mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
700704bec9
* Working rtabmap_lidar-mapping example (live and pcap) * finalizing merge, added some deprecated * fixed build * Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI. * backward compatibility * fixed some not used variable warnings, fixed qt build for lidar mapping example * Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8 * ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera inputs. * Working external lidar on iOS * util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup * fixed winsock include order * reverted camera tool * disable imu filtering when odom sensor is used * Updated package version * fixed windows build * fixing more windows build erros
32 lines
918 B
CMake
32 lines
918 B
CMake
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IF(NOT WITH_QT)
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# visualization module required
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FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
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ENDIF(NOT WITH_QT)
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SET(INCLUDE_DIRS
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${PROJECT_BINARY_DIR}/corelib/include
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${PROJECT_SOURCE_DIR}/corelib/include
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${PROJECT_SOURCE_DIR}/utilite/include
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${OpenCV_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${OpenCV_LIBRARIES}
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${PCL_LIBRARIES}
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)
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add_definitions(${PCL_DEFINITIONS})
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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ADD_EXECUTABLE(lidar_viewer main.cpp)
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TARGET_LINK_LIBRARIES(lidar_viewer rtabmap_core rtabmap_utilite ${LIBRARIES})
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SET_TARGET_PROPERTIES( lidar_viewer
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PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-lidar_viewer)
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INSTALL(TARGETS lidar_viewer
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
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BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime) |