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

Fixed build without SuperGlue

Browse Source
This commit is contained in:
matlabbe
2020-05-09 21:41:38 -04:00
parent 91285e5e97
commit c44837a4cb
2 changed files with 6 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
corelib/src/RegistrationVis.cpp
View File

@@ -79,8 +79,11 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters, Registration
_minInliersDistributionThr(Parameters::defaultVisMinInliersDistribution()), _minInliersDistributionThr(Parameters::defaultVisMinInliersDistribution()),
_maxInliersMeanDistance(Parameters::defaultVisMeanInliersDistance()), _maxInliersMeanDistance(Parameters::defaultVisMeanInliersDistance()),
_detectorFrom(0), _detectorFrom(0),
_detectorTo(0), _detectorTo(0)
#ifdef RTABMAP_SUPERGLUE_PYTORCH
,
_superGlueMatcher(0) _superGlueMatcher(0)
#endif
{ {
_featureParameters = Parameters::getDefaultParameters(); _featureParameters = Parameters::getDefaultParameters();
uInsert(_featureParameters, ParametersPair(Parameters::kKpNNStrategy(), _featureParameters.at(Parameters::kVisCorNNType()))); uInsert(_featureParameters, ParametersPair(Parameters::kKpNNStrategy(), _featureParameters.at(Parameters::kVisCorNNType())));

6
tools/Matcher/CMakeLists.txt
View File

@@ -10,8 +10,6 @@ IF(QT4_FOUND)
INCLUDE(${QT_USE_FILE}) INCLUDE(${QT_USE_FILE})
ENDIF(QT4_FOUND) ENDIF(QT4_FOUND)
find_package (Python3 COMPONENTS Interpreter Development REQUIRED)
SET(LIBRARIES SET(LIBRARIES
${OpenCV_LIBRARIES} ${OpenCV_LIBRARIES}
${PCL_LIBRARIES} ${PCL_LIBRARIES}
@@ -23,8 +21,8 @@ add_definitions(${PCL_DEFINITIONS})
INCLUDE_DIRECTORIES(${INCLUDE_DIRS}) INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
ADD_EXECUTABLE(matcher main.cpp) ADD_EXECUTABLE(matcher main.cpp)
TARGET_LINK_LIBRARIES(matcher Python3::Python rtabmap_core rtabmap_utilite rtabmap_gui ${LIBRARIES}) TARGET_LINK_LIBRARIES(matcher rtabmap_core rtabmap_utilite rtabmap_gui ${LIBRARIES})
SET_TARGET_PROPERTIES( matcher SET_TARGET_PROPERTIES( matcher
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-matcher) PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-matcher)