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fast_lio2 released!

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xw
2021-07-04 10:17:41 -04:00
parent 6e1fa94351
commit 1087a72497
44 changed files with 7155 additions and 2973 deletions
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44
CMakeLists.txt
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@@ -15,10 +15,26 @@ 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")
option(DEPLOY "Deploy on hardware" OFF)
if(DEPLOY)
add_definitions(-DDEPLOY)
endif(DEPLOY)
message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
include(ProcessorCount)
ProcessorCount(N)
message("Processer number: ${N}")
if(N GREATER 5)
add_definitions(-DMP_EN)
add_definitions(-DMP_PROC_NUM=4)
message("core for MP: 3")
elseif(N GREATER 3)
math(EXPR PROC_NUM "${N} - 2")
add_definitions(-DMP_EN)
add_definitions(-DMP_PROC_NUM="${PROC_NUM}")
message("core for MP: ${PROC_NUM}")
else()
add_definitions(-DMP_PROC_NUM=1)
endif()
else()
add_definitions(-DMP_PROC_NUM=1)
endif()
find_package(OpenMP QUIET)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
@@ -43,8 +59,6 @@ find_package(catkin REQUIRED COMPONENTS
find_package(Eigen3 REQUIRED)
find_package(PCL 1.8 REQUIRED)
find_package(OpenCV REQUIRED)
message(Eigen: ${EIGEN3_INCLUDE_DIR})
@@ -58,7 +72,6 @@ include_directories(
add_message_files(
FILES
Pose6D.msg
States.msg
)
generate_messages(
@@ -68,19 +81,10 @@ generate_messages(
catkin_package(
CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime
DEPENDS EIGEN3 PCL OpenCV
DEPENDS EIGEN3 PCL
INCLUDE_DIRS
)
# add_executable(imu_process src/IMU_Processing.cpp)
# target_link_libraries(imu_process ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_executable(loam_feat_extract src/feature_extract.cpp)
target_link_libraries(loam_feat_extract ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_executable(loam_laserMapping src/laserMapping.cpp)
add_dependencies(loam_laserMapping ${catkin_EXPORTED_TARGETS})
target_link_libraries(loam_laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ${PYTHON_LIBRARIES})
target_include_directories(loam_laserMapping PRIVATE ${PYTHON_INCLUDE_DIRS})
# target_compile_definitions(loam_laserMapping PRIVATE ROOT_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp)
target_link_libraries(fastlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES})
target_include_directories(fastlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})