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CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images.

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matlabbe
2021-09-24 17:31:16 -04:00
parent bccc5b13af
commit 8c56b5b1ce
8 changed files with 176 additions and 121 deletions
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6
CMakeLists.txt
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@@ -210,6 +210,7 @@ option(WITH_VINS "Include VINS-Fusion support" ON)
option(WITH_OPENVINS "Include OpenVINS support" ON)
option(WITH_MADGWICK "Include Madgwick IMU filtering support" ON)
option(WITH_FASTCV "Include FastCV support" ON)
option(WITH_OPENMP "Include OpenMP support" ON)
IF(MOBILE_BUILD)
option(PCL_OMP "With PCL OMP implementations" OFF)
ELSE()
@@ -254,7 +255,7 @@ endif()
# OpenMP ("-fopenmp" should be added for flann included in PCL)
# the gcc-4.2.1 coming with MacOS X is not compatible with the OpenMP pragmas we use, so disabling OpenMP for it
if((NOT APPLE) OR (NOT CMAKE_COMPILER_IS_GNUCXX) OR (GCC_VERSION VERSION_GREATER 4.2.1) OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang"))
if(((NOT APPLE) OR (NOT CMAKE_COMPILER_IS_GNUCXX) OR (GCC_VERSION VERSION_GREATER 4.2.1) OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")) AND WITH_OPENMP)
find_package(OpenMP COMPONENTS C CXX)
endif()
if(OPENMP_FOUND)
@@ -263,9 +264,10 @@ if(OPENMP_FOUND)
set(CMAKE_INSTALL_OPENMP_LIBRARIES TRUE)
message (STATUS "Found OpenMP: ${OpenMP_CXX_LIBRARIES}")
if(PCL_OMP)
message (STATUS "Add PCL_OMP to definitions")
add_definitions(-DPCL_OMP)
endif(PCL_OMP)
else(OPENMP_FOUND)
elseif(WITH_OPENMP)
message (STATUS "Not found OpenMP")
endif()