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) :