--- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -229,12 +229,12 @@ ENDIF() set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.") set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6) -FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d) +FIND_PACKAGE(OpenCV REQUIRED COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d) IF(WITH_QT) -FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization) +FIND_PACKAGE(PCL 1.7 REQUIRED COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization) ELSE() -FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation ) +FIND_PACKAGE(PCL 1.7 REQUIRED COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation ) ENDIF() if(PCL_COMPILE_OPTIONS) if("${PCL_COMPILE_OPTIONS}" MATCHES "-march=native") @@ -250,9 +250,9 @@ else() endif() endif() -FIND_PACKAGE(ZLIB REQUIRED QUIET) +FIND_PACKAGE(ZLIB REQUIRED ) -FIND_PACKAGE(SQLite3 QUIET) +FIND_PACKAGE(SQLite3 REQUIRED) IF(SQLite3_FOUND) MESSAGE(STATUS "Found SQLite3: ${SQLite3_INCLUDE_DIRS} ${SQLite3_LIBRARIES}") ENDIF(SQLite3_FOUND) @@ -264,8 +264,8 @@ endif() # OpenMP ("-fopenmp" should be added for flann included in PCL) # the gcc-4.2.1 coming with MacOS X is not compatible with the OpenMP pragmas we use, so disabling OpenMP for it -if(((NOT APPLE) OR (NOT CMAKE_COMPILER_IS_GNUCXX) OR (GCC_VERSION VERSION_GREATER 4.2.1) OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")) AND WITH_OPENMP) - find_package(OpenMP COMPONENTS C CXX) +if(WITH_OPENMP) + find_package(OpenMP REQUIRED COMPONENTS C CXX) endif() if(OPENMP_FOUND) set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") @@ -292,7 +292,7 @@ ENDIF(ZLIB_FOUND) SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF FALSE) IF(WITH_QT) - FIND_PACKAGE(VTK) + FIND_PACKAGE(VTK REQUIRED) IF(NOT VTK_FOUND) MESSAGE(FATAL_ERROR "VTK is required when using Qt. Set -DWITH_QT=OFF if you don't want gui tools.") ENDIF(NOT VTK_FOUND) @@ -310,29 +310,29 @@ IF(WITH_QT) MESSAGE(STATUS "VTK>=9 detected, will use VTK_QT_VERSION=${VTK_QT_VERSION} for Qt version.") IF(${VTK_QT_VERSION} EQUAL 6) - FIND_PACKAGE(Qt6 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg) + FIND_PACKAGE(Qt6 REQUIRED COMPONENTS Widgets Core Gui OpenGL PrintSupport Svg) ELSEIF(${VTK_QT_VERSION} EQUAL 5) - FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg) + FIND_PACKAGE(Qt5 REQUIRED COMPONENTS Widgets Core Gui OpenGL PrintSupport Svg) ELSE() - FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg) + FIND_PACKAGE(Qt4 REQUIRED COMPONENTS QtCore QtGui QtSvg) ENDIF() ELSE() # look for Qt5 (if vtk>5 is installed) before Qt4 IF("${VTK_MAJOR_VERSION}" GREATER 5) IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5") - FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg) + FIND_PACKAGE(Qt5 REQUIRED COMPONENTS Widgets Core Gui OpenGL PrintSupport Svg) ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5") ENDIF("${VTK_MAJOR_VERSION}" GREATER 5) IF(NOT Qt5_FOUND) IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4") - FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg) + FIND_PACKAGE(Qt4 REQUIRED COMPONENTS QtCore QtGui QtSvg) ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4") ENDIF(NOT Qt5_FOUND) ENDIF() - + IF(QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND) - # For VCPKG build, set those global variables to off, + # For VCPKG build, set those global variables to off, # we will enable them for jsut specific targets set(CMAKE_AUTOMOC OFF) set(CMAKE_AUTORCC OFF) @@ -391,14 +391,14 @@ IF(NOT VTK_FOUND) ENDIF(NOT VTK_FOUND) IF(WITH_TORCH) - FIND_PACKAGE(Torch QUIET) + FIND_PACKAGE(Torch REQUIRED) IF(TORCH_FOUND) MESSAGE(STATUS "Found Torch: ${TORCH_INCLUDE_DIRS}") ENDIF(TORCH_FOUND) ENDIF(WITH_TORCH) IF(WITH_PYTHON) - FIND_PACKAGE(Python3 COMPONENTS Interpreter Development NumPy) + FIND_PACKAGE(Python3 REQUIRED COMPONENTS Interpreter Development NumPy) IF(Python3_FOUND) MESSAGE(STATUS "Found Python3") FIND_PACKAGE(pybind11 REQUIRED) @@ -406,28 +406,28 @@ IF(WITH_PYTHON) ENDIF(WITH_PYTHON) IF(WITH_PDAL) - FIND_PACKAGE(PDAL QUIET) + FIND_PACKAGE(PDAL REQUIRED) IF(PDAL_FOUND) MESSAGE(STATUS "Found PDAL ${PDAL_VERSION}: ${PDAL_INCLUDE_DIRS}") ENDIF(PDAL_FOUND) ENDIF(WITH_PDAL) IF(WITH_FREENECT) - FIND_PACKAGE(Freenect QUIET) + FIND_PACKAGE(Freenect REQUIRED) IF(Freenect_FOUND) MESSAGE(STATUS "Found Freenect: ${Freenect_INCLUDE_DIRS}") ENDIF(Freenect_FOUND) ENDIF(WITH_FREENECT) IF(WITH_FREENECT2) - FIND_PACKAGE(freenect2 QUIET) + FIND_PACKAGE(freenect2 REQUIRED) IF(freenect2_FOUND) IF(NOT freenect2_INCLUDE_DIRS) SET(freenect2_INCLUDE_DIRS ${freenect2_INCLUDE_DIR}) ENDIF(NOT freenect2_INCLUDE_DIRS) MESSAGE(STATUS "Found freenect2: ${freenect2_INCLUDE_DIRS}") # Explicitly link to OpenCL (in case of CUDA installed) - FIND_PACKAGE(OpenCL QUIET) + FIND_PACKAGE(OpenCL REQUIRED) IF(OpenCL_FOUND) SET(freenect2_LIBRARIES ${OpenCL_LIBRARIES} @@ -438,7 +438,7 @@ IF(WITH_FREENECT2) ENDIF(WITH_FREENECT2) IF(WITH_K4W2 AND WIN32) - FIND_PACKAGE(KinectSDK2 QUIET) + FIND_PACKAGE(KinectSDK2 REQUIRED) IF(KinectSDK2_FOUND) MESSAGE(STATUS "Found Kinect for Windows 2: ${KinectSDK2_INCLUDE_DIRS}") ENDIF(KinectSDK2_FOUND) @@ -446,10 +446,10 @@ ENDIF(WITH_K4W2 AND WIN32) IF(WITH_K4A) IF(WIN32) - FIND_PACKAGE(K4A QUIET) + FIND_PACKAGE(K4A REQUIRED) ELSE() - FIND_PACKAGE(k4a QUIET) - FIND_PACKAGE(k4arecord QUIET) + FIND_PACKAGE(k4a REQUIRED) + FIND_PACKAGE(k4arecord REQUIRED) IF(NOT (k4a_FOUND AND k4arecord_FOUND)) SET(k4a_FOUND FALSE) ENDIF(NOT (k4a_FOUND AND k4arecord_FOUND)) @@ -461,27 +461,27 @@ ENDIF(WITH_K4A) # IF PCL depends on OpenNI2 (already found), ignore WITH_OPENNI2 IF(WITH_OPENNI2 OR OpenNI2_FOUND) - FIND_PACKAGE(OpenNI2 QUIET) + FIND_PACKAGE(OpenNI2 REQUIRED) IF(OpenNI2_FOUND) MESSAGE(STATUS "Found OpenNI2: ${OpenNI2_INCLUDE_DIRS}") ENDIF(OpenNI2_FOUND) ENDIF(WITH_OPENNI2 OR OpenNI2_FOUND) IF(WITH_DC1394) - FIND_PACKAGE(DC1394 QUIET) + FIND_PACKAGE(DC1394 REQUIRED) IF(DC1394_FOUND) MESSAGE(STATUS "Found DC1394: ${DC1394_INCLUDE_DIRS}") ENDIF(DC1394_FOUND) ENDIF(WITH_DC1394) IF(WITH_G2O) - FIND_PACKAGE(g2o NO_MODULE) + FIND_PACKAGE(g2o REQUIRED NO_MODULE) IF(g2o_FOUND) MESSAGE(STATUS "Found g2o (targets)") SET(G2O_FOUND ${g2o_FOUND}) get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES) MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}") - FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h + FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h PATHS ${G2O_INCLUDES} NO_DEFAULT_PATH) FILE(READ ${G2O_FACTORY_FILE} TMPTXT) @@ -494,7 +494,7 @@ IF(WITH_G2O) SET(G2O_CPP11 1) ENDIF() ELSE() - FIND_PACKAGE(G2O QUIET) + FIND_PACKAGE(G2O REQUIRED) IF(G2O_FOUND) MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}") ENDIF(G2O_FOUND) @@ -503,11 +503,11 @@ ENDIF(WITH_G2O) IF(WITH_GTSAM) # Force config mode to ignore PCL's findGTSAM.cmake file - FIND_PACKAGE(GTSAM CONFIG QUIET) + FIND_PACKAGE(GTSAM CONFIG REQUIRED) ENDIF(WITH_GTSAM) IF(WITH_MRPT) - FIND_PACKAGE(MRPT COMPONENTS poses QUIET) + FIND_PACKAGE(MRPT COMPONENTS poses REQUIRED) IF(MRPT_FOUND) message(STATUS "MRPT_VERSION: ${MRPT_VERSION}") message(STATUS "MRPT_LIBRARIES: ${MRPT_LIBRARIES}") @@ -515,21 +515,21 @@ IF(WITH_MRPT) ENDIF(WITH_MRPT) IF(WITH_FLYCAPTURE2) - FIND_PACKAGE(FlyCapture2 QUIET) + FIND_PACKAGE(FlyCapture2 REQUIRED) IF(FlyCapture2_FOUND) MESSAGE(STATUS "Found FlyCapture2: ${FlyCapture2_INCLUDE_DIRS}") ENDIF(FlyCapture2_FOUND) ENDIF(WITH_FLYCAPTURE2) IF(WITH_CVSBA) - FIND_PACKAGE(cvsba QUIET) + FIND_PACKAGE(cvsba REQUIRED) IF(cvsba_FOUND) MESSAGE(STATUS "Found cvsba: ${cvsba_INCLUDE_DIRS}") ENDIF(cvsba_FOUND) ENDIF(WITH_CVSBA) IF(WITH_POINTMATCHER) - find_package(libpointmatcher QUIET) + find_package(libpointmatcher REQUIRED) IF(libpointmatcher_FOUND) MESSAGE(STATUS "Found libpointmatcher: ${libpointmatcher_INCLUDE_DIRS}") string(FIND "${libpointmatcher_LIBRARIES}" "libnabo" value) @@ -554,19 +554,19 @@ IF(libpointmatcher_FOUND OR GTSAM_FOUND) ENDIF(libpointmatcher_FOUND OR GTSAM_FOUND) IF(WITH_CCCORELIB) - find_package(CCCoreLib QUIET) + find_package(CCCoreLib REQUIRED) IF(CCCoreLib_FOUND) MESSAGE(STATUS "Found CCCoreLib: ${CCCoreLib_INCLUDE_DIRS}") ENDIF(CCCoreLib_FOUND) ENDIF(WITH_CCCORELIB) IF(WITH_OPEN3D) - IF(${CMAKE_VERSION} VERSION_LESS "3.19.0") + IF(${CMAKE_VERSION} VERSION_LESS "3.19.0") MESSAGE(WARNING "Open3D requires CMake version >=3.19 (current is ${CMAKE_VERSION})") ELSE() # Build Open3D like this to avoid linker errors in rtabmap: # cmake -DBUILD_SHARED_LIBS=ON -DGLIBCXX_USE_CXX11_ABI=ON -DCMAKE_BUILD_TYPE=Release .. - find_package(Open3D QUIET) + find_package(Open3D REQUIRED) IF(Open3D_FOUND) MESSAGE(STATUS "Found Open3D: ${Open3DINCLUDE_DIRS}") ENDIF(Open3D_FOUND) @@ -574,28 +574,28 @@ IF(WITH_OPEN3D) ENDIF(WITH_OPEN3D) IF(WITH_LOAM) - find_package(loam_velodyne QUIET) + find_package(loam_velodyne REQUIRED) IF(loam_velodyne_FOUND) MESSAGE(STATUS "Found loam_velodyne: ${loam_velodyne_INCLUDE_DIRS}") ENDIF(loam_velodyne_FOUND) ENDIF(WITH_LOAM) IF(WITH_FLOAM) - find_package(floam QUIET) + find_package(floam REQUIRED) IF(floam_FOUND) MESSAGE(STATUS "Found floam: ${floam_INCLUDE_DIRS}") - FIND_PACKAGE(Ceres QUIET REQUIRED) + FIND_PACKAGE(Ceres REQUIRED) ENDIF(floam_FOUND) ENDIF(WITH_FLOAM) SET(ZED_FOUND FALSE) IF(WITH_ZED) - find_package(ZED 2 QUIET) - + find_package(ZED 2 REQUIRED) + IF(ZED_FOUND) MESSAGE(STATUS "Found ZED sdk: ${ZED_INCLUDE_DIRS}") ## look for CUDA - find_package(CUDA) + find_package(CUDA REQUIRED) IF(CUDA_FOUND) MESSAGE(STATUS "Found CUDA: ${CUDA_INCLUDE_DIRS}") ELSE() @@ -605,11 +605,11 @@ IF(WITH_ZED) ENDIF(WITH_ZED) IF(WITH_ZEDOC) - find_package(ZEDOC QUIET) + find_package(ZEDOC REQUIRED) IF(ZEDOC_FOUND) MESSAGE(STATUS "Found ZED Open Capture: ${ZEDOC_INCLUDE_DIRS}") ## look for HIDAPI - find_package(HIDAPI) + find_package(HIDAPI REQUIRED) IF(HIDAPI_FOUND) MESSAGE(STATUS "Found HIDAPI: ${HIDAPI_INCLUDE_DIRS}") ELSE() @@ -620,9 +620,9 @@ ENDIF(WITH_ZEDOC) IF(WITH_REALSENSE) IF(WITH_REALSENSE_SLAM) - FIND_PACKAGE(RealSense QUIET COMPONENTS slam) + FIND_PACKAGE(RealSense REQUIRED COMPONENTS slam) ELSE() - FIND_PACKAGE(RealSense QUIET) + FIND_PACKAGE(RealSense REQUIRED) ENDIF() IF(RealSense_FOUND) MESSAGE(STATUS "Found RealSense: ${RealSense_INCLUDE_DIRS}") @@ -634,9 +634,9 @@ ENDIF(WITH_REALSENSE) IF(WITH_REALSENSE2) IF(WIN32) - FIND_PACKAGE(RealSense2 QUIET) + FIND_PACKAGE(RealSense2 REQUIRED) ELSE() - FIND_PACKAGE(realsense2 QUIET) + FIND_PACKAGE(realsense2 REQUIRED) ENDIF() IF(realsense2_FOUND) MESSAGE(STATUS "Found RealSense2: ${realsense2_INCLUDE_DIRS}") @@ -644,21 +644,21 @@ IF(WITH_REALSENSE2) ENDIF(WITH_REALSENSE2) IF(WITH_MYNTEYE) - FIND_PACKAGE(mynteye QUIET) + FIND_PACKAGE(mynteye REQUIRED) IF(mynteye_FOUND) MESSAGE(STATUS "Found mynteye-s: ${mynteye_INCLUDE_DIRS}") ENDIF(mynteye_FOUND) ENDIF(WITH_MYNTEYE) IF(WITH_DEPTHAI) - FIND_PACKAGE(depthai 2 QUIET) + FIND_PACKAGE(depthai 2 REQUIRED) IF(depthai_FOUND) MESSAGE(STATUS "Found depthai-core (targets)") ENDIF(depthai_FOUND) ENDIF(WITH_DEPTHAI) IF(WITH_OCTOMAP) - FIND_PACKAGE(octomap QUIET) + FIND_PACKAGE(octomap REQUIRED) IF(octomap_FOUND) MESSAGE(STATUS "Found octomap ${octomap_VERSION}: ${OCTOMAP_INCLUDE_DIRS}") IF(octomap_VERSION VERSION_LESS 1.8) @@ -668,35 +668,35 @@ IF(WITH_OCTOMAP) ENDIF(WITH_OCTOMAP) IF(WITH_GRIDMAP) - FIND_PACKAGE(grid_map_core QUIET) + FIND_PACKAGE(grid_map_core REQUIRED) IF(grid_map_core_FOUND) MESSAGE(STATUS "Found grid_map_core ${grid_map_core_VERSION}: ${grid_map_core_INCLUDE_DIRS}") ENDIF(grid_map_core_FOUND) ENDIF(WITH_GRIDMAP) IF(WITH_CPUTSDF) - FIND_PACKAGE(CPUTSDF QUIET) + FIND_PACKAGE(CPUTSDF REQUIRED) IF(CPUTSDF_FOUND) MESSAGE(STATUS "Found CPUTSDF: ${CPUTSDF_INCLUDE_DIRS}") ENDIF(CPUTSDF_FOUND) ENDIF(WITH_CPUTSDF) IF(WITH_OPENCHISEL) - find_package(open_chisel QUIET) + find_package(open_chisel REQUIRED) if(open_chisel_FOUND) MESSAGE(STATUS "Found open_chisel: ${open_chisel_INCLUDE_DIRS}") endif(open_chisel_FOUND) ENDIF(WITH_OPENCHISEL) IF(WITH_ALICE_VISION) - find_package(AliceVision CONFIG QUIET) + find_package(AliceVision CONFIG REQUIRED) IF(AliceVision_FOUND) IF(${AliceVision_VERSION} VERSION_LESS_EQUAL "2.2") find_package(Boost COMPONENTS log log_setup container REQUIRED) ENDIF(${AliceVision_VERSION} VERSION_LESS_EQUAL "2.2") SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/local/lib/cmake/modules") - find_package(Geogram REQUIRED QUIET) - find_package(assimp QUIET) + find_package(Geogram REQUIRED) + find_package(assimp REQUIRED) add_definitions("-DRTABMAP_ALICE_VISION_MAJOR=${AliceVision_VERSION_MAJOR}") add_definitions("-DRTABMAP_ALICE_VISION_MINOR=${AliceVision_VERSION_MINOR}") add_definitions("-DRTABMAP_ALICE_VISION_PATCH=${AliceVision_VERSION_PATCH}") @@ -704,28 +704,28 @@ IF(WITH_ALICE_VISION) ENDIF(WITH_ALICE_VISION) IF(WITH_FOVIS) - FIND_PACKAGE(libfovis QUIET) + FIND_PACKAGE(libfovis REQUIRED) IF(libfovis_FOUND) MESSAGE(STATUS "Found libfovis: ${libfovis_INCLUDE_DIRS}") ENDIF(libfovis_FOUND) ENDIF(WITH_FOVIS) IF(WITH_VISO2) - FIND_PACKAGE(libviso2 QUIET) + FIND_PACKAGE(libviso2 REQUIRED) IF(libviso2_FOUND) MESSAGE(STATUS "Found libviso2: ${libviso2_INCLUDE_DIRS}") ENDIF(libviso2_FOUND) ENDIF(WITH_VISO2) IF(WITH_DVO) - FIND_PACKAGE(dvo_core QUIET) + FIND_PACKAGE(dvo_core REQUIRED) IF(dvo_core_FOUND) MESSAGE(STATUS "Found dvo_core: ${dvo_core_INCLUDE_DIRS}") ENDIF(dvo_core_FOUND) ENDIF(WITH_DVO) IF(WITH_OKVIS) - FIND_PACKAGE(okvis 1.1 QUIET) + FIND_PACKAGE(okvis 1.1 REQUIRED) IF(okvis_FOUND) MESSAGE(STATUS "Found okvis: ${OKVIS_INCLUDE_DIRS}") find_package(brisk 2 REQUIRED) @@ -740,7 +740,7 @@ ENDIF(WITH_OKVIS) # If built with okvis, we found already ceres above IF(WITH_CERES) IF(NOT okvis_FOUND AND NOT floam_FOUND) - FIND_PACKAGE(Ceres QUIET) + FIND_PACKAGE(Ceres REQUIRED) MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}") ENDIF(NOT okvis_FOUND AND NOT floam_FOUND) ELSEIF(Ceres_FOUND) @@ -748,14 +748,14 @@ ELSEIF(Ceres_FOUND) ENDIF() IF(WITH_MSCKF_VIO) - FIND_PACKAGE(msckf_vio QUIET) + FIND_PACKAGE(msckf_vio REQUIRED) IF(msckf_vio_FOUND) MESSAGE(STATUS "Found msckf_vio: ${msckf_vio_INCLUDE_DIRS}") ENDIF(msckf_vio_FOUND) ENDIF(WITH_MSCKF_VIO) IF(WITH_VINS) - FIND_PACKAGE(vins QUIET) + FIND_PACKAGE(vins REQUIRED) IF(vins_FOUND) MESSAGE(STATUS "Found vins: ${vins_INCLUDE_DIRS}") IF(okvis_FOUND) @@ -765,28 +765,28 @@ IF(WITH_VINS) ENDIF(WITH_VINS) IF(WITH_OPENVINS) - FIND_PACKAGE(ov_msckf QUIET) + FIND_PACKAGE(ov_msckf REQUIRED) IF(ov_msckf_FOUND) MESSAGE(STATUS "Found ov_msckf: ${ov_msckf_INCLUDE_DIRS}") ENDIF(ov_msckf_FOUND) ENDIF(WITH_OPENVINS) IF(WITH_FASTCV) - FIND_PACKAGE(FastCV QUIET) + FIND_PACKAGE(FastCV REQUIRED) IF(FastCV_FOUND) MESSAGE(STATUS "Found FastCV: ${FastCV_INCLUDE_DIRS}") ENDIF(FastCV_FOUND) ENDIF(WITH_FASTCV) IF(WITH_OPENGV) - FIND_PACKAGE(opengv QUIET) + FIND_PACKAGE(opengv REQUIRED) IF(opengv_FOUND) MESSAGE(STATUS "Found OpenGV: ${opengv_INCLUDE_DIRS}") ENDIF(opengv_FOUND) ENDIF(WITH_OPENGV) IF(WITH_ORB_SLAM AND NOT G2O_FOUND) - FIND_PACKAGE(ORB_SLAM QUIET) + FIND_PACKAGE(ORB_SLAM REQUIRED) IF(ORB_SLAM_FOUND) MESSAGE(STATUS "Found ORB_SLAM${ORB_SLAM_VERSION}: ${ORB_SLAM_INCLUDE_DIRS}") ENDIF(ORB_SLAM_FOUND) --- a/app/android/CMakeLists.txt +++ b/app/android/CMakeLists.txt @@ -5,25 +5,25 @@ option(WITH_ARENGINE "Include AREngine support" ON) option(DISABLE_LOG "Disable Android logging (should be true in release)" ON) option(DEPTH_TEST "Enable depth test on ARCore" OFF) -# Google Tango needs access to system shared -# libraries (e.g. libbinder.so) that are not accessible +# Google Tango needs access to system shared +# libraries (e.g. libbinder.so) that are not accessible # with android >=24 IF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24) - FIND_PACKAGE(Tango QUIET) + FIND_PACKAGE(Tango REQUIRED) IF(Tango_FOUND) MESSAGE(STATUS "Found Tango: ${Tango_INCLUDE_DIRS}") ENDIF(Tango_FOUND) ENDIF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24) IF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22) - FIND_PACKAGE(ARCore QUIET) + FIND_PACKAGE(ARCore REQUIRED) IF(ARCore_FOUND) MESSAGE(STATUS "Found ARCore: ${ARCore_INCLUDE_DIRS}") ENDIF(ARCore_FOUND) ENDIF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22) IF(WITH_ARENGINE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 23) - FIND_PACKAGE(AREngine QUIET) + FIND_PACKAGE(AREngine REQUIRED) IF(AREngine_FOUND) MESSAGE(STATUS "Found AREngine: ${AREngine_INCLUDE_DIRS}") ENDIF(AREngine_FOUND) --- a/cmake_modules/FindEigen3.cmake +++ b/cmake_modules/FindEigen3.cmake @@ -71,16 +71,16 @@ if (EIGEN3_INCLUDE_DIR) set(Eigen3_FOUND ${EIGEN3_VERSION_OK}) else () - + # search first if an Eigen3Config.cmake is available in the system, # if successful this would set EIGEN3_INCLUDE_DIR and the rest of # the script will work as usual - find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET) + find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE REQUIRED) if(NOT EIGEN3_INCLUDE_DIR) find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library HINTS - ENV EIGEN3_ROOT + ENV EIGEN3_ROOT ENV EIGEN3_ROOT_DIR PATHS ${CMAKE_INSTALL_PREFIX}/include --- a/cmake_modules/FindHIDAPI.cmake +++ b/cmake_modules/FindHIDAPI.cmake @@ -75,7 +75,7 @@ if(NOT "${HIDAPI_FIND_COMPONENTS}") endif() # Ask pkg-config for hints -find_package(PkgConfig QUIET) +find_package(PkgConfig REQUIRED) if(PKG_CONFIG_FOUND) set(_old_prefix_path "${CMAKE_PREFIX_PATH}") # So pkg-config uses HIDAPI_ROOT_DIR too. @@ -116,7 +116,7 @@ find_path( PATH_SUFFIXES hidapi include include/hidapi HINTS ${PC_HIDAPI_HIDRAW_INCLUDE_DIRS} ${PC_HIDAPI_LIBUSB_INCLUDE_DIRS}) -find_package(Threads QUIET) +find_package(Threads REQUIRED) ### # Compute the "I don't care which backend" library --- a/cmake_modules/FindORB_SLAM.cmake +++ b/cmake_modules/FindORB_SLAM.cmake @@ -33,7 +33,7 @@ IF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_ SET(ORB_SLAM_LIBRARIES ${g2o_LIBRARY} ${ORB_SLAM_LIBRARY} ${DBoW2_LIBRARY}) ENDIF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY) -FIND_PACKAGE(Pangolin QUIET) +FIND_PACKAGE(Pangolin REQUIRED) IF(NOT Pangolin_FOUND) SET(ORB_SLAM_FOUND FALSE) MESSAGE(STATUS "Found ORB_SLAM but not Pangolin, disabling ORB_SLAM.") @@ -54,4 +54,3 @@ ELSE (ORB_SLAM_FOUND) MESSAGE(FATAL_ERROR "Could not find ORB_SLAM") ENDIF (ORB_SLAM_FIND_REQUIRED) ENDIF (ORB_SLAM_FOUND) - --- a/corelib/src/CMakeLists.txt +++ b/corelib/src/CMakeLists.txt @@ -167,13 +167,11 @@ SET(LIBRARIES # Issue that qhull dependency uses optimized and debug keywords, # which are converted to \$<\$> and \$<\$ # in RTABMap_coreTargets.cmake (not sure why?!). -list(REMOVE_ITEM PCL_LIBRARIES "debug" "optimized") SET(PUBLIC_LIBRARIES ${OpenCV_LIBS} ${PCL_LIBRARIES} ) -IF(SQLite3_FOUND) SET(INCLUDE_DIRS ${INCLUDE_DIRS} ${SQLite3_INCLUDE_DIRS} @@ -182,16 +180,7 @@ IF(SQLite3_FOUND) ${LIBRARIES} ${SQLite3_LIBRARIES} ) -ELSE() - SET(SRC_FILES - ${SRC_FILES} - sqlite3/sqlite3.c - ) - SET(INCLUDE_DIRS - ${CMAKE_CURRENT_SOURCE_DIR}/sqlite3 - ${INCLUDE_DIRS} - ) -ENDIF() + IF(TORCH_FOUND) SET(LIBRARIES @@ -748,8 +734,8 @@ IF(GTSAM_FOUND) ) IF(WIN32) #explicitly add metis target on windows (after gtsam target) - SET(LIBRARIES - ${LIBRARIES} + SET(PUBLIC_LIBRARIES + ${PUBLIC_LIBRARIES} metis ) ENDIF(WIN32) --- a/utilite/resource_generator/CMakeLists.txt +++ b/utilite/resource_generator/CMakeLists.txt @@ -1,5 +1,5 @@ -if (CMAKE_CROSSCOMPILING OR ANDROID OR IOS) +if (TRUE) # See this page about tools being required in the build: # https://gitlab.kitware.com/cmake/community/-/wikis/doc/cmake/CrossCompiling#using-executables-in-the-build-created-during-the-build