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update the code for opencv 4 #290

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update the code for opencv 4 #290

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5 changes: 3 additions & 2 deletions LeGO-LOAM/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 2.8.3)
project(lego_loam)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3")

find_package(catkin REQUIRED COMPONENTS
tf
Expand All @@ -23,6 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
find_package(GTSAM REQUIRED QUIET)
find_package(PCL REQUIRED QUIET)
find_package(OpenCV REQUIRED QUIET)
find_package(Boost REQUIRED thread serialization timer chrono)

catkin_package(
INCLUDE_DIRS include
Expand Down Expand Up @@ -57,4 +58,4 @@ add_executable(mapOptmization src/mapOptmization.cpp)
target_link_libraries(mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)

add_executable(transformFusion src/transformFusion.cpp)
target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
23 changes: 16 additions & 7 deletions LeGO-LOAM/include/utility.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,8 @@

#include "cloud_msgs/cloud_info.h"

#include <opencv/cv.h>
//#include <opencv/cv.h>
#include <opencv2/opencv.hpp>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
Expand Down Expand Up @@ -60,12 +61,12 @@ extern const string fileDirectory = "/tmp/";
extern const bool useCloudRing = true; // if true, ang_res_y and ang_bottom are not used

// VLP-16
extern const int N_SCAN = 16;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 0.2;
extern const float ang_res_y = 2.0;
extern const float ang_bottom = 15.0+0.1;
extern const int groundScanInd = 7;
// extern const int N_SCAN = 16;
// extern const int Horizon_SCAN = 1800;
// extern const float ang_res_x = 0.2;
// extern const float ang_res_y = 2.0;
// extern const float ang_bottom = 15.0+0.1;
// extern const int groundScanInd = 7;

// HDL-32E
// extern const int N_SCAN = 32;
Expand All @@ -75,6 +76,14 @@ extern const int groundScanInd = 7;
// extern const float ang_bottom = 30.67;
// extern const int groundScanInd = 20;

extern const int N_SCAN = 32;
extern const int Horizon_SCAN = 220;
extern const float ang_res_x = 360.0/float(Horizon_SCAN);
extern const float ang_res_y = 41.33/float(N_SCAN-1);
extern const float ang_bottom = 30.67;
extern const int groundScanInd = 20;


// VLS-128
// extern const int N_SCAN = 128;
// extern const int Horizon_SCAN = 1800;
Expand Down
5 changes: 4 additions & 1 deletion LeGO-LOAM/launch/run.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,10 @@
<node pkg="tf" type="static_transform_publisher" name="camera_init_to_map" args="0 0 0 1.570795 0 1.570795 /map /camera_init 10" />
<node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="0 0 0 -1.570795 -1.570795 0 /camera /base_link 10" />

<!--- LeGO-LOAM -->
<!--- LeGO-LOAM -->
<remap from="velodyne_points" to="velodyne_points2"/>
<!-- <remap from="imu/data" to="imu"/> -->

<node pkg="lego_loam" type="imageProjection" name="imageProjection" output="screen"/>
<node pkg="lego_loam" type="featureAssociation" name="featureAssociation" output="screen"/>
<node pkg="lego_loam" type="mapOptmization" name="mapOptmization" output="screen"/>
Expand Down