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Gitlab will be updated March 24th, between 8AM and 9AM EST (UTC-5). Gitlab may have intermittent delays during that time.

  • LidarView
  • LidarView-CoreLidarView-Core
  • Merge requests
  • !57

Add new SLAM to LidarView superbuild as independent plugin

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Merged Nicolas Cadart requested to merge feature/addSlamInLVSuperbuild into master Mar 24, 2020
  • Overview 1
  • Commits 4
  • Pipelines 0
  • Changes 6

Deprecates old LidarView SLAM implemented by LidarPlugin, and replaces it by independent LidarSlamPlugin.

If SLAM is enabled, LidarSlamPlugin is automatically built and installed as a Lidarview plugin, and will be auto-loaded at LidarView start. Its use is then totally transparent for the user.

Major changes :

  • Add LiDAR SLAM submodule
  • Upgrade Eigen from 3.2.10 to 3.3.7 : Eigen 3.3 needed by new SLAM.
  • Upgrade PCL from 1.8.1 to 1.10.1 : the upgrade to Eigen 3.3 revealed a major drawback when using the same Eigen files but compiled in different libs with different optimizations flags turned on. The upgrade to PCL >1.9 fixes a CMake bug in PCL exporting wrong optimization flags, leading to weird dynamic Eigen matrices alignement errors. See this commit for more info.
  • Various CMake modifications

Related merge requests (please merge them in this following order) :

  • LiDAR SLAM
  • LidarView-Superbuild
  • LidarView-Core (this MR)
  • LidarView

@nick.laurenson @lea.vauchier @melanie.carriere

Edited Mar 24, 2020 by Nicolas Cadart
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Source branch: feature/addSlamInLVSuperbuild