Fixed build with pcl<1.8

introlab · May 13, 2024 · 72d7418 · 72d7418
1 parent 9505a21
commit 72d7418
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Showing 5 changed files with 24 additions and 5 deletions.
diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt
@@ -41,8 +41,6 @@ SET(SRC_FILES
     camera/CameraMyntEye.cpp
     camera/CameraDepthAI.cpp
 
-    lidar/LidarVLP16.cpp
-
     EpipolarGeometry.cpp
     VisualWord.cpp
     VWDictionary.cpp
@@ -138,6 +136,13 @@ SET(SRC_FILES
     opencv/five-point.cpp
 )
 
+IF(PCL_VERSION VERSION_GREATER_EQUAL "1.8")
+SET(SRC_FILES
+    ${SRC_FILES}
+    lidar/LidarVLP16.cpp
+)
+ENDIF(PCL_VERSION VERSION_GREATER_EQUAL "1.8")
+
 IF(OpenCV_VERSION_MAJOR EQUAL 2)
 SET(SRC_FILES
     ${SRC_FILES}

diff --git a/docker/jfr2018/latest/Dockerfile b/docker/jfr2018/latest/Dockerfile
@@ -266,7 +266,7 @@ RUN source /root/catkin_ws/devel/setup.bash && \
 RUN source /root/catkin_ws/devel/setup.bash && \
     cd rtabmap_loam && \
     cd build && \
-    ~/cmake  -DWITH_LOAM=ON -DWITH_FLOAM=ON -DWITH_OPENGV=OFF .. && \
+    ~/cmake  -DWITH_LOAM=ON -DWITH_FLOAM=ON -DWITH_OPENGV=OFF -DWITH_CERES=ON .. && \
     make -j3 && \
     rm -rf *
 RUN source /root/catkin_ws/devel/setup.bash && \

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -5,7 +5,9 @@ IF(TARGET rtabmap_gui)
    ADD_SUBDIRECTORY( RGBDMapping )
    ADD_SUBDIRECTORY( WifiMapping )
    ADD_SUBDIRECTORY( NoEventsExample )
-   ADD_SUBDIRECTORY( LidarMapping )
+   IF(PCL_VERSION VERSION_GREATER_EQUAL "1.8")
+      ADD_SUBDIRECTORY( LidarMapping )
+   ENDIF()
 ELSE()
    MESSAGE(STATUS "RTAB-Map GUI lib is not built, the RGBDMapping and WifiMapping examples will not be built...")
 ENDIF()

diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
@@ -26,8 +26,11 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
+#include <pcl/pcl_config.h>
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
 // Should be first on windows to avoid "WinSock.h has already been included" error
 #include "rtabmap/core/lidar/LidarVLP16.h"
+#endif
 
 #include "rtabmap/gui/PreferencesDialog.h"
 #include "rtabmap/gui/DatabaseViewer.h"
@@ -6950,6 +6953,7 @@ Lidar * PreferencesDialog::createLidar()
 	Src driver = getLidarSourceDriver();
 	if(driver == kSrcLidarVLP16)
 	{
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
 		Transform localTransform = Transform::fromString(_ui->lineEdit_lidar_local_transform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString());
 		if(localTransform.isNull())
 		{
@@ -6994,6 +6998,12 @@ Lidar * PreferencesDialog::createLidar()
 			delete lidar;
 			lidar = 0;
 		}
+#else
+		UWARN("Lidar cannot be used with rtabmap built with PCL < 1.8... ");
+		QMessageBox::warning(this,
+				   tr("RTAB-Map"),
+				   tr("Lidar initialization failed..."));
+#endif
 	}
 	return lidar;
 }

diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
@@ -22,7 +22,9 @@ ENDIF(OPENCV_NONFREE_FOUND)
 
 IF(TARGET rtabmap_gui)
 	ADD_SUBDIRECTORY( CameraRGBD )
-	ADD_SUBDIRECTORY( LidarViewer )
+	IF(PCL_VERSION VERSION_GREATER_EQUAL "1.8")
+		ADD_SUBDIRECTORY( LidarViewer )
+	ENDIF()
 	ADD_SUBDIRECTORY( DatabaseViewer )
 	ADD_SUBDIRECTORY( EpipolarGeometry )
 	ADD_SUBDIRECTORY( OdometryViewer )