feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,49 @@
+
+FIND_PACKAGE(yaml-cpp QUIET)
+
+IF(yaml-cpp_FOUND)
+  IF (TARGET yaml-cpp::yaml-cpp)
+    # yaml-cpp 0.8.0 uses target yaml-cpp::yaml-cpp.
+    SET(YAML_CPP_LIBRARIES yaml-cpp::yaml-cpp)
+  ELSEIF (TARGET yaml-cpp)
+    # yaml-cpp 0.7.0 uses target yaml-cpp (VCPKG).
+    SET(YAML_CPP_LIBRARIES yaml-cpp)
+  ENDIF()
+ELSE()
+   find_package(PkgConfig QUIET)
+   IF(PKG_CONFIG_FOUND)
+      pkg_check_modules(yaml_cpp QUIET yaml-cpp)
+	  IF(yaml_cpp_FOUND)
+         SET(YAML_CPP_LIBRARIES ${yaml_cpp_LIBRARIES})
+         SET(YAML_CPP_INCLUDE_DIR ${yaml_cpp_INCLUDEDIR})
+         SET(yaml-cpp_FOUND ${yaml_cpp_FOUND})
+	  ENDIF(yaml_cpp_FOUND)
+   ENDIF(PKG_CONFIG_FOUND)
+ENDIF(yaml-cpp_FOUND)
+
+IF(yaml-cpp_FOUND)
+
+SET(INCLUDE_DIRS
+    ${YAML_CPP_INCLUDE_DIR}
+)
+
+SET(LIBRARIES
+	${YAML_CPP_LIBRARIES}
+)
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS} yaml-cpp)
+
+ADD_EXECUTABLE(euroc_dataset main.cpp)
+  
+TARGET_LINK_LIBRARIES(euroc_dataset rtabmap_core ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( euroc_dataset 
+    PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-euroc_dataset)
+    
+INSTALL(TARGETS euroc_dataset
+	RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
+	BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
+	
+ELSE()
+  MESSAGE(STATUS "yaml-cpp not found, euroc_dataset tool won't be built...")
+ENDIF()