v1

.vscode/c_cpp_properties.json

@@ -0,0 +1,17 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/clang",
+            "cStandard": "c17",
+            "cppStandard": "c++14",
+            "intelliSenseMode": "linux-clang-x64",
+            "configurationProvider": "ms-vscode.cmake-tools"
+        }
+    ],
+    "version": 4
+}

CMakeLists.txt

@@ -0,0 +1,118 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(fast_lio_sam)
+
+# SET(CMAKE_BUILD_TYPE "Debug")  
+
+ADD_COMPILE_OPTIONS(-std=c++14 )
+ADD_COMPILE_OPTIONS(-std=c++14 )
+# set( CMAKE_CXX_FLAGS "-std=c++14 -O3" )
+
+add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
+
+message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
+  include(ProcessorCount)
+  ProcessorCount(N)
+  message("Processer number:  ${N}")
+  if(N GREATER 4)
+    add_definitions(-DMP_EN)
+    add_definitions(-DMP_PROC_NUM=3)
+    message("core for MP: 3")
+  elseif(N GREATER 3)
+    add_definitions(-DMP_EN)
+    add_definitions(-DMP_PROC_NUM=2)
+    message("core for MP: 2")
+  else()
+    add_definitions(-DMP_PROC_NUM=1)
+  endif()
+else()
+  add_definitions(-DMP_PROC_NUM=1)
+endif()
+
+find_package(OpenMP QUIET)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}   ${OpenMP_C_FLAGS}")
+
+find_package(PythonLibs REQUIRED)
+find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
+
+find_package(OpenCV REQUIRED)
+
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  nav_msgs
+  sensor_msgs
+  roscpp
+  rospy
+  std_msgs
+  pcl_ros
+  tf
+  livox_ros_driver
+  message_generation
+  eigen_conversions
+  cv_bridge
+  image_transport
+  darknet_ros_msgs
+)
+
+find_package(Eigen3 REQUIRED)
+find_package(PCL REQUIRED)
+find_package (GeographicLib REQUIRED)
+
+find_package( GTSAMCMakeTools )
+find_package(GTSAM REQUIRED QUIET)
+
+message(Eigen: ${EIGEN3_INCLUDE_DIR})
+
+include_directories(
+	${catkin_INCLUDE_DIRS} 
+  ${EIGEN3_INCLUDE_DIR}
+  ${PCL_INCLUDE_DIRS}
+  ${PYTHON_INCLUDE_DIRS}
+  ${GTSAM_INCLUDE_DIR}
+  ${GeographicLib_INCLUDE_DIRS}
+  include)
+
+  # link directories
+# link_directories(
+#   ${GTSAM_LIBRARY_DIRS}
+# )
+
+add_message_files(
+  FILES
+  Pose6D.msg
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  save_map.srv
+  save_pose.srv
+)
+
+generate_messages(
+ DEPENDENCIES
+ geometry_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime
+  DEPENDS EIGEN3 PCL GTSAM
+  INCLUDE_DIRS
+)
+
+# add_executable(fastlio_sam_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp)
+# target_link_libraries(fastlio_sam_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES})
+# target_include_directories(fastlio_sam_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
+
+add_library(ikd_Tree include/ikd-Tree/ikd_Tree.cpp)
+add_library(preprocess  src/preprocess.cpp)
+add_executable(fastlio_sam_mapping src/laserMapping.cpp)
+target_link_libraries(fastlio_sam_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES}  ${GeographicLib_LIBRARIES} ikd_Tree preprocess gtsam) 
+target_include_directories(fastlio_sam_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})