From 50498f347a212e6b01f28a7dd97eed03b6636e24 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Tue, 1 Oct 2019 10:57:30 +0200
Subject: [PATCH] Made CSM optional
---
src/CMakeLists.txt | 19 ++++++++++++++-----
src/icp.cpp | 1 +
2 files changed, 15 insertions(+), 5 deletions(-)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 041a112..ee3f8e7 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -10,10 +10,12 @@ IF(faramotics_FOUND)
MESSAGE("Faramotics Library FOUND: Tests requiring it will be built.")
ENDIF(faramotics_FOUND)
-FIND_PACKAGE(csm REQUIRED)
+FIND_PACKAGE(csm QUIET)
#include directories
INCLUDE_DIRECTORIES(.)
-INCLUDE_DIRECTORIES(${csm_INCLUDE_DIR})
+IF(csm_FOUND)
+ INCLUDE_DIRECTORIES(${csm_INCLUDE_DIR})
+ENDIF(csm_FOUND)
IF(Ceres_FOUND)
INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
ENDIF(Ceres_FOUND)
@@ -41,7 +43,11 @@ SET(HDRS
point_set.h
polyline.h
scan_segment.h
- icp.h)
+ )
+ IF(csm_FOUND)
+ SET(HDRS ${HDRS}
+ icp.h)
+ ENDIF(csm_FOUND)
#sources
SET(SRCS
@@ -60,8 +66,11 @@ SET(SRCS
point_set.cpp
polyline.cpp
scan_segment.cpp
- icp.cpp)
-
+ )
+ IF(csm_FOUND)
+ SET(SRCS ${SRCS}
+ icp.cpp)
+ ENDIF(csm_FOUND)
# create the shared library
ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS})
target_link_libraries(${PROJECT_NAME} ${csm_LIBRARY})
diff --git a/src/icp.cpp b/src/icp.cpp
index 4cd599a..b41958d 100644
--- a/src/icp.cpp
+++ b/src/icp.cpp
@@ -88,6 +88,7 @@ icpOutput ICP::align(const LaserScan &_last_ls, const LaserScan &_origin_ls, con
csm_input.outliers_adaptive_order = icp_params.outliers_adaptive_order;
csm_input.outliers_adaptive_mult = icp_params.outliers_adaptive_mult;
+
csm_input.do_compute_covariance = 1;
sm_icp(&csm_input, &csm_output);
--
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