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Added OdometryFLOAM (Odom/Strategy=11)

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matlabbe
2021-09-09 17:38:54 -04:00
parent 263e0170f1
commit 3ba02d2ef6
14 changed files with 337 additions and 19 deletions
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33
CMakeLists.txt
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@@ -187,6 +187,7 @@ option(WITH_CVSBA "Include cvsba support" ON)
option(WITH_POINTMATCHER "Include libpointmatcher support" ON)
option(WITH_CCCORELIB "Include CCCoreLib support" ON)
option(WITH_LOAM "Include LOAM support" ON)
option(WITH_FLOAM "Include FLOAM support" ON)
option(WITH_FLYCAPTURE2 "Include FlyCapture2/Triclops support" ON)
option(WITH_ZED "Include ZED sdk support" ON)
option(WITH_ZEDOC "Include ZED Open Capture support" ON)
@@ -493,6 +494,14 @@ IF(WITH_LOAM)
ENDIF(loam_velodyne_FOUND)
ENDIF(WITH_LOAM)
IF(WITH_FLOAM)
find_package(floam QUIET)
IF(floam_FOUND)
MESSAGE(STATUS "Found floam: ${floam_INCLUDE_DIRS}")
FIND_PACKAGE(Ceres QUIET REQUIRED)
ENDIF(floam_FOUND)
ENDIF(WITH_FLOAM)
SET(ZED_FOUND FALSE)
IF(WITH_ZED)
find_package(ZED 2 QUIET)
@@ -635,9 +644,14 @@ IF(WITH_OKVIS)
ENDIF(WITH_OKVIS)
# If built with okvis, we found already ceres above
IF(NOT okvis_FOUND AND WITH_CERES)
IF(WITH_CERES)
IF(NOT okvis_FOUND AND NOT floam_FOUND)
FIND_PACKAGE(Ceres QUIET)
ENDIF(NOT okvis_FOUND AND WITH_CERES)
MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}")
ENDIF(NOT okvis_FOUND AND NOT floam_FOUND)
ELSEIF(Ceres_FOUND)
MESSAGE(WARNING "WITH_CERES is OFF, but it still included by dependencies Okvis or FLOAM")
ENDIF()
IF(WITH_MSCKF_VIO)
FIND_PACKAGE(msckf_vio QUIET)
@@ -678,7 +692,7 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
IF(NOT MSVC)
IF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
IF(loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
#LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
@@ -688,7 +702,7 @@ IF(NOT MSVC)
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM, latest PCL or g2o.")
ENDIF()
ENDIF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
ENDIF(loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
G2O_FOUND OR
@@ -813,6 +827,9 @@ ENDIF(NOT PDAL_FOUND)
IF(NOT loam_velodyne_FOUND)
SET(LOAM "//")
ENDIF(NOT loam_velodyne_FOUND)
IF(NOT floam_FOUND)
SET(FLOAM "//")
ENDIF(NOT floam_FOUND)
IF(NOT Freenect_FOUND)
SET(FREENECT "//")
ELSE()
@@ -1469,6 +1486,14 @@ ELSE()
MESSAGE(STATUS " With loam_velodyne = NO (loam_velodyne not found)")
ENDIF()
IF(floam_FOUND)
MESSAGE(STATUS " With floam = YES (License: BSD)")
ELSEIF(NOT WITH_FLOAM)
MESSAGE(STATUS " With floam = NO (WITH_FLOAM=OFF)")
ELSE()
MESSAGE(STATUS " With floam = NO (floam not found)")
ENDIF()
IF(libfovis_FOUND)
MESSAGE(STATUS " With libfovis = YES (License: GPLv2)")
ELSEIF(NOT WITH_FOVIS)