fix GTK related bugs

comdet · Oct 9, 2014 · ae31285 · ae31285
1 parent b10c79a
commit ae31285
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diff --git a/lsd_slam_core/CMakeLists.txt b/lsd_slam_core/CMakeLists.txt
@@ -18,6 +18,7 @@ set(CMAKE_MODULE_PATH   ${PROJECT_SOURCE_DIR}/cmake ${CMAKE_MODULE_PATH})
 
 find_package(Eigen3 REQUIRED)
 find_package(SuiteParse REQUIRED) # Apparently needed by g2o
+find_package(X11 REQUIRED)
 
 # FabMap
 # uncomment this part to enable fabmap

diff --git a/lsd_slam_core/src/main_live_odometry.cpp b/lsd_slam_core/src/main_live_odometry.cpp
@@ -30,10 +30,13 @@
 #include "IOWrapper/ROS/ROSOutput3DWrapper.h"
 #include "IOWrapper/ROS/rosReconfigure.h"
 
+#include <X11/Xlib.h>
 
 using namespace lsd_slam;
 int main( int argc, char** argv )
 {
+    XInitThreads();
+
 	ros::init(argc, argv, "LSD_SLAM");
 
 	dynamic_reconfigure::Server<lsd_slam_core::LSDParamsConfig> srv(ros::NodeHandle("~"));