基于视觉实现稀疏激光稠密三维重建C++源码(带详细注释).zip

cmake_minimum_required(VERSION 3.13) project(lidar_reconstruction_camera) set(CMAKE_CXX_STANDARD 11) set( CMAKE_CXX_FLAGS "-std=c++11 -march=native -O3 -fopenmp" ) set(CMAKE_BUILD_TYPE "Debug") # Eigen include_directories( "/usr/include/eigen3" ) # OpenCV find_package( OpenCV 3.4 REQUIRED ) include_directories( ${OpenCV_INCLUDE_DIRS} ) # Sophus find_package( Sophus REQUIRED ) include_directories( ${Sophus_INCLUDE_DIRS} ) # pcl find_package( PCL REQUIRED COMPONENT common io ) include_directories( ${PCL_INCLUDE_DIRS} ) add_definitions( ${PCL_DEFINITIONS} ) set( THIRD_PARTY_LIBS ${OpenCV_LIBS} ${Sophus_LIBRARIES} ${PCL_LIBRARIES} ) add_executable(lidar_reconstruction_camera main.cpp find_feature_matches.cpp find_feature_matches.h "pose_estimation_2d2d .cpp" "pose_estimation_2d2d .h" triangulation.cpp triangulation.h pixel2cam.cpp pixel2cam.h pcl_cloud.cpp pcl_cloud.h epipolarSearch.cpp epipolarSearch.h NCC.cpp NCC.h read_lidar_data.cpp read_lidar_data.h) target_link_libraries( lidar_reconstruction_camera ${THIRD_PARTY_LIBS} )