mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Added RTABMAP_SYNC_USER_DATA (default OFF) and RTABMAP_SYNC_MULTI_RGBD (default ON, OFF on windows) build options. Fixed some compilation errors on Windows.
This commit is contained in:
matlabbe
+85
-23
@@ -35,9 +35,32 @@ find_package(RTABMap 0.19.5 REQUIRED)
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find_package(OpenCV REQUIRED)
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find_package(PCL 1.7 REQUIRED)
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IF(RTABMAP_GUI)
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FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
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ELSE()
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FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation )
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ENDIF()
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add_definitions(${PCL_DEFINITIONS}) # To include -march=native if set
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IF(WIN32)
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add_compile_options(-bigobj)
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ENDIF(WIN32)
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IF(WIN32)
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option(RTABMAP_SYNC_MULTI_RGBD "Build with multi RGBD camera synchronization support" OFF)
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ELSE()
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option(RTABMAP_SYNC_MULTI_RGBD "Build with multi RGBD camera synchronization support" ON)
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ENDIF()
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option(RTABMAP_SYNC_USER_DATA "Build with input user data support" OFF)
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MESSAGE(STATUS "RTABMAP_SYNC_MULTI_RGBD = ${RTABMAP_SYNC_MULTI_RGBD}")
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MESSAGE(STATUS "RTABMAP_SYNC_USER_DATA = ${RTABMAP_SYNC_USER_DATA}")
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IF(RTABMAP_SYNC_MULTI_RGBD)
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add_definitions("-DRTABMAP_SYNC_MULTI_RGBD")
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ENDIF(RTABMAP_SYNC_MULTI_RGBD)
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IF(RTABMAP_SYNC_USER_DATA)
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add_definitions("-DRTABMAP_SYNC_USER_DATA")
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ENDIF(RTABMAP_SYNC_USER_DATA)
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#Qt stuff
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# If librtabmap_gui.so is found, rtabmapviz will be built
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# If rviz is found, plugins will be built
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@@ -174,13 +197,18 @@ SET(rtabmap_sync_lib_src
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src/impl/CommonDataSubscriberStereo.cpp
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src/impl/CommonDataSubscriberRGB.cpp
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src/impl/CommonDataSubscriberRGBD.cpp
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src/impl/CommonDataSubscriberRGBD2.cpp
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src/impl/CommonDataSubscriberRGBD3.cpp
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src/impl/CommonDataSubscriberRGBD4.cpp
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src/impl/CommonDataSubscriberScan.cpp
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src/impl/CommonDataSubscriberOdom.cpp
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src/CoreWrapper.cpp # we put CoreWrapper here instead of plugins lib to avoid long compilation time on plugins lib
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)
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IF(RTABMAP_SYNC_MULTI_RGBD)
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SET(rtabmap_sync_lib_src
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${rtabmap_sync_lib_src}
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src/impl/CommonDataSubscriberRGBD2.cpp
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src/impl/CommonDataSubscriberRGBD3.cpp
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src/impl/CommonDataSubscriberRGBD4.cpp
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)
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ENDIF(RTABMAP_SYNC_MULTI_RGBD)
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SET(rtabmap_ros_lib_src
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src/MsgConversion.cpp
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@@ -305,9 +333,11 @@ add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
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target_link_libraries(rtabmap_imu_to_tf ${Libraries})
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set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
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IF(NOT WIN32)
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add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp)
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target_link_libraries(rtabmap_wifi_signal_pub rtabmap_ros)
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set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub")
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ENDIF(NOT WIN32)
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add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp)
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target_link_libraries(rtabmap_wifi_signal_sub rtabmap_ros)
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set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signal_sub")
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@@ -377,35 +407,67 @@ IF(rviz_FOUND)
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## RVIZ plugin
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IF(QT4_FOUND)
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qt4_wrap_cpp(MOC_FILES
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src/rviz/MapCloudDisplay.h
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src/rviz/MapGraphDisplay.h
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src/rviz/InfoDisplay.h
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src/rviz/OrbitOrientedViewController.h
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)
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IF(WIN32)
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qt4_wrap_cpp(MOC_FILES
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src/rviz/MapCloudDisplay.h
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src/rviz/MapGraphDisplay.h
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src/rviz/InfoDisplay.h
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)
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ELSE()
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qt4_wrap_cpp(MOC_FILES
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src/rviz/MapCloudDisplay.h
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src/rviz/MapGraphDisplay.h
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src/rviz/InfoDisplay.h
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src/rviz/OrbitOrientedViewController.h
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)
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ENDIF()
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ELSE()
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qt5_wrap_cpp(MOC_FILES
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src/rviz/MapCloudDisplay.h
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src/rviz/MapGraphDisplay.h
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src/rviz/InfoDisplay.h
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src/rviz/OrbitOrientedViewController.h
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)
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IF(WIN32)
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qt5_wrap_cpp(MOC_FILES
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src/rviz/MapCloudDisplay.h
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src/rviz/MapGraphDisplay.h
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src/rviz/InfoDisplay.h
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)
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ELSE()
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qt5_wrap_cpp(MOC_FILES
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src/rviz/MapCloudDisplay.h
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src/rviz/MapGraphDisplay.h
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src/rviz/InfoDisplay.h
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src/rviz/OrbitOrientedViewController.h
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)
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ENDIF()
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ENDIF()
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# tf:message_filters, mixing boost and Qt signals
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set_property(
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SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
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PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
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)
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add_library(rtabmap_rviz_plugins
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src/rviz/MapCloudDisplay.cpp
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IF(WIN32)
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set_property(
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SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp
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PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
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)
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ELSE()
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set_property(
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SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
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PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
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)
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ENDIF()
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SET(SRC_FILES
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src/rviz/MapCloudDisplay.cpp
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src/rviz/MapGraphDisplay.cpp
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src/rviz/InfoDisplay.cpp
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src/rviz/OrbitOrientedViewController.cpp
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${MOC_FILES}
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)
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IF(NOT WIN32)
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SET(SRC_FILES
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${SRC_FILES}
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src/rviz/OrbitOrientedViewController.cpp
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)
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ENDIF(NOT WIN32)
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add_library(rtabmap_rviz_plugins
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${SRC_FILES}
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)
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target_link_libraries(rtabmap_rviz_plugins
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rtabmap_ros
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${Libraries}
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)
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IF(Qt5_FOUND)
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QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui)
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