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Fixed changing local transform not handled correctly when changing for third party odometries

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matlabbe
2017-07-07 19:41:11 -04:00
parent f9ed36ed54
commit 9e011d6ad9
9 changed files with 51 additions and 20 deletions
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CMakeLists.txt
+3 -5
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@@ -369,7 +369,7 @@ IF(WITH_DVO)
ENDIF(dvo_core_FOUND)
ENDIF(WITH_DVO)
IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND AND NOT RealSense_FOUND)
IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
FIND_PACKAGE(ORB_SLAM2 QUIET)
IF(ORB_SLAM2_FOUND)
MESSAGE(STATUS "Found ORB_SLAM2: ${ORB_SLAM2_INCLUDE_DIRS}")
@@ -381,12 +381,10 @@ IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND AND NOT RealSense_FOUND)
MESSAGE(STATUS "Found Pangolin: ${Pangolin_INCLUDE_DIRS}")
SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIRS} ${Pangolin_INCLUDE_DIRS})
SET(ORB_SLAM2_LIBRARIES ${ORB_SLAM2_LIBRARIES} ${Pangolin_LIBRARIES})
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
# There could be crash issues if built with RealSense
MESSAGE(WARNING "Don't forget to build ORB_SLAM2 (and included g2o) without \"-march=native\" to avoid crash when ORB_SLAM2 starts.")
ENDIF()
ENDIF(ORB_SLAM2_FOUND)
ENDIF(WITH_ORB_SLAM2 AND NOT G2O_FOUND AND NOT RealSense_FOUND)
ENDIF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SLAM2_FOUND)
#Newest versions require std11