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Devel: new feature msckf_vio

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matlabbe
2018-07-14 20:40:44 -04:00
parent 89a0eb506b
commit 15e09cd0a8
10 changed files with 1764 additions and 6 deletions
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22
CMakeLists.txt
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@@ -169,6 +169,7 @@ option(WITH_VISO2 "Include VISO2 support" ON)
option(WITH_DVO "Include DVO support" ON)
option(WITH_ORB_SLAM2 "Include ORB_SLAM2 support" ON)
option(WITH_OKVIS "Include OKVIS support" ON)
option(WITH_MSCKF_VIO "Include MSCKF_VIO support" OFF)
option(PCL_OMP "With PCL OMP implementations" ON)
FIND_PACKAGE(OpenCV REQUIRED QUIET)
@@ -454,6 +455,14 @@ IF(WITH_OKVIS)
ENDIF(okvis_FOUND)
ENDIF(WITH_OKVIS)
IF(WITH_MSCKF_VIO)
FIND_PACKAGE(msckf_vio QUIET)
IF(msckf_vio_FOUND)
MESSAGE(STATUS "Found msckf_vio: ${msckf_vio_INCLUDE_DIRS}")
ENDIF(msckf_vio_FOUND)
ENDIF(WITH_MSCKF_VIO)
IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
FIND_PACKAGE(ORB_SLAM2 QUIET)
IF(ORB_SLAM2_FOUND)
@@ -647,6 +656,11 @@ IF(NOT okvis_FOUND)
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OKVIS_LIBRARIES})
ENDIF()
IF(NOT msckf_vio_FOUND)
SET(MSCKF_VIO "//")
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${msckf_vio_LIBRARIES})
ENDIF()
IF(NOT ORB_SLAM2_FOUND)
SET(ORB_SLAM2 "//")
ELSE()
@@ -1056,6 +1070,14 @@ ELSE()
MESSAGE(STATUS " With okvis = NO (okvis not found)")
ENDIF()
IF(msckf_vio_FOUND)
MESSAGE(STATUS " With msckf_vio = YES (License: Penn Software License)")
ELSEIF(NOT WITH_MSCKF_VIO)
MESSAGE(STATUS " With msckf_vio = NO (WITH_MSCKF_VIO=OFF)")
ELSE()
MESSAGE(STATUS " With msckf_vio = NO (msckf_vio not found)")
ENDIF()
IF(ORB_SLAM2_FOUND)
MESSAGE(STATUS " With ORB_SLAM2 = YES (License: GPLv3)")
ELSEIF(NOT WITH_ORB_SLAM2)