap_sync_lib_src}
+)
+add_library(rtabmap_sync_plugins
+   ${rtabmap_sync_plugins_lib_src}
+)
+
+target_link_libraries(rtabmap_sync
+  ${catkin_LIBRARIES}
+)
+target_link_libraries(rtabmap_sync_plugins
+  ${catkin_LIBRARIES}
+)
+
+add_executable(rtabmap_rgbd_sync src/RGBDSyncNode.cpp)
+target_link_libraries(rtabmap_rgbd_sync ${catkin_LIBRARIES})
+set_target_properties(rtabmap_rgbd_sync PROPERTIES OUTPUT_NAME "rgbd_sync")
+
+add_executable(rtabmap_rgbdx_sync src/RGBDXSyncNode.cpp)
+target_link_libraries(rtabmap_rgbdx_sync ${catkin_LIBRARIES})
+set_target_properties(rtabmap_rgbdx_sync PROPERTIES OUTPUT_NAME "rgbdx_sync")
+
+add_executable(rtabmap_stereo_sync src/StereoSyncNode.cpp)
+target_link_libraries(rtabmap_stereo_sync ${catkin_LIBRARIES})
+set_target_properties(rtabmap_stereo_sync PROPERTIES OUTPUT_NAME "stereo_sync")
+
+add_executable(rtabmap_rgb_sync src/RGBSyncNode.cpp)
+target_link_libraries(rtabmap_rgb_sync ${catkin_LIBRARIES})
+set_target_properties(rtabmap_rgb_sync PROPERTIES OUTPUT_NAME "rgb_sync")
+
+#############
+## Install ##
+#############
+
+install(TARGETS 
+   rtabmap_sync
+   rtabmap_sync_plugins 
+   rtabmap_rgbd_sync
+   rtabmap_rgbdx_sync
+   rtabmap_stereo_sync
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+   FILES_MATCHING PATTERN "*.h"
+)
+
+install(FILES
+   nodelet_plugins.xml
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)