Skip to content

Add new SLAM to LidarView superbuild as independent plugin

Nicolas Cadart requested to merge feature/addSlamInLVSuperbuild into master

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) :

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

Edited by Nicolas Cadart

Merge request reports