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Added OdometryOpen3D

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matlabbe
2021-11-13 19:45:57 -05:00
parent 4ba805b5b3
commit 6c07a670ee
10 changed files with 573 additions and 17 deletions
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35
CMakeLists.txt
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@@ -186,6 +186,7 @@ option(WITH_VERTIGO "Include Vertigo support" ON)
option(WITH_CVSBA "Include cvsba support" OFF)
option(WITH_POINTMATCHER "Include libpointmatcher support" ON)
option(WITH_CCCORELIB "Include CCCoreLib support" OFF)
option(WITH_OPEN3D "Include Open3D support" OFF)
option(WITH_LOAM "Include LOAM support" OFF)
option(WITH_FLOAM "Include FLOAM support" OFF)
option(WITH_FLYCAPTURE2 "Include FlyCapture2/Triclops support" ON)
@@ -489,6 +490,19 @@ IF(WITH_CCCORELIB)
ENDIF(CCCoreLib_FOUND)
ENDIF(WITH_CCCORELIB)
IF(WITH_OPEN3D)
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)
IF(Open3D_FOUND)
MESSAGE(STATUS "Found Open3D: ${Open3DINCLUDE_DIRS}")
ENDIF(Open3D_FOUND)
ENDIF()
ENDIF(WITH_OPEN3D)
IF(WITH_LOAM)
find_package(loam_velodyne QUIET)
IF(loam_velodyne_FOUND)
@@ -695,7 +709,7 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
IF(NOT MSVC)
IF(loam_velodyne_FOUND OR floam_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 OR Open3D_FOUND)
#LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
@@ -705,7 +719,7 @@ IF(NOT MSVC)
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM, latest PCL or g2o.")
ENDIF()
ENDIF(loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
ENDIF(loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND)
IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
G2O_FOUND OR
@@ -821,6 +835,9 @@ ENDIF(NOT libpointmatcher_FOUND)
IF(NOT CCCoreLib_FOUND)
SET(CCCORELIB "//")
ENDIF(NOT CCCoreLib_FOUND)
IF(NOT Open3D_FOUND)
SET(OPEN3D "//")
ENDIF(NOT Open3D_FOUND)
IF(NOT FastCV_FOUND)
SET(FASTCV "//")
ENDIF(NOT FastCV_FOUND)
@@ -1293,9 +1310,9 @@ ENDIF()
IF(CERES_FOUND)
MESSAGE(STATUS " *With Ceres ${Ceres_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_CERES)
MESSAGE(STATUS " *With Ceres ${Ceres_VERSION} = NO (WITH_CERES=OFF)")
MESSAGE(STATUS " *With Ceres = NO (WITH_CERES=OFF)")
ELSE()
MESSAGE(STATUS " *With Ceres ${Ceres_VERSION} = NO (Ceres not found)")
MESSAGE(STATUS " *With Ceres = NO (Ceres not found)")
ENDIF()
IF(G2O_FOUND OR GTSAM_FOUND)
@@ -1332,6 +1349,16 @@ ELSE()
MESSAGE(STATUS " With CCCoreLib = NO (CCCoreLib not found)")
ENDIF()
IF(Open3D_FOUND)
MESSAGE(STATUS " With Open3D = YES (License: MIT)")
ELSEIF(NOT WITH_OPEN3D)
MESSAGE(STATUS " With Open3D = NO (WITH_OPEN3D=OFF)")
ELSEIF(${CMAKE_VERSION} VERSION_LESS "3.19.0")
MESSAGE(STATUS " With Open3D = NO (Open3D requires CMake>=3.19)")
ELSE()
MESSAGE(STATUS " With Open3D = NO (Open3D not found)")
ENDIF()
MESSAGE(STATUS "")
MESSAGE(STATUS " Reconstruction Approaches:")
IF(octomap_FOUND)