Kilted VSLAM reference

CMakeLists.txt

@@ -1,5 +1,9 @@
 cmake_minimum_required(VERSION 3.20)
 
+set(BUILD_SHARED_LIBS ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+set(FETCHCONTENT_FULLY_DISCONNECTED OFF)
+
 include(cmake/depthaiOptions.cmake)
 
 if(WIN32)
@@ -122,6 +126,7 @@ set(PROJECT_EXPORT_GROUP "${PROJECT_NAME}Targets")
 
 ## Check if cloned or sources
 find_package(Git)
+find_package(ament_cmake QUIET)
 if(GIT_FOUND)
     execute_process(
         COMMAND ${GIT_EXECUTABLE} rev-parse --show-toplevel
@@ -233,15 +238,11 @@ set(THIRDPARTY_RTABMAP_LIBRARIES "rtabmap::utilite" CACHE STRING "Optional libra
 set(TARGET_RTABMAP_NAME ${PROJECT_NAME}-rtabmap)
 set(TARGET_RTABMAP_ALIAS rtabmap)
 if(DEPTHAI_RTABMAP_SUPPORT)
-    if(${RTABMap_FOUND} AND DEPTHAI_HAVE_PCL_SUPPORT)
+    if(${RTABMap_FOUND})
         set(DEPTHAI_HAVE_RTABMAP_SUPPORT ON)
-        message(STATUC "RTABMAP found. RTABMAP Support enabled")
+        message(STATUS "RTABMAP found. RTABMAP Support enabled")
     else()
-        if(${RTABMap_FOUND})
-            message(WARNING "RTABMAP found but depthai does not have PCL support. RTABMAP Support disabled")
-        else()
-            message(WARNING "RTABMAP not found. RTABMAP Support disabled")
-        endif()
+        message(WARNING "RTABMAP not found. RTABMAP Support disabled")
     endif()
 endif()
 
@@ -254,7 +255,7 @@ set(TARGET_BASALT_ALIAS basalt)
 if(DEPTHAI_BASALT_SUPPORT)
     if(${basalt_sdk_FOUND})
         set(DEPTHAI_HAVE_BASALT_SUPPORT ON)
-        message(STATUC "Basalt found. Basalt Support enabled")
+        message(STATUS "Basalt found. Basalt Support enabled")
     else()
         message(WARNING "Basalt not found. Basalt Support disabled")
     endif()
@@ -355,6 +356,7 @@ set(TARGET_CORE_SOURCES
     src/pipeline/datatype/MessageGroup.cpp
     src/pipeline/datatype/ThermalConfig.cpp
     src/pipeline/datatype/TransformData.cpp
+    src/pipeline/datatype/MapData.cpp
     src/properties/Properties.cpp
     src/capabilities/Capabilities.cpp
     src/utility/H26xParsers.cpp
@@ -434,9 +436,9 @@ set(TARGET_PCL_SOURCES src/pcl/PointCloudData.cpp)
 set(TARGET_BASALT_SOURCES src/basalt/BasaltVIO.cpp)
 
 set(TARGET_RTABMAP_SOURCES
-    src/rtabmap/CalibrationHandler.cpp
-    src/rtabmap/TransformData.cpp
-    src/rtabmap/RTABMapVIO.cpp src/rtabmap/RTABMapSLAM.cpp
+    src/rtabmap/RTABMapConversions.cpp
+    src/rtabmap/RTABMapSLAM.cpp
+    src/rtabmap/RTABMapVIO.cpp
 )
 
 if(DEPTHAI_HAVE_OPENCV_SUPPORT AND DEPTHAI_MERGED_TARGET)
@@ -565,7 +567,7 @@ endif()
 
 if(DEPTHAI_HAVE_RTABMAP_SUPPORT AND DEPTHAI_MERGED_TARGET) 
     # Link to rtabmap
-    target_link_libraries(${TARGET_CORE_NAME} PUBLIC rtabmap::core ${THIRDPARTY_RTABMAP_LIBRARIES})
+    target_link_libraries(${TARGET_CORE_NAME} PRIVATE rtabmap::core ${THIRDPARTY_RTABMAP_LIBRARIES})
 
     # add compile defs
     target_compile_definitions(${TARGET_CORE_NAME} PUBLIC DEPTHAI_TARGET_RTABMAP)
@@ -575,7 +577,7 @@ endif()
 
 if(DEPTHAI_HAVE_BASALT_SUPPORT AND DEPTHAI_MERGED_TARGET)
     # Link to Basalt
-    target_link_libraries(${TARGET_CORE_NAME} PUBLIC ${THIRDPARTY_BASALT_LIBRARIES})
+    target_link_libraries(${TARGET_CORE_NAME} PRIVATE ${THIRDPARTY_BASALT_LIBRARIES})
 
     # add compile defs
     target_compile_definitions(${TARGET_CORE_NAME} PUBLIC DEPTHAI_TARGET_BASALT)
@@ -1003,9 +1005,9 @@ if(DEPTHAI_HAVE_RTABMAP_SUPPORT AND NOT DEPTHAI_MERGED_TARGET)
     endif()
     # Add depthai-rtabmap library and depthai::rtabmap alias
     add_library(${TARGET_RTABMAP_NAME}
-    src/rtabmap/CalibrationHandler.cpp
-    src/rtabmap/TransformData.cpp
-    src/rtabmap/RTABMapVIO.cpp src/rtabmap/RTABMapSLAM.cpp
+    src/rtabmap/RTABMapConversions.cpp
+    src/rtabmap/RTABMapSLAM.cpp
+    src/rtabmap/RTABMapVIO.cpp
     )
     add_library("${PROJECT_NAME}::${TARGET_RTABMAP_ALIAS}" ALIAS ${TARGET_RTABMAP_NAME})
     # Specifies name of generated IMPORTED target (set to alias)
@@ -1015,7 +1017,7 @@ if(DEPTHAI_HAVE_RTABMAP_SUPPORT AND NOT DEPTHAI_MERGED_TARGET)
     add_default_flags(${TARGET_RTABMAP_NAME})
     add_flag(${TARGET_RTABMAP_NAME} -Wno-switch-enum)
     # Link to RTABMap (publically)
-    target_link_libraries(${TARGET_RTABMAP_NAME} PUBLIC rtabmap::core ${TARGET_OPENCV_NAME} ${TARGET_PCL_NAME} ${THIRDPARTY_RTABMAP_LIBRARIES} PRIVATE spdlog::spdlog)
+    target_link_libraries(${TARGET_RTABMAP_NAME} PRIVATE rtabmap::core ${TARGET_OPENCV_NAME} ${TARGET_PCL_NAME} ${THIRDPARTY_RTABMAP_LIBRARIES} spdlog::spdlog)
 
     target_include_directories(${TARGET_RTABMAP_NAME} PRIVATE "$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/src>")
     # Add public compile definition indicating that RTABMap support is available
@@ -1056,7 +1058,7 @@ if(DEPTHAI_HAVE_BASALT_SUPPORT AND NOT DEPTHAI_MERGED_TARGET)
     add_flag(${TARGET_BASALT_NAME} -Wno-switch-enum)
 
     # Link to Basalt (publically)
-    target_link_libraries(${TARGET_BASALT_NAME} PUBLIC ${THIRDPARTY_BASALT_LIBRARIES} ${TARGET_OPENCV_NAME} PRIVATE spdlog::spdlog)
+    target_link_libraries(${TARGET_BASALT_NAME}  PRIVATE ${THIRDPARTY_BASALT_LIBRARIES} ${TARGET_OPENCV_NAME} spdlog::spdlog)
     # Add public compile definition indicating that Basalt support is available
     set(DEPTHAI_HAVE_BASALT_SUPPORT ON)
 
@@ -1298,3 +1300,6 @@ if(DEPTHAI_INSTALL)
     )
 
 endif()
+if(ament_cmake_FOUND)
+    ament_package() 
+endif()

cmake/depthaiConfig.cmake.in

@@ -5,8 +5,6 @@ find_dependency(libnop CONFIG REQUIRED)
 find_dependency(XLink CONFIG REQUIRED COMPONENTS XLinkPublic)
 
 set(DEPTHAI_OPENCV_SUPPORT @DEPTHAI_OPENCV_SUPPORT@)
-set(DEPTHAI_BASALT_SUPPORT @DEPTHAI_BASALT_SUPPORT@)
-set(DEPTHAI_RTABMAP_SUPPORT @DEPTHAI_RTABMAP_SUPPORT@)
 set(DEPTHAI_PCL_SUPPORT @DEPTHAI_PCL_SUPPORT@)
 set(DEPTHAI_XTENSOR_SUPPORT @DEPTHAI_XTENSOR_SUPPORT@)
 set(DEPTHAI_DYNAMIC_CALIBRATION_SUPPORT @DEPTHAI_DYNAMIC_CALIBRATION_SUPPORT@)
@@ -15,13 +13,6 @@ if(DEPTHAI_OPENCV_SUPPORT)
     find_dependency(OpenCV 4 CONFIG REQUIRED)
 endif()
 
-if(DEPTHAI_RTABMAP_SUPPORT)
-    find_dependency(rtabmap CONFIG REQUIRED)
-endif()
-
-if(DEPTHAI_BASALT_SUPPORT)
-    find_dependency(Basalt CONFIG REQUIRED)
-endif()
 
 if(DEPTHAI_PCL_SUPPORT)
     find_dependency(PCL CONFIG REQUIRED)

cmake/depthaiDependencies.cmake

@@ -63,6 +63,16 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
         find_package(CURL ${_QUIET} CONFIG REQUIRED)
         find_package(cpr ${_QUIET} CONFIG REQUIRED)
     endif()
+    if(DEPTHAI_BASALT_SUPPORT)
+        find_package(basalt-headers ${_QUIET} CONFIG REQUIRED)
+        find_package(basalt_sdk ${_QUIET} CONFIG REQUIRED)
+    endif()
+    if(DEPTHAI_RTABMAP_SUPPORT)
+        find_package(g2o ${_QUIET} CONFIG REQUIRED)
+        find_package(Ceres ${_QUIET} CONFIG REQUIRED)
+        find_package(PCL CONFIG COMPONENTS common)
+        find_package(RTABMap ${_QUIET} CONFIG REQUIRED COMPONENTS core utilite)
+    endif()
 
     # Backward
     if(DEPTHAI_ENABLE_BACKWARD)
@@ -169,8 +179,10 @@ set(BUILD_SHARED_LIBS OFF)
 set(XLINK_ENABLE_LIBUSB ${DEPTHAI_ENABLE_LIBUSB} CACHE BOOL "Enable libusb" FORCE)
 set(XLINK_INSTALL_PUBLIC_ONLY ON CACHE BOOL "Install only public headers" FORCE)
 if(DEPTHAI_ENABLE_LIBUSB)
-    find_package(usb-1.0 ${_QUIET} CONFIG REQUIRED)
+    find_package(PkgConfig REQUIRED)
+    pkg_check_modules(libusb REQUIRED libusb-1.0)
 endif()
+set(XLINK_LIBUSB_SYSTEM ON)
 if(DEPTHAI_XLINK_LOCAL AND (NOT CONFIG_MODE))
     add_subdirectory("${DEPTHAI_XLINK_LOCAL}" ${CMAKE_CURRENT_BINARY_DIR}/XLink)
 else()
@@ -202,16 +214,7 @@ endif()
 if(DEPTHAI_PCL_SUPPORT)
     find_package(PCL CONFIG COMPONENTS common)
 endif()
-if(DEPTHAI_RTABMAP_SUPPORT)
-    find_package(RTABMap ${_QUIET} CONFIG REQUIRED COMPONENTS core utilite)
-    find_package(g2o ${_QUIET} CONFIG REQUIRED)
-    find_package(Ceres ${_QUIET} CONFIG REQUIRED)
-endif()
 
-if(DEPTHAI_BASALT_SUPPORT)
-    find_package(basalt-headers ${_QUIET} CONFIG REQUIRED)
-    find_package(basalt_sdk ${_QUIET} CONFIG REQUIRED)
-endif()
 
 # include optional dependency cmake
 if(DEPTHAI_DEPENDENCY_INCLUDE)
@@ -289,6 +292,8 @@ if(DEPTHAI_DYNAMIC_CALIBRATION_SUPPORT)
         set(DYNAMIC_CALIBRATION_LIB
             $<$<CONFIG:Debug>:${DYNAMIC_CALIBRATION_DEBUG_LIB}>
             $<$<CONFIG:Release>:${DYNAMIC_CALIBRATION_RELEASE_LIB}>
+            $<$<CONFIG:RelWithDebInfo>::${DYNAMIC_CALIBRATION_RELEASE_LIB}>
+            $<$<CONFIG:MinSizeRel>:${DYNAMIC_CALIBRATION_RELEASE_LIB}>
         )
     else()
         set(DYNAMIC_CALIBRATION_LIB ${DYNAMIC_CALIBRATION_RELEASE})
@@ -310,7 +315,9 @@ if(DEPTHAI_DYNAMIC_CALIBRATION_SUPPORT)
         set_target_properties(dynamic_calibration_imported PROPERTIES
             IMPORTED_LOCATION_DEBUG "${DYNAMIC_CALIBRATION_RELEASE}"
             IMPORTED_LOCATION_RELEASE "${DYNAMIC_CALIBRATION_RELEASE}"
-            IMPORTED_CONFIGURATIONS "DEBUG;RELEASE"
+            IMPORTED_LOCATION_RELWITHDEBINFO "${DYNAMIC_CALIBRATION_RELEASE}"
+            IMPORTED_LOCATION_MINSIZEREL "${DYNAMIC_CALIBRATION_RELEASE}"
+            IMPORTED_CONFIGURATIONS "DEBUG;RELEASE;RELWITHDEBINFO;MINSIZEREL"
             INTERFACE_INCLUDE_DIRECTORIES "${DYNAMIC_CALIBRATION_DIR}/include"
         )
     endif()

cmake/depthaiOptions.cmake

@@ -24,10 +24,8 @@ option(DEPTHAI_OPENCV_SUPPORT "Enable optional OpenCV support" ON)
 option(DEPTHAI_XTENSOR_SUPPORT "Enable optional xtensor support" ON)
 option(DEPTHAI_PCL_SUPPORT "Enable optional PCL support" OFF)
 
-option(DEPTHAI_RTABMAP_SUPPORT "Enable optional RTABMap support" OFF)
-option(DEPTHAI_BASALT_SUPPORT "Enable optional Basalt support" OFF)
-
-option(DEPTHAI_DYNAMIC_CALIBRATION_SUPPORT "Enable Dynamic Calibration support" ON)
+option(DEPTHAI_RTABMAP_SUPPORT "Enable optional RTABMap support" ON)
+option(DEPTHAI_BASALT_SUPPORT "Enable optional Basalt support" ON)
 
 # Build Behaviour
 option(DEPTHAI_MERGED_TARGET "Enable merged target build" ON)
@@ -48,7 +46,7 @@ if(DEPTHAI_VCPKG_INTERNAL_ONLY)
     set(USE_EXTERNAL_INTERFACE_LIBS_DEFAULT OFF)
 endif()
 
-option(DEPTHAI_JSON_EXTERNAL "Use external nlohmann_json library" ${USE_EXTERNAL_INTERFACE_LIBS_DEFAULT})
+option(DEPTHAI_JSON_EXTERNAL "Use external nlohmann_json library" ON)
 option(DEPTHAI_LIBNOP_EXTERNAL "Use external libnop library" ${USE_EXTERNAL_INTERFACE_LIBS_DEFAULT})
 option(DEPTHAI_XTENSOR_EXTERNAL "Use external xtensor library" ${USE_EXTERNAL_INTERFACE_LIBS_DEFAULT})
 

cmake/depthaiVcpkgFeatures.cmake

@@ -6,11 +6,11 @@ if(NOT DEPTHAI_VCPKG_INTERNAL_ONLY)
     list(APPEND VCPKG_MANIFEST_FEATURES "public-deps")
 endif()
 
-if(DEPTHAI_RTABMAP_SUPPORT AND NOT DEPTHAI_VCPKG_INTERNAL_ONLY)
+if(DEPTHAI_RTABMAP_SUPPORT)
     list(APPEND VCPKG_MANIFEST_FEATURES "rtabmap")
 endif()
 
-if(DEPTHAI_BASALT_SUPPORT AND NOT DEPTHAI_VCPKG_INTERNAL_ONLY)
+if(DEPTHAI_BASALT_SUPPORT)
     list(APPEND VCPKG_MANIFEST_FEATURES "basalt")
 endif()
 
@@ -22,7 +22,7 @@ if(DEPTHAI_OPENCV_SUPPORT AND NOT DEPTHAI_VCPKG_INTERNAL_ONLY AND DEPTHAI_BUILD_
     list(APPEND VCPKG_MANIFEST_FEATURES "opencv-gui")
 endif()
 
-if(DEPTHAI_PCL_SUPPORT AND NOT DEPTHAI_VCPKG_INTERNAL_ONLY)
+if(DEPTHAI_PCL_SUPPORT)
     list(APPEND VCPKG_MANIFEST_FEATURES "pcl-support")
 endif()
 
@@ -62,7 +62,7 @@ if(DEPTHAI_ENABLE_REMOTE_CONNECTION)
     list(APPEND VCPKG_MANIFEST_FEATURES "remote-connection-support")
 endif()
 
-if(DEPTHAI_ENABLE_LIBUSB)
+if(DEPTHAI_ENABLE_LIBUSB AND NOT DEPTHAI_VCPKG_INTERNAL_ONLY)
     list(APPEND VCPKG_MANIFEST_FEATURES "usb")
 endif()
 
@@ -72,4 +72,4 @@ endif()
 
 if(DEPTHAI_BUILD_ZOO_HELPER)
     list(APPEND VCPKG_MANIFEST_FEATURES "zoo-helper")
-endif()
+endif()

cmake/ports/basalt-headers/vcpkg.json

@@ -12,9 +12,6 @@
       "name": "vcpkg-cmake-config",
       "host": true
     },
-		"eigen3",
-		"sophus",
-		"cereal",
-		"fmt"
+		"cereal"
 ]
 }

cmake/ports/basalt/portfile.cmake

@@ -4,8 +4,7 @@ vcpkg_from_github(
     REPO luxonis/basalt
     REF ef61684ca32d0f827981270f780830c5f84c8e85
     SHA512 be82d5f8971265178b8ab1f784fecb498963d3d8b641a47c541416dcea34f49e4138b2b191c930a5e1d9ca5b2ebcd1c1872cc0a2bb6bced683e9d44240f6eed3
-    HEAD_REF depthai
-)
+    HEAD_REF depthai)
 vcpkg_cmake_configure(
     SOURCE_PATH "${SOURCE_PATH}"
     OPTIONS

cmake/ports/basalt/vcpkg.json

@@ -12,16 +12,7 @@
       "name": "vcpkg-cmake-config",
       "host": true
     },
-	{
-		"name": "opencv4",
-		"default-features": false,
-    "features": [
-      "calib3d",
-      "highgui"
-    ]
-	},
 	"basalt-headers",
-	"magic-enum",
-	"tbb"
+    "sophus"
 ]
 }

cmake/ports/rtabmap/vcpkg.json

@@ -8,14 +8,6 @@
   "dependencies": [
     "ceres",
     "g2o",
-    {
-      "name": "opencv",
-      "default-features": false,
-      "features": [
-        "calib3d",
-        "highgui"
-      ]
-    },
     {
       "name": "pcl",
       "default-features": false
@@ -80,42 +72,6 @@
         "octomap"
       ]
     },
-    "opencv-contrib": {
-      "description": "Use OpenCV with contrib modules (e.g., xfeatures2d, aruco)",
-      "dependencies": [
-        {
-          "name": "opencv",
-          "default-features": false,
-          "features": [
-            "contrib"
-          ]
-        }
-      ]
-    },
-    "opencv-cuda": {
-      "description": "Use OpenCV with CUDA (accelerated SIFT ad SURF GPU options)",
-      "dependencies": [
-        {
-          "name": "opencv",
-          "default-features": false,
-          "features": [
-            "cuda"
-          ]
-        }
-      ]
-    },
-    "opencv-nonfree": {
-      "description": "Use OpenCV with nonfree module (surf feature)",
-      "dependencies": [
-        {
-          "name": "opencv",
-          "default-features": false,
-          "features": [
-            "nonfree"
-          ]
-        }
-      ]
-    },
     "openni2": {
       "description": "Build RTAB-Map with OpenNI2 camera driver",
       "dependencies": [