modified

Author: yeweihuang

.github/stale.yml

@@ -1,7 +1,8 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(lego_loam)
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3")
 
 find_package(catkin REQUIRED COMPONENTS
   tf
@@ -20,9 +21,12 @@ find_package(catkin REQUIRED COMPONENTS
   cloud_msgs
 )
 
-find_package(GTSAM REQUIRED QUIET)
+find_package(OpenMP REQUIRED)
 find_package(PCL REQUIRED QUIET)
 find_package(OpenCV REQUIRED QUIET)
+find_package(GTSAM REQUIRED QUIET)
+find_package(Eigen3 REQUIRED)
+find_package(libnabo REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include
@@ -36,6 +40,8 @@ include_directories(
 	${PCL_INCLUDE_DIRS}
 	${OpenCV_INCLUDE_DIRS}
 	${GTSAM_INCLUDE_DIR}
+	/home/yewei/catkin_ws/src/LIO-SAM-3/src/DiSCo-SLAM/third_parties
+
 )
 
 link_directories(
@@ -57,4 +63,9 @@ 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} ${OpenCV_LIBRARIES})
+
+# Map Fushion
+add_executable(${PROJECT_NAME}_mapFusion src/Fusion/mapFusion.cpp src/Fusion/writeMHg2o.cpp)
+add_dependencies(${PROJECT_NAME}_mapFusion ${catkin_EXPORTED_TARGETS}  lio_sam_generate_messages_cpp)
+target_link_libraries(${PROJECT_NAME}_mapFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} libnabo::nabo gtsam fast_max-clique_finder scan_context)

.idea/.gitignore

@@ -0,0 +1,83 @@
+%%MatrixMarket matrix coordinate pattern symmetric
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