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CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+add_definitions(-std=c++11)
+
+set(CXX_FLAGS "-Wall" "-pedantic")
+set(CMAKE_CXX_FLAGS, "${CXX_FLAGS}")
+
+project(camera_fusion)
+
+find_package(OpenCV 4.1 REQUIRED)
+find_package(PCL 1.7 REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+
+link_directories(${OpenCV_LIBRARY_DIRS})
+add_definitions(${OpenCV_DEFINITIONS})
+
+# Executables for exercises
+add_executable(lccp src/lccp.cpp)
+add_executable(show_lidar_top_view src/show_lidar_top_view.cpp src/structIO.cpp)
+target_link_libraries(show_lidar_top_view ${OpenCV_LIBRARIES})
+target_link_libraries(lccp ${OpenCV_LIBRARIES} ${PCL_LIBRARIES})
+
+add_executable(project_lidar_to_camera src/project_lidar_to_camera.cpp src/structIO.cpp)
+target_link_libraries(project_lidar_to_camera ${OpenCV_LIBRARIES})

README.md

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+
+
+# Lidar 3D  Cloud Projection
+
+This Project present how to associate regions in a camera image with Lidar points in 3D space. 
+
+![](https://williamhyin-1301408646.cos.ap-shanghai.myqcloud.com/img/20200425193128.png)
+
+![](https://williamhyin-1301408646.cos.ap-shanghai.myqcloud.com/img/20200425152627.png)
+
+**For more details, please check my [blog](https://blog.csdn.net/williamhyin/article/details/105758006).**
+
+## Dependencies for Running Locally
+* cmake >= 2.8
+  * All OSes: [click here for installation instructions](https://cmake.org/install/)
+* make >= 4.1 (Linux, Mac), 3.81 (Windows)
+  * Linux: make is installed by default on most Linux distros
+  * Mac: [install Xcode command line tools to get make](https://developer.apple.com/xcode/features/)
+  * Windows: [Click here for installation instructions](http://gnuwin32.sourceforge.net/packages/make.htm)
+* Git LFS
+  * Weight files are handled using [LFS](https://git-lfs.github.com/)
+* OpenCV >= 4.1
+  * This must be compiled from source using the `-D OPENCV_ENABLE_NONFREE=ON` cmake flag for testing the SIFT and SURF detectors.
+  * The OpenCV 4.1.0 source code can be found [here](https://github.com/opencv/opencv/tree/4.1.0)
+* gcc/g++ >= 5.4
+  * Linux: gcc / g++ is installed by default on most Linux distros
+  * Mac: same deal as make - [install Xcode command line tools](https://developer.apple.com/xcode/features/)
+  * Windows: recommend using [MinGW](http://www.mingw.org/)
+
+## Basic Build Instructions
+
+1. Clone this repo.
+
+3. Make a build directory in the top level project directory: `mkdir build && cd build`
+
+4. Compile: `cmake .. && make`
+
+5. Run it: `./project_lidar_to_camera`.
+
+   
+
+## Steps
+
+1. Filtering Lidar Points
+
+   The code below shows how a filter can be applied to remove Lidar points that do not satisfy a set of constraints, i.e. they are …
+
+   1. … positioned behind the Lidar sensor and thus have a negative x coordinate.
+   2. … too far away in x-direction and thus exceeding an upper distance limit.
+   3. … too far off to the sides in y-direction and thus not relevant for collision detection
+   4. … too close to the road surface in negative z-direction.
+   5. … showing a reflectivity close to zero, which might indicate low reliability.
+
+   ```c++
+   for(auto it=lidarPoints.begin(); it!=lidarPoints.end(); ++it) {
+       float maxX = 25.0, maxY = 6.0, minZ = -1.4; 
+       if(it->x > maxX || it->x < 0.0 || abs(it->y) > maxY || it->z < minZ || it->r<0.01 )
+       {
+       	continue; // skip to next point
+   	}
+   }
+   ```
+
+   
+
+2. Convert current Lidar point into homogeneous coordinates and store it in the 4D variable X.
+
+   ```
+    X.at<double>(0, 0) = it->x;
+    X.at<double>(1, 0) = it->y;
+    X.at<double>(2, 0) = it->z;
+    X.at<double>(3, 0) = 1;
+   ```
+
+   
+
+2. Then, apply the projection equation to map X onto the image plane of the camera and Store the result in Y.
+
+   ```
+   Y = P_rect_00 * R_rect_00 * RT * X;
+   ```
+
+   
+
+3. Once this is done, transform Y back into Euclidean coordinates and store the result in the variable pt.
+
+   ```
+   cv::Point pt;
+   pt.x = Y.at<double>(0, 0) / Y.at<double>(0, 2);
+   pt.y = Y.at<double>(1, 0) / Y.at<double>(0, 2);
+   ```
+
+   

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+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__ARMCC_VERSION)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if defined(_MSC_VER) && !defined(__clang__)
+#  define C_DIALECT "90"
+# else
+#  define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+  "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
+#endif

cmake-build-debug/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,576 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
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+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 project_lidar_to_camera"/>
+					<CompileFile command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="project_lidar_to_camera/fast">
+				<Option output="/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/project_lidar_to_camera" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/lenotary/work/code/lidar_to_camera/cmake-build-debug"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DvtkFiltersFlowPaths_AUTOINIT=1(vtkFiltersParallelFlowPaths)"/>
+					<Add option="-DvtkIOExodus_AUTOINIT=1(vtkIOParallelExodus)"/>
+					<Add option="-DvtkIOGeometry_AUTOINIT=1(vtkIOMPIParallel)"/>
+					<Add option="-DvtkIOImage_AUTOINIT=1(vtkIOMPIImage)"/>
+					<Add option="-DvtkIOParallel_AUTOINIT=1(vtkIOMPIParallel)"/>
+					<Add option="-DvtkIOSQL_AUTOINIT=2(vtkIOMySQL,vtkIOPostgreSQL)"/>
+					<Add option="-DvtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL)"/>
+					<Add option="-DvtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL)"/>
+					<Add option="-DvtkRenderingFreeType_AUTOINIT=2(vtkRenderingFreeTypeFontConfig,vtkRenderingMatplotlib)"/>
+					<Add option="-DvtkRenderingLIC_AUTOINIT=1(vtkRenderingParallelLIC)"/>
+					<Add option="-DvtkRenderingVolume_AUTOINIT=1(vtkRenderingVolumeOpenGL)"/>
+					<Add directory="/usr/include/vtk-6.3"/>
+					<Add directory="/usr/include/freetype2"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include"/>
+					<Add directory="/usr/include/python2.7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu"/>
+					<Add directory="/usr/include/hdf5/openmpi"/>
+					<Add directory="/usr/include/libxml2"/>
+					<Add directory="/usr/include/jsoncpp"/>
+					<Add directory="/usr/include/tcl"/>
+					<Add directory="/usr/local/include/opencv4"/>
+					<Add directory="/usr/include/c++/7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
+					<Add directory="/usr/include/c++/7/backward"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 project_lidar_to_camera/fast"/>
+					<CompileFile command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="lccp">
+				<Option output="/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/lccp" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/lenotary/work/code/lidar_to_camera/cmake-build-debug"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DvtkFiltersFlowPaths_AUTOINIT=1(vtkFiltersParallelFlowPaths)"/>
+					<Add option="-DvtkIOExodus_AUTOINIT=1(vtkIOParallelExodus)"/>
+					<Add option="-DvtkIOGeometry_AUTOINIT=1(vtkIOMPIParallel)"/>
+					<Add option="-DvtkIOImage_AUTOINIT=1(vtkIOMPIImage)"/>
+					<Add option="-DvtkIOParallel_AUTOINIT=1(vtkIOMPIParallel)"/>
+					<Add option="-DvtkIOSQL_AUTOINIT=2(vtkIOMySQL,vtkIOPostgreSQL)"/>
+					<Add option="-DvtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL)"/>
+					<Add option="-DvtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL)"/>
+					<Add option="-DvtkRenderingFreeType_AUTOINIT=2(vtkRenderingFreeTypeFontConfig,vtkRenderingMatplotlib)"/>
+					<Add option="-DvtkRenderingLIC_AUTOINIT=1(vtkRenderingParallelLIC)"/>
+					<Add option="-DvtkRenderingVolume_AUTOINIT=1(vtkRenderingVolumeOpenGL)"/>
+					<Add option="-DQT_WIDGETS_LIB"/>
+					<Add option="-DQT_GUI_LIB"/>
+					<Add option="-DQT_CORE_LIB"/>
+					<Add directory="/usr/include/vtk-6.3"/>
+					<Add directory="/usr/include/freetype2"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include"/>
+					<Add directory="/usr/include/python2.7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu"/>
+					<Add directory="/usr/include/hdf5/openmpi"/>
+					<Add directory="/usr/include/libxml2"/>
+					<Add directory="/usr/include/jsoncpp"/>
+					<Add directory="/usr/include/tcl"/>
+					<Add directory="/usr/local/include/opencv4"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/qt5"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/qt5/QtWidgets"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/qt5/QtGui"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/qt5/QtCore"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++"/>
+					<Add directory="/usr/include/c++/7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
+					<Add directory="/usr/include/c++/7/backward"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 lccp"/>
+					<CompileFile command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="lccp/fast">
+				<Option output="/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/lccp" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/lenotary/work/code/lidar_to_camera/cmake-build-debug"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DvtkFiltersFlowPaths_AUTOINIT=1(vtkFiltersParallelFlowPaths)"/>
+					<Add option="-DvtkIOExodus_AUTOINIT=1(vtkIOParallelExodus)"/>
+					<Add option="-DvtkIOGeometry_AUTOINIT=1(vtkIOMPIParallel)"/>
+					<Add option="-DvtkIOImage_AUTOINIT=1(vtkIOMPIImage)"/>
+					<Add option="-DvtkIOParallel_AUTOINIT=1(vtkIOMPIParallel)"/>
+					<Add option="-DvtkIOSQL_AUTOINIT=2(vtkIOMySQL,vtkIOPostgreSQL)"/>
+					<Add option="-DvtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL)"/>
+					<Add option="-DvtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL)"/>
+					<Add option="-DvtkRenderingFreeType_AUTOINIT=2(vtkRenderingFreeTypeFontConfig,vtkRenderingMatplotlib)"/>
+					<Add option="-DvtkRenderingLIC_AUTOINIT=1(vtkRenderingParallelLIC)"/>
+					<Add option="-DvtkRenderingVolume_AUTOINIT=1(vtkRenderingVolumeOpenGL)"/>
+					<Add option="-DQT_WIDGETS_LIB"/>
+					<Add option="-DQT_GUI_LIB"/>
+					<Add option="-DQT_CORE_LIB"/>
+					<Add directory="/usr/include/vtk-6.3"/>
+					<Add directory="/usr/include/freetype2"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include"/>
+					<Add directory="/usr/include/python2.7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu"/>
+					<Add directory="/usr/include/hdf5/openmpi"/>
+					<Add directory="/usr/include/libxml2"/>
+					<Add directory="/usr/include/jsoncpp"/>
+					<Add directory="/usr/include/tcl"/>
+					<Add directory="/usr/local/include/opencv4"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/qt5"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/qt5/QtWidgets"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/qt5/QtGui"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/qt5/QtCore"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++"/>
+					<Add directory="/usr/include/c++/7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
+					<Add directory="/usr/include/c++/7/backward"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 lccp/fast"/>
+					<CompileFile command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="edit_cache">
+				<Option working_dir="/home/lenotary/work/code/lidar_to_camera/cmake-build-debug"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 edit_cache"/>
+					<CompileFile command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="show_lidar_top_view">
+				<Option output="/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/show_lidar_top_view" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/lenotary/work/code/lidar_to_camera/cmake-build-debug"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DvtkFiltersFlowPaths_AUTOINIT=1(vtkFiltersParallelFlowPaths)"/>
+					<Add option="-DvtkIOExodus_AUTOINIT=1(vtkIOParallelExodus)"/>
+					<Add option="-DvtkIOGeometry_AUTOINIT=1(vtkIOMPIParallel)"/>
+					<Add option="-DvtkIOImage_AUTOINIT=1(vtkIOMPIImage)"/>
+					<Add option="-DvtkIOParallel_AUTOINIT=1(vtkIOMPIParallel)"/>
+					<Add option="-DvtkIOSQL_AUTOINIT=2(vtkIOMySQL,vtkIOPostgreSQL)"/>
+					<Add option="-DvtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL)"/>
+					<Add option="-DvtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL)"/>
+					<Add option="-DvtkRenderingFreeType_AUTOINIT=2(vtkRenderingFreeTypeFontConfig,vtkRenderingMatplotlib)"/>
+					<Add option="-DvtkRenderingLIC_AUTOINIT=1(vtkRenderingParallelLIC)"/>
+					<Add option="-DvtkRenderingVolume_AUTOINIT=1(vtkRenderingVolumeOpenGL)"/>
+					<Add directory="/usr/include/vtk-6.3"/>
+					<Add directory="/usr/include/freetype2"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include"/>
+					<Add directory="/usr/include/python2.7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu"/>
+					<Add directory="/usr/include/hdf5/openmpi"/>
+					<Add directory="/usr/include/libxml2"/>
+					<Add directory="/usr/include/jsoncpp"/>
+					<Add directory="/usr/include/tcl"/>
+					<Add directory="/usr/local/include/opencv4"/>
+					<Add directory="/usr/include/c++/7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
+					<Add directory="/usr/include/c++/7/backward"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 show_lidar_top_view"/>
+					<CompileFile command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="show_lidar_top_view/fast">
+				<Option output="/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/show_lidar_top_view" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/lenotary/work/code/lidar_to_camera/cmake-build-debug"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DvtkFiltersFlowPaths_AUTOINIT=1(vtkFiltersParallelFlowPaths)"/>
+					<Add option="-DvtkIOExodus_AUTOINIT=1(vtkIOParallelExodus)"/>
+					<Add option="-DvtkIOGeometry_AUTOINIT=1(vtkIOMPIParallel)"/>
+					<Add option="-DvtkIOImage_AUTOINIT=1(vtkIOMPIImage)"/>
+					<Add option="-DvtkIOParallel_AUTOINIT=1(vtkIOMPIParallel)"/>
+					<Add option="-DvtkIOSQL_AUTOINIT=2(vtkIOMySQL,vtkIOPostgreSQL)"/>
+					<Add option="-DvtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL)"/>
+					<Add option="-DvtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL)"/>
+					<Add option="-DvtkRenderingFreeType_AUTOINIT=2(vtkRenderingFreeTypeFontConfig,vtkRenderingMatplotlib)"/>
+					<Add option="-DvtkRenderingLIC_AUTOINIT=1(vtkRenderingParallelLIC)"/>
+					<Add option="-DvtkRenderingVolume_AUTOINIT=1(vtkRenderingVolumeOpenGL)"/>
+					<Add directory="/usr/include/vtk-6.3"/>
+					<Add directory="/usr/include/freetype2"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include"/>
+					<Add directory="/usr/lib/x86_64-linux-gnu/openmpi/include"/>
+					<Add directory="/usr/include/python2.7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu"/>
+					<Add directory="/usr/include/hdf5/openmpi"/>
+					<Add directory="/usr/include/libxml2"/>
+					<Add directory="/usr/include/jsoncpp"/>
+					<Add directory="/usr/include/tcl"/>
+					<Add directory="/usr/local/include/opencv4"/>
+					<Add directory="/usr/include/c++/7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
+					<Add directory="/usr/include/c++/7/backward"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 show_lidar_top_view/fast"/>
+					<CompileFile command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j8 -f &quot;/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+		</Build>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/src/lccp.cpp">
+			<Option target="lccp"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/src/project_lidar_to_camera.cpp">
+			<Option target="project_lidar_to_camera"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/src/show_lidar_top_view.cpp">
+			<Option target="show_lidar_top_view"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/src/structIO.cpp">
+			<Option target="project_lidar_to_camera"/>
+			<Option target="show_lidar_top_view"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/src/structIO.hpp">
+			<Option target="project_lidar_to_camera"/>
+			<Option target="show_lidar_top_view"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/CMakeLists.txt">
+			<Option virtualFolder="CMake Files\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/local/lib/cmake/opencv4/OpenCVConfig-version.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\local\lib\cmake\opencv4\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/local/lib/cmake/opencv4/OpenCVConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\local\lib\cmake\opencv4\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/local/lib/cmake/opencv4/OpenCVModules-release.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\local\lib\cmake\opencv4\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/local/lib/cmake/opencv4/OpenCVModules.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\local\lib\cmake\opencv4\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\pcl\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfigVersion.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\pcl\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets/Qt5WidgetsConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Widgets\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets/Qt5WidgetsConfigExtras.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Widgets\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets/Qt5WidgetsConfigVersion.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Widgets\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets/Qt5WidgetsMacros.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Widgets\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Gui\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfigExtras.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Gui\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfigVersion.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Gui\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Core/Qt5CoreConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Core\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Core/Qt5CoreConfigExtras.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Core\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Core/Qt5CoreConfigExtrasMkspecDir.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Core\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Core/Qt5CoreConfigVersion.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Core\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Core/Qt5CoreMacros.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Core\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5OpenGL/Qt5OpenGLConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5OpenGL\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5OpenGL/Qt5OpenGLConfigVersion.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5OpenGL\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Sql/Qt5SqlConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Sql\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Sql/Qt5SqlConfigVersion.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Sql\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5WebKitWidgets/Qt5WebKitWidgetsConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5WebKitWidgets\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5WebKitWidgets/Qt5WebKitWidgetsConfigVersion.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5WebKitWidgets\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5WebKitWidgets/Qt5WebKitWidgetsTargets-none.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5WebKitWidgets\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5WebKitWidgets/Qt5WebKitWidgetsTargets.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5WebKitWidgets\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Network/Qt5NetworkConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Network\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5Network/Qt5NetworkConfigVersion.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5Network\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5WebKit/Qt5WebKitConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5WebKit\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5WebKit/Qt5WebKitConfigVersion.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5WebKit\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5WebKit/WebKitTargets-none.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5WebKit\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/x86_64-linux-gnu/cmake/Qt5WebKit/WebKitTargets.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\x86_64-linux-gnu\cmake\Qt5WebKit\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/UseVTK.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/VTKConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/VTKConfigVersion.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/VTKTargets-none.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/VTKTargets.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/vtkModuleAPI.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkChartsCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkCommonColor.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkCommonComputationalGeometry.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkCommonCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkCommonDataModel.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkCommonExecutionModel.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkCommonMath.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkCommonMisc.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkCommonSystem.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkCommonTransforms.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkDICOMParser.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkDomainsChemistry.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersAMR.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersExtraction.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersFlowPaths.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersGeneral.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersGeneric.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersGeometry.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersHybrid.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersHyperTree.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersImaging.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersModeling.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersParallel.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersParallelFlowPaths.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersParallelGeometry.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersParallelImaging.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersParallelMPI.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersParallelStatistics.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersProgrammable.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersPython.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersReebGraph.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersSMP.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersSelection.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersSources.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersStatistics.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersTexture.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkFiltersVerdict.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkGUISupportQt.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkGUISupportQtOpenGL.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkGUISupportQtSQL.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkGUISupportQtWebkit.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkGeovisCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOAMR.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOEnSight.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOExodus.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOExport.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOFFMPEG.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOGDAL.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOGeoJSON.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOGeometry.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOImage.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOImport.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOInfovis.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOLSDyna.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOLegacy.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOMINC.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOMPIImage.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOMPIParallel.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOMovie.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOMySQL.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIONetCDF.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOODBC.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOPLY.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOParallel.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOParallelExodus.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOParallelLSDyna.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOParallelNetCDF.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOParallelXML.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOPostgreSQL.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOSQL.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOVPIC.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOVideo.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOXML.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOXMLParser.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkIOXdmf2.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkImagingColor.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkImagingCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkImagingFourier.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkImagingGeneral.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkImagingHybrid.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkImagingMath.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkImagingMorphological.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkImagingSources.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkImagingStatistics.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkImagingStencil.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkInfovisBoost.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkInfovisBoostGraphAlgorithms.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkInfovisCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkInfovisLayout.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkInteractionImage.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkInteractionStyle.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkInteractionWidgets.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkLocalExample.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkMetaIO.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkParallelCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkParallelMPI.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkParallelMPI4Py.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkParseOGLExt.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkPython.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkPythonInterpreter.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingAnnotation.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingContext2D.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingContextOpenGL.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingExternal.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingFreeType.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingFreeTypeFontConfig.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingGL2PS.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingImage.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingLIC.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingLOD.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingLabel.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingMatplotlib.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingOpenGL.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingParallel.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingParallelLIC.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingQt.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingTk.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingVolume.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingVolumeAMR.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkRenderingVolumeOpenGL.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkTclTk.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkTestingCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkTestingGenericBridge.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkTestingIOSQL.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkTestingRendering.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkUtilitiesEncodeString.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkUtilitiesHashSource.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkVPIC.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkViewsContext2D.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkViewsCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkViewsGeovis.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkViewsInfovis.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkViewsQt.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkWrappingJava.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkWrappingPythonCore.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkWrappingTcl.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkWrappingTools.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkalglib.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkexodusII.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkexpat.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkfreetype.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkftgl.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkgl2ps.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkglew.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkhdf5.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkjpeg.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkjsoncpp.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtklibproj4.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtklibxml2.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtknetcdf.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkoggtheora.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkpng.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtksqlite.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtksys.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtktiff.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkverdict.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkxdmf2.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+		<Unit filename="/home/lenotary/work/code/lidar_to_camera/../../../../../usr/lib/cmake/vtk-6.3/Modules/vtkzlib.cmake">
+			<Option virtualFolder="CMake Files\..\..\..\..\..\usr\lib\cmake\vtk-6.3\Modules\"/>
+		</Unit>
+	</Project>
+</CodeBlocks_project_file>

cmake-build-debug/cmake_install.cmake

@@ -0,0 +1,49 @@
+# Install script for directory: /home/lenotary/work/code/lidar_to_camera
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "Debug")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/home/lenotary/work/code/lidar_to_camera/cmake-build-debug/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")

dat/calib_cam_to_cam.txt

@@ -0,0 +1,34 @@
+calib_time: 09-Jan-2012 13:57:47
+corner_dist: 9.950000e-02
+S_00: 1.392000e+03 5.120000e+02
+K_00: 9.842439e+02 0.000000e+00 6.900000e+02 0.000000e+00 9.808141e+02 2.331966e+02 0.000000e+00 0.000000e+00 1.000000e+00
+D_00: -3.728755e-01 2.037299e-01 2.219027e-03 1.383707e-03 -7.233722e-02
+R_00: 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00
+T_00: 2.573699e-16 -1.059758e-16 1.614870e-16
+S_rect_00: 1.242000e+03 3.750000e+02
+R_rect_00: 9.999239e-01 9.837760e-03 -7.445048e-03 -9.869795e-03 9.999421e-01 -4.278459e-03 7.402527e-03 4.351614e-03 9.999631e-01
+P_rect_00: 7.215377e+02 0.000000e+00 6.095593e+02 0.000000e+00 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00
+S_01: 1.392000e+03 5.120000e+02
+K_01: 9.895267e+02 0.000000e+00 7.020000e+02 0.000000e+00 9.878386e+02 2.455590e+02 0.000000e+00 0.000000e+00 1.000000e+00
+D_01: -3.644661e-01 1.790019e-01 1.148107e-03 -6.298563e-04 -5.314062e-02
+R_01: 9.993513e-01 1.860866e-02 -3.083487e-02 -1.887662e-02 9.997863e-01 -8.421873e-03 3.067156e-02 8.998467e-03 9.994890e-01
+T_01: -5.370000e-01 4.822061e-03 -1.252488e-02
+S_rect_01: 1.242000e+03 3.750000e+02
+R_rect_01: 9.996878e-01 -8.976826e-03 2.331651e-02 8.876121e-03 9.999508e-01 4.418952e-03 -2.335503e-02 -4.210612e-03 9.997184e-01
+P_rect_01: 7.215377e+02 0.000000e+00 6.095593e+02 -3.875744e+02 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00
+S_02: 1.392000e+03 5.120000e+02
+K_02: 9.597910e+02 0.000000e+00 6.960217e+02 0.000000e+00 9.569251e+02 2.241806e+02 0.000000e+00 0.000000e+00 1.000000e+00
+D_02: -3.691481e-01 1.968681e-01 1.353473e-03 5.677587e-04 -6.770705e-02
+R_02: 9.999758e-01 -5.267463e-03 -4.552439e-03 5.251945e-03 9.999804e-01 -3.413835e-03 4.570332e-03 3.389843e-03 9.999838e-01
+T_02: 5.956621e-02 2.900141e-04 2.577209e-03
+S_rect_02: 1.242000e+03 3.750000e+02
+R_rect_02: 9.998817e-01 1.511453e-02 -2.841595e-03 -1.511724e-02 9.998853e-01 -9.338510e-04 2.827154e-03 9.766976e-04 9.999955e-01
+P_rect_02: 7.215377e+02 0.000000e+00 6.095593e+02 4.485728e+01 0.000000e+00 7.215377e+02 1.728540e+02 2.163791e-01 0.000000e+00 0.000000e+00 1.000000e+00 2.745884e-03
+S_03: 1.392000e+03 5.120000e+02
+K_03: 9.037596e+02 0.000000e+00 6.957519e+02 0.000000e+00 9.019653e+02 2.242509e+02 0.000000e+00 0.000000e+00 1.000000e+00
+D_03: -3.639558e-01 1.788651e-01 6.029694e-04 -3.922424e-04 -5.382460e-02
+R_03: 9.995599e-01 1.699522e-02 -2.431313e-02 -1.704422e-02 9.998531e-01 -1.809756e-03 2.427880e-02 2.223358e-03 9.997028e-01
+T_03: -4.731050e-01 5.551470e-03 -5.250882e-03
+S_rect_03: 1.242000e+03 3.750000e+02
+R_rect_03: 9.998321e-01 -7.193136e-03 1.685599e-02 7.232804e-03 9.999712e-01 -2.293585e-03 -1.683901e-02 2.415116e-03 9.998553e-01
+P_rect_03: 7.215377e+02 0.000000e+00 6.095593e+02 -3.395242e+02 0.000000e+00 7.215377e+02 1.728540e+02 2.199936e+00 0.000000e+00 0.000000e+00 1.000000e+00 2.729905e-03

dat/calib_velo_to_cam.txt

@@ -0,0 +1,5 @@
+calib_time: 15-Mar-2012 11:37:16
+R: 7.533745e-03 -9.999714e-01 -6.166020e-04 1.480249e-02 7.280733e-04 -9.998902e-01 9.998621e-01 7.523790e-03 1.480755e-02
+T: -4.069766e-03 -7.631618e-02 -2.717806e-01
+delta_f: 0.000000e+00 0.000000e+00
+delta_c: 0.000000e+00 0.000000e+00

src/dataStructures.h

@@ -0,0 +1,12 @@
+#ifndef dataStructures_h
+#define dataStructures_h
+
+#include <vector>
+#include <opencv2/core.hpp>
+
+struct LidarPoint { // single lidar point in space
+    double x,y,z,r; // x,y,z in [m], r is point reflectivity
+};
+
+
+#endif /* dataStructures_h */

src/lccp.cpp

@@ -0,0 +1,163 @@
+/*
+ * @Descripttion: lccp.cpp camera_fusion
+ * @version: camera_fusion v0.1
+ * @Author: lenotary
+ * @Date: 2021/4/15 下午3:46
+ * @LastEditor: lenotary
+ * @LastEditTime: 2021/4/15 下午3:46
+ */
+
+
+//超体聚类+LCCP
+//#include "stdafx.h"
+
+#include <stdlib.h>
+#include <cmath>
+#include <limits.h>
+#include <boost/format.hpp>
+#include <fstream>
+
+#include <pcl/console/parse.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/visualization/point_cloud_color_handlers.h>
+#include <pcl/visualization/cloud_viewer.h>
+
+#include <pcl/filters/passthrough.h>
+#include <pcl/segmentation/supervoxel_clustering.h>
+
+#include <pcl/segmentation/lccp_segmentation.h>
+
+#define Random(x) (rand() % x)
+
+typedef pcl::PointXYZRGBA PointT;
+typedef pcl::LCCPSegmentation<PointT>::SupervoxelAdjacencyList SuperVoxelAdjacencyList;
+
+int main(int argc, char ** argv)
+{
+    //输入点云
+    pcl::PointCloud<PointT>::Ptr input_cloud_ptr(new pcl::PointCloud<PointT>);
+    pcl::PCLPointCloud2 input_pointcloud2;
+    if (pcl::io::loadPCDFile("xyzrgb.pcd", input_pointcloud2))
+    {
+        PCL_ERROR("ERROR: Could not read input point cloud ");
+        return (3);
+    }
+    pcl::fromPCLPointCloud2(input_pointcloud2, *input_cloud_ptr);
+    PCL_INFO("Done making cloud\n");
+
+    float voxel_resolution = 0.3f;
+    float seed_resolution = 1.2f;
+    float color_importance = 0.0f;
+    float spatial_importance = 1.0f;
+    float normal_importance = 0.0f;
+    bool use_single_cam_transform = false;
+    bool use_supervoxel_refinement = false;
+
+    unsigned int k_factor = 0;
+
+    pcl::SupervoxelClustering<PointT> super(voxel_resolution, seed_resolution);
+    super.setUseSingleCameraTransform(use_single_cam_transform);
+    super.setInputCloud(input_cloud_ptr);
+    super.setColorImportance(color_importance);
+    super.setSpatialImportance(spatial_importance);
+    super.setNormalImportance(normal_importance);
+    std::map<uint32_t, pcl::Supervoxel<PointT>::Ptr> supervoxel_clusters;
+
+    PCL_INFO("Extracting supervoxels\n");
+    super.extract(supervoxel_clusters);
+
+    PCL_INFO("Getting supervoxel adjacency\n");
+    std::multimap<uint32_t, uint32_t> supervoxel_adjacency;
+    super.getSupervoxelAdjacency(supervoxel_adjacency);
+
+    pcl::PointCloud<pcl::PointXYZL>::Ptr overseg = super.getLabeledCloud();
+    ofstream outFile1("过分割3.txt", std::ios_base::out);
+    for (int i = 0; i < overseg->size(); i++) {
+        outFile1 << overseg->points[i].x << "\t" << overseg->points[i].y << "\t" << overseg->points[i].z << "\t" << overseg->points[i].label << endl;
+    }
+    int label_max1 = 0;
+    for (int i = 0;i< overseg->size(); i++) {
+        if (overseg->points[i].label>label_max1)
+            label_max1 = overseg->points[i].label;
+    }
+    pcl::PointCloud<pcl::PointXYZRGB>::Ptr ColoredCloud1(new pcl::PointCloud<pcl::PointXYZRGB>);
+    ColoredCloud1->height = 1;
+    ColoredCloud1->width = overseg->size();
+    ColoredCloud1->resize(overseg->size());
+    for (int i = 0; i < label_max1; i++) {
+        int color_R = Random(255);
+        int color_G = Random(255);
+        int color_B = Random(255);
+
+        for (int j = 0; j < overseg->size(); j++) {
+            if (overseg->points[j].label == i) {
+                ColoredCloud1->points[j].x = overseg->points[j].x;
+                ColoredCloud1->points[j].y = overseg->points[j].y;
+                ColoredCloud1->points[j].z = overseg->points[j].z;
+                ColoredCloud1->points[j].r = color_R;
+                ColoredCloud1->points[j].g = color_G;
+                ColoredCloud1->points[j].b = color_B;
+            }
+        }
+    }
+    pcl::io::savePCDFileASCII("过分割3.pcd", *ColoredCloud1);
+
+
+
+    //LCCP分割
+    float concavity_tolerance_threshold = 10;
+    float smoothness_threshold = 0.1;
+    uint32_t min_segment_size = 0;
+    bool use_extended_convexity = false;
+    bool use_sanity_criterion = false;
+    PCL_INFO("Starting Segmentation\n");
+    pcl::LCCPSegmentation<PointT> lccp;
+    lccp.setConcavityToleranceThreshold(concavity_tolerance_threshold);
+    lccp.setSmoothnessCheck(true, voxel_resolution, seed_resolution, smoothness_threshold);
+    lccp.setKFactor(k_factor);
+    lccp.setInputSupervoxels(supervoxel_clusters, supervoxel_adjacency);
+    lccp.setMinSegmentSize(min_segment_size);
+    lccp.segment();
+
+    PCL_INFO("Interpolation voxel cloud -> input cloud and relabeling\n");
+
+    pcl::PointCloud<pcl::PointXYZL>::Ptr sv_labeled_cloud = super.getLabeledCloud();
+    pcl::PointCloud<pcl::PointXYZL>::Ptr lccp_labeled_cloud = sv_labeled_cloud->makeShared();
+    lccp.relabelCloud(*lccp_labeled_cloud);
+    SuperVoxelAdjacencyList sv_adjacency_list;
+    lccp.getSVAdjacencyList(sv_adjacency_list);
+
+    ofstream outFile2("分割后合并3.txt", std::ios_base::out);
+    for (int i = 0; i < lccp_labeled_cloud->size();i++) {
+        outFile2 << lccp_labeled_cloud->points[i].x << "\t" << lccp_labeled_cloud->points[i].y << "\t" << lccp_labeled_cloud->points[i].z << "\t" << lccp_labeled_cloud->points[i].label << endl;
+    }
+
+    int label_max2 = 0;
+    for (int i = 0; i< lccp_labeled_cloud->size(); i++) {
+        if (lccp_labeled_cloud->points[i].label>label_max2)
+            label_max2 = lccp_labeled_cloud->points[i].label;
+    }
+    pcl::PointCloud<pcl::PointXYZRGB>::Ptr ColoredCloud2(new pcl::PointCloud<pcl::PointXYZRGB>);
+    ColoredCloud2->height = 1;
+    ColoredCloud2->width = lccp_labeled_cloud->size();
+    ColoredCloud2->resize(lccp_labeled_cloud->size());
+    for (int i = 0; i < label_max2; i++) {
+        int color_R = Random(255);
+        int color_G = Random(255);
+        int color_B = Random(255);
+
+        for (int j = 0; j < lccp_labeled_cloud->size(); j++) {
+            if (lccp_labeled_cloud->points[j].label == i) {
+                ColoredCloud2->points[j].x = lccp_labeled_cloud->points[j].x;
+                ColoredCloud2->points[j].y = lccp_labeled_cloud->points[j].y;
+                ColoredCloud2->points[j].z = lccp_labeled_cloud->points[j].z;
+                ColoredCloud2->points[j].r = color_R;
+                ColoredCloud2->points[j].g = color_G;
+                ColoredCloud2->points[j].b = color_B;
+            }
+        }
+    }
+    pcl::io::savePCDFileASCII("分割后合并3.pcd", *ColoredCloud2);
+    return 0;
+}

src/project_lidar_to_camera.cpp

@@ -0,0 +1,120 @@
+#include <iostream>
+#include <numeric>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "structIO.hpp"
+
+using namespace std;
+
+void loadCalibrationData(cv::Mat &P_rect_00, cv::Mat &R_rect_00, cv::Mat &RT) {
+    RT.at<double>(0, 0) = 7.533745e-03;
+    RT.at<double>(0, 1) = -9.999714e-01;
+    RT.at<double>(0, 2) = -6.166020e-04;
+    RT.at<double>(0, 3) = -4.069766e-03;
+    RT.at<double>(1, 0) = 1.480249e-02;
+    RT.at<double>(1, 1) = 7.280733e-04;
+    RT.at<double>(1, 2) = -9.998902e-01;
+    RT.at<double>(1, 3) = -7.631618e-02;
+    RT.at<double>(2, 0) = 9.998621e-01;
+    RT.at<double>(2, 1) = 7.523790e-03;
+    RT.at<double>(2, 2) = 1.480755e-02;
+    RT.at<double>(2, 3) = -2.717806e-01;
+    RT.at<double>(3, 0) = 0.0;
+    RT.at<double>(3, 1) = 0.0;
+    RT.at<double>(3, 2) = 0.0;
+    RT.at<double>(3, 3) = 1.0;
+
+    R_rect_00.at<double>(0, 0) = 9.999239e-01;
+    R_rect_00.at<double>(0, 1) = 9.837760e-03;
+    R_rect_00.at<double>(0, 2) = -7.445048e-03;
+    R_rect_00.at<double>(0, 3) = 0.0;
+    R_rect_00.at<double>(1, 0) = -9.869795e-03;
+    R_rect_00.at<double>(1, 1) = 9.999421e-01;
+    R_rect_00.at<double>(1, 2) = -4.278459e-03;
+    R_rect_00.at<double>(1, 3) = 0.0;
+    R_rect_00.at<double>(2, 0) = 7.402527e-03;
+    R_rect_00.at<double>(2, 1) = 4.351614e-03;
+    R_rect_00.at<double>(2, 2) = 9.999631e-01;
+    R_rect_00.at<double>(2, 3) = 0.0;
+    R_rect_00.at<double>(3, 0) = 0;
+    R_rect_00.at<double>(3, 1) = 0;
+    R_rect_00.at<double>(3, 2) = 0;
+    R_rect_00.at<double>(3, 3) = 1;
+
+    P_rect_00.at<double>(0, 0) = 7.215377e+02;
+    P_rect_00.at<double>(0, 1) = 0.000000e+00;
+    P_rect_00.at<double>(0, 2) = 6.095593e+02;
+    P_rect_00.at<double>(0, 3) = 0.000000e+00;
+    P_rect_00.at<double>(1, 0) = 0.000000e+00;
+    P_rect_00.at<double>(1, 1) = 7.215377e+02;
+    P_rect_00.at<double>(1, 2) = 1.728540e+02;
+    P_rect_00.at<double>(1, 3) = 0.000000e+00;
+    P_rect_00.at<double>(2, 0) = 0.000000e+00;
+    P_rect_00.at<double>(2, 1) = 0.000000e+00;
+    P_rect_00.at<double>(2, 2) = 1.000000e+00;
+    P_rect_00.at<double>(2, 3) = 0.000000e+00;
+
+}
+
+void projectLidarToCamera2() {
+    // load image from file
+    cv::Mat img = cv::imread("../images/0000000000.png");
+
+    // load Lidar points from file
+    std::vector<LidarPoint> lidarPoints;
+    readLidarPts("../dat/C51_LidarPts_0000.dat", lidarPoints);
+
+    // store calibration data in OpenCV matrices
+    cv::Mat P_rect_00(3, 4, cv::DataType<double>::type); // 3x4 projection matrix after rectification
+    cv::Mat R_rect_00(4, 4, cv::DataType<double>::type); // 3x3 rectifying rotation to make image planes co-planar
+    cv::Mat RT(4, 4, cv::DataType<double>::type); // rotation matrix and translation vector
+    loadCalibrationData(P_rect_00, R_rect_00, RT);
+
+    // TODO: project lidar points
+    cv::Mat visImg = img.clone();
+    cv::Mat overlay = visImg.clone();
+
+    cv::Mat X(4, 1, cv::DataType<double>::type);
+    cv::Mat Y(3, 1, cv::DataType<double>::type);
+    for (auto it = lidarPoints.begin(); it != lidarPoints.end(); ++it) {
+        // filter the not needed points
+        float MaxX = 25.0, maxY = 6.0, minZ = -1.40;
+        if (it->x > MaxX ||it->x < 0.0 || abs(it->y) > maxY || it->z < minZ || it->r < 0.01) {
+            continue;
+        }
+
+        // 1. Convert current Lidar point into homogeneous coordinates and store it in the 4D variable X.
+        X.at<double>(0, 0) = it->x;
+        X.at<double>(1, 0) = it->y;
+        X.at<double>(2, 0) = it->z;
+        X.at<double>(3, 0) = 1;
+
+            // 2. Then, apply the projection equation as detailed in lesson 5.1 to map X onto the image plane of the camera.
+            // Store the result in Y.
+            Y = P_rect_00 * R_rect_00 * RT * X;
+        // 3. Once this is done, transform Y back into Euclidean coordinates and store the result in the variable pt.
+        cv::Point pt;
+        pt.x = Y.at<double>(0, 0) / Y.at<double>(2, 0);
+        pt.y = Y.at<double>(1, 0) / Y.at<double>(2, 0);
+
+        float val = it->x;
+        float maxVal = 20.0;
+        int red = min(255, (int) (255 * abs((val - maxVal) / maxVal)));
+        int green = min(255, (int) (255 * (1 - abs((val - maxVal) / maxVal))));
+        cv::circle(overlay, pt, 1, cv::Scalar(0, green, red), -1);
+    }
+
+    float opacity = 1;
+    cv::addWeighted(overlay, opacity, visImg, 1 - opacity, 0, visImg);
+
+    string windowName = "LiDAR data on image overlay";
+    cv::namedWindow(windowName, 3);
+    cv::imshow(windowName, visImg);
+    cv::waitKey(0); // wait for key to be pressed
+}
+
+int main() {
+    projectLidarToCamera2();
+}

src/show_lidar_top_view.cpp

@@ -0,0 +1,70 @@
+#include <iostream>
+#include <numeric>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "structIO.hpp"
+
+using namespace std;
+
+void showLidarTopview()
+{
+    std::vector<LidarPoint> lidarPoints;
+    readLidarPts("../dat/C51_LidarPts_0000.dat", lidarPoints);
+
+    cv::Size worldSize(10.0, 20.0); // width and height of sensor field in m
+    cv::Size imageSize(1000, 2000); // corresponding top view image in pixel
+
+    // create topview image
+    cv::Mat topviewImg(imageSize, CV_8UC3, cv::Scalar(0, 0, 0));
+    float max_ref=0;
+    // plot Lidar points into image
+    for (auto it = lidarPoints.begin(); it != lidarPoints.end(); ++it)
+    {
+        float xw = (*it).x; // world position in m with x facing forward from sensor
+        float yw = (*it).y; // world position in m with y facing left from sensor
+
+        int y = (-xw * imageSize.height / worldSize.height) + imageSize.height;
+        int x = (-yw * imageSize.height / worldSize.height) + imageSize.width / 2;
+
+//        cv::circle(topviewImg, cv::Point(x, y), 5, cv::Scalar(0, 0, 255), -1);
+        
+        // TODO: 
+        // 1. Change the color of the Lidar points such that 
+        // X=0.0m corresponds to red while X=20.0m is shown as green.
+        // 2. Remove all Lidar points on the road surface while preserving 
+        // measurements on the obstacles in the scene.
+        float zw=(*it).z;
+        if(zw>-1.40){
+            float val=it->x;
+            float reflectivity=it->r; // reflectivity of lidar point
+            float maxval =worldSize.height;
+            int red = min(255,(int)(255*abs((val-maxval)/maxval)));
+            int green = min(255,(int)(255*(1-abs((val-maxval)/maxval))));
+            int thickness=reflectivity>0.5?-1:1; // -1:ellipse arc outline 1:filled ellipse sector
+            cv::circle(topviewImg,cv::Point(x,y),5,cv::Scalar(0,green,red),thickness);
+
+        }
+    }
+    cout<<"max reflectivity: "<<max_ref<<endl;
+    // plot distance markers
+    float lineSpacing = 2.0; // gap between distance markers
+    int nMarkers = floor(worldSize.height / lineSpacing);
+    for (size_t i = 0; i < nMarkers; ++i)
+    {
+        int y = (-(i * lineSpacing) * imageSize.height / worldSize.height) + imageSize.height;
+        cv::line(topviewImg, cv::Point(0, y), cv::Point(imageSize.width, y), cv::Scalar(255, 0, 0));
+    }
+
+    // display image
+    string windowName = "Top-View Perspective of LiDAR data";
+    cv::namedWindow(windowName, 2);
+    cv::imshow(windowName, topviewImg);
+    cv::waitKey(0); // wait for key to be pressed
+}
+
+int main()
+{
+    showLidarTopview();
+}

src/structIO.cpp

@@ -0,0 +1,111 @@
+#include <iostream>
+#include <fstream>
+#include <algorithm>
+#include <opencv2/highgui/highgui.hpp>
+#include "structIO.hpp"
+
+using namespace std;
+
+
+/* TEMPLATES */
+template<typename T> void write_pod(std::ofstream& out, T& t)
+{
+    out.write(reinterpret_cast<char*>(&t), sizeof(T));
+}
+
+
+template<typename T> void read_pod(std::ifstream& in, T& t)
+{
+    in.read(reinterpret_cast<char*>(&t), sizeof(T));
+}
+
+
+template<typename T> void read_pod_vector(std::ifstream& in, std::vector<T>& vect)
+{
+    long size;
+    
+    read_pod(in, size);
+    for(int i = 0;i < size;++i)
+    {
+        T t;
+        read_pod(in, t);
+        vect.push_back(t);
+    }
+}
+
+template<typename T> void write_pod_vector(std::ofstream& out, std::vector<T>& vect)
+{
+    long size = vect.size();
+    write_pod<long>(out, size);
+    for(auto it=vect.begin(); it!=vect.end(); ++it)
+    {
+        write_pod<T>(out,*it);
+    }
+}
+
+
+
+
+/* DATATYPE WRAPPERS */
+
+void writeLidarPts(std::vector<LidarPoint> &input, const char* fileName)
+{
+    std::ofstream out(fileName);
+    write_pod_vector(out, input);
+    out.close();
+}
+
+
+void readLidarPts(const char* fileName, std::vector<LidarPoint> &output)
+{
+    std::ifstream in(fileName);
+    read_pod_vector(in, output);
+}
+
+
+void writeKeypoints(std::vector<cv::KeyPoint> &input, const char* fileName)
+{
+    std::ofstream out(fileName);
+    write_pod_vector(out, input);
+    out.close();
+}
+
+
+void readKeypoints(const char* fileName, std::vector<cv::KeyPoint> &output)
+{
+    std::ifstream in(fileName);
+    read_pod_vector(in, output);
+}
+
+
+void writeKptMatches(std::vector<cv::DMatch> &input, const char* fileName)
+{
+    std::ofstream out(fileName);
+    write_pod_vector(out, input);
+    out.close();
+}
+
+
+void readKptMatches(const char* fileName, std::vector<cv::DMatch> &output)
+{
+    std::ifstream in(fileName);
+    read_pod_vector(in, output);
+}
+
+
+
+void writeDescriptors(cv::Mat &input, const char* fileName)
+{   
+    cv::FileStorage opencv_file(fileName, cv::FileStorage::WRITE);
+    opencv_file << "desc_matrix" << input;
+    opencv_file.release();
+}
+
+
+void readDescriptors(const char* fileName, cv::Mat &output)
+{
+    cv::FileStorage opencv_file(fileName, cv::FileStorage::READ);
+    opencv_file["desc_matrix"] >> output;
+    opencv_file.release();
+}
+

src/structIO.hpp

@@ -0,0 +1,25 @@
+#ifndef structIO_hpp
+#define structIO_hpp
+
+#include <stdio.h>
+#include "dataStructures.h"
+
+void writeLidarPts(std::vector<LidarPoint> &input, const char* fileName);
+void readLidarPts(const char* fileName, std::vector<LidarPoint> &output);
+
+void writeKeypoints(std::vector<cv::KeyPoint> &input, const char* fileName);
+void readKeypoints(const char* fileName, std::vector<cv::KeyPoint> &output);
+
+void writeKptMatches(std::vector<cv::DMatch> &input, const char* fileName);
+void readKptMatches(const char* fileName, std::vector<cv::DMatch> &output);
+
+void writeDescriptors(cv::Mat &input, const char* fileName);
+void readDescriptors(const char* fileName, cv::Mat &output);
+
+
+template<typename T> void write_pod(std::ofstream& out, T& t);
+template<typename T> void read_pod(std::ifstream& in, T& t);
+template<typename T> void read_pod_vector(std::ifstream& in, std::vector<T>& vect);
+template<typename T> void write_pod_vector(std::ofstream& out, std::vector<T>& vect);
+
+#endif /* structIO_hpp */