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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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cmake_modules/FindORB_SLAM2.cmake
+4 -3
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@@ -9,12 +9,13 @@
find_path(ORB_SLAM2_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM2_ROOT_DIR}/include)
find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM2_ROOT_DIR}/lib)
find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o/lib)
IF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY)
IF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND g2o_LIBRARY)
SET(ORB_SLAM2_FOUND TRUE)
SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIR} $ENV{ORB_SLAM2_ROOT_DIR})
SET(ORB_SLAM2_LIBRARIES ${ORB_SLAM2_LIBRARY})
ENDIF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY)
SET(ORB_SLAM2_LIBRARIES ${g2o_LIBRARY} ${ORB_SLAM2_LIBRARY})
ENDIF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND g2o_LIBRARY)
IF (ORB_SLAM2_FOUND)
# show which ORB_SLAM2 was found only if not quiet