i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Integrated DepthAI (gen2) (#696)

Browse Source 
* Added OAK-D camera support (DepthAI)

* Fixed build without DepthAI dependency

* Added minimum version 2 for depthai

* fixed trusty build
This commit is contained in:
matlabbe
2021-03-07 12:27:21 -05:00
committed by GitHub
parent ab8f0e2b34
commit 351c659beb
22 changed files with 869 additions and 78 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
CMakeLists.txt
View File

@@ -188,6 +188,7 @@ option(WITH_REALSENSE "Include RealSense support" ON)
option(WITH_REALSENSE_SLAM "Include RealSenseSlam support" ON)
option(WITH_REALSENSE2 "Include RealSense support" ON)
option(WITH_MYNTEYE "Include mynteye-s support" ON)
option(WITH_DEPTHAI "Include depthai-core support" ON)
option(WITH_OCTOMAP "Include Octomap support" ON)
option(WITH_CPUTSDF "Include CPUTSDF support" ON)
option(WITH_OPENCHISEL "Include open_chisel support" ON)
@@ -528,6 +529,13 @@ IF(WITH_MYNTEYE)
ENDIF(mynteye_FOUND)
ENDIF(WITH_MYNTEYE)
IF(WITH_DEPTHAI)
FIND_PACKAGE(depthai 2 QUIET)
IF(depthai_FOUND)
MESSAGE(STATUS "Found depthai-core (targets)")
ENDIF(depthai_FOUND)
ENDIF(WITH_DEPTHAI)
IF(WITH_OCTOMAP)
FIND_PACKAGE(octomap QUIET)
IF(octomap_FOUND)
@@ -835,6 +843,9 @@ ENDIF()
IF(NOT mynteye_FOUND)
SET(MYNTEYE "//")
ENDIF(NOT mynteye_FOUND)
IF(NOT depthai_FOUND)
SET(DEPTHAI "//")
ENDIF(NOT depthai_FOUND)
IF(NOT octomap_FOUND)
SET(OCTOMAP "//")
ELSE()
@@ -1391,6 +1402,14 @@ ELSE()
MESSAGE(STATUS " With MyntEyeS = NO (mynteye s sdk not found)")
ENDIF()
IF(depthai_FOUND)
MESSAGE(STATUS " With DepthAI = YES (License: MIT)")
ELSEIF(NOT WITH_DEPTHAI)
MESSAGE(STATUS " With DepthAI = NO (WITH_DEPTHAI=OFF)")
ELSE()
MESSAGE(STATUS " With DepthAI = NO (depthai-core not found)")
ENDIF()
MESSAGE(STATUS "")
MESSAGE(STATUS " Odometry Approaches:")
IF(loam_velodyne_FOUND)