feat(slam): add rtabmap_ros
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X-lanni
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#Pre-requisites: Look for csparse
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MESSAGE(STATUS "RTAB-Map's cmake g2o find module used for convenience (for older g2o versions)")
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FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h PATH_SUFFIXES suitesparse csparse EXTERNAL/suitesparse EXTERNAL/csparse g2o/EXTERNAL/suitesparse g2o/EXTERNAL/csparse
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PATHS "C:\\Program Files\\g2o\\include\\EXTERNAL")
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FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse g2o_ext_csparse
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PATHS "C:\\Program Files\\g2o\\lib")
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(CSPARSE DEFAULT_MSG CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)
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# chmold dependency
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FIND_PATH(CHOLMOD_INCLUDE_DIR NAMES cholmod.h PATH_SUFFIXES suitesparse ufsparse
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PATHS $ENV{CHOLMODDIR} ${INCLUDE_INSTALL_DIR} )
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FIND_LIBRARY(CHOLMOD_LIB cholmod)
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# G2O: Find the header files
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FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h
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PATHS "C:\\Program Files\\g2o\\include")
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FIND_FILE(G2O_CONFIG_FILE g2o/config.h
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PATHS ${G2O_INCLUDE_DIR}
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NO_DEFAULT_PATH)
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FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
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PATHS ${G2O_INCLUDE_DIR}
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NO_DEFAULT_PATH)
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#ifdef G2O_NUMBER_FORMAT_STR
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#define G2O_CPP11 // we assume that if G2O_NUMBER_FORMAT_STR is defined, this is the new g2o code with c++11 interface
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#endif
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# Macro to unify finding both the debug and release versions of the
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# libraries; this is adapted from the rtabmap config
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MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)
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FIND_LIBRARY("${MYLIBRARY}_DEBUG"
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NAMES "g2o_${MYLIBRARYNAME}_d"
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PATHS "C:\\Program Files\\g2o\\lib")
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FIND_LIBRARY(${MYLIBRARY}
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NAMES "g2o_${MYLIBRARYNAME}"
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PATHS "C:\\Program Files\\g2o\\lib")
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IF(${MYLIBRARY}_DEBUG AND ${MYLIBRARY})
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SET(${MYLIBRARY}
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debug ${${MYLIBRARY}_DEBUG}
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optimized ${${MYLIBRARY}}
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)
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ELSEIF(${MYLIBRARY}_DEBUG)
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SET(${MYLIBRARY} ${${MYLIBRARY}_DEBUG})
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ENDIF()
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ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)
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# Find the core elements
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FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)
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FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)
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# Find the CLI library
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FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)
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# Find the pluggable solvers
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FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)
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FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)
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FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)
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FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)
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FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)
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FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)
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FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)
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FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)
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# Find the predefined types
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FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)
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FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)
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FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)
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FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)
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FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)
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FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)
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FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)
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# G2O solvers declared found if we found at least one solver
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SET(G2O_SOLVERS_FOUND "NO")
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IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
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SET(G2O_SOLVERS_FOUND "YES")
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ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
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# G2O itself declared found if we found the core libraries and at least one solver
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SET(G2O_FOUND "NO")
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IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_FACTORY_FILE AND G2O_SOLVERS_FOUND)
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SET(G2O_INCLUDE_DIRS ${G2O_INCLUDE_DIR})
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SET(G2O_LIBRARIES
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${G2O_CORE_LIBRARY}
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${G2O_TYPES_SLAM2D}
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${G2O_TYPES_SLAM3D}
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${G2O_TYPES_SBA}
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${G2O_STUFF_LIBRARY})
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IF(CSPARSE_FOUND)
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SET(G2O_INCLUDE_DIRS
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${G2O_INCLUDE_DIRS}
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${CSPARSE_INCLUDE_DIR})
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SET(G2O_LIBRARIES
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${G2O_LIBRARIES}
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${G2O_SOLVER_CSPARSE}
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${G2O_SOLVER_CSPARSE_EXTENSION}
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${CSPARSE_LIBRARY})
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ENDIF(CSPARSE_FOUND)
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IF(G2O_SOLVER_CHOLMOD)
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SET(G2O_INCLUDE_DIRS
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${G2O_INCLUDE_DIRS}
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${CHOLMOD_INCLUDE_DIR})
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SET(G2O_LIBRARIES
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${G2O_LIBRARIES}
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${G2O_SOLVER_CHOLMOD}
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${CHOLMOD_LIB})
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ENDIF(G2O_SOLVER_CHOLMOD)
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FILE(READ ${G2O_CONFIG_FILE} TMPTXT)
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STRING(FIND "${TMPTXT}" "G2O_NUMBER_FORMAT_STR" matchres)
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IF(${matchres} EQUAL -1)
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MESSAGE(STATUS "Old g2o version detected with c++03 interface (config file: ${G2O_CONFIG_FILE}).")
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SET(G2O_CPP11 0)
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ELSE()
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MESSAGE(WARNING "Latest g2o version detected with c++11 interface (config file: ${G2O_CONFIG_FILE}). Make sure g2o is built with \"-DBUILD_WITH_MARCH_NATIVE=OFF\" to avoid segmentation faults caused by Eigen.")
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FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
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STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
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IF(${matchres} EQUAL -1)
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MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
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SET(G2O_CPP11 2)
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ELSE()
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MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
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SET(G2O_CPP11 1)
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ENDIF()
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ENDIF()
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SET(G2O_FOUND "YES")
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ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_FACTORY_FILE AND G2O_SOLVERS_FOUND)
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