X-lanni
58 lines
2.7 KiB
CMake
58 lines
2.7 KiB
CMake
# - Find ORB_SLAM2 OR ORB_SLAM3
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#
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# It sets the following variables:
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# ORB_SLAM_FOUND - Set to false, or undefined, if ORB_SLAM isn't found.
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# ORB_SLAM_INCLUDE_DIRS - The ORB_SLAM include directory.
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# ORB_SLAM_LIBRARIES - The ORB_SLAM library to link against.
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# ORB_SLAM_VERSION - The ORB_SLAM major version.
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#
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# Set ORB_SLAM_ROOT_DIR environment variable as the path to ORB_SLAM2 or ORB_SLAM3 root folder.
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find_path(ORB_SLAM_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/include)
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find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
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find_library(ORB_SLAM3_LIBRARY NAMES ORB_SLAM3 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
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find_path(g2o_INCLUDE_DIR NAMES g2o/core/sparse_optimizer.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o NO_DEFAULT_PATH)
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find_path(sophus_INCLUDE_DIR NAMES sophus/se3.hpp PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/Sophus NO_DEFAULT_PATH)
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find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o/lib NO_DEFAULT_PATH)
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find_library(DBoW2_LIBRARY NAMES DBoW2 PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/DBoW2/lib NO_DEFAULT_PATH)
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IF(ORB_SLAM2_LIBRARY)
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SET(ORB_SLAM_VERSION 2)
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SET(ORB_SLAM_LIBRARY ${ORB_SLAM2_LIBRARY})
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ELSEIF(ORB_SLAM3_LIBRARY)
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SET(ORB_SLAM_VERSION 3)
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SET(ORB_SLAM_LIBRARY ${ORB_SLAM3_LIBRARY})
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IF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR) # ORB_SLAM3 v1
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SET(g2o_INCLUDE_DIR ${g2o_INCLUDE_DIR} ${sophus_INCLUDE_DIR})
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ENDIF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR)
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ENDIF()
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IF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
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SET(ORB_SLAM_FOUND TRUE)
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SET(ORB_SLAM_INCLUDE_DIRS ${ORB_SLAM_INCLUDE_DIR} ${ORB_SLAM_INCLUDE_DIR}/CameraModels ${g2o_INCLUDE_DIR} $ENV{ORB_SLAM_ROOT_DIR})
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SET(ORB_SLAM_LIBRARIES ${g2o_LIBRARY} ${ORB_SLAM_LIBRARY} ${DBoW2_LIBRARY})
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ENDIF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
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FIND_PACKAGE(Pangolin QUIET)
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IF(NOT Pangolin_FOUND)
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SET(ORB_SLAM_FOUND FALSE)
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MESSAGE(STATUS "Found ORB_SLAM but not Pangolin, disabling ORB_SLAM.")
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ELSE()
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MESSAGE(STATUS "Found Pangolin: ${Pangolin_INCLUDE_DIRS}")
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SET(ORB_SLAM_INCLUDE_DIRS ${ORB_SLAM_INCLUDE_DIRS} ${Pangolin_INCLUDE_DIRS})
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SET(ORB_SLAM_LIBRARIES ${ORB_SLAM_LIBRARIES} ${Pangolin_LIBRARIES})
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ENDIF()
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IF (ORB_SLAM_FOUND)
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# show which ORB_SLAM was found only if not quiet
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IF (NOT ORB_SLAM_FIND_QUIETLY)
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MESSAGE(STATUS "Found ORB_SLAM${ORB_SLAM_VERSION}: ${ORB_SLAM_LIBRARIES}")
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ENDIF (NOT ORB_SLAM_FIND_QUIETLY)
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ELSE (ORB_SLAM_FOUND)
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# fatal error if ORB_SLAM is required but not found
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IF (ORB_SLAM_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find ORB_SLAM")
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ENDIF (ORB_SLAM_FIND_REQUIRED)
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ENDIF (ORB_SLAM_FOUND)
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