feat(slam): add lidar SLAM and pointcloud processing packages

2026-01-13 19:12:25 +08:00
parent dcb52622eb
commit ddef31d11a
140 changed files with 29546 additions and 0 deletions
@@ -0,0 +1,112 @@
+cmake_minimum_required(VERSION 3.5)
+project(point_lio)
+
+# Use C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
+
+# Compiler settings for performance and threading
+add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
+add_compile_options(-O3 -pthread -fexceptions)
+
+# Processor count and definitions
+message(STATUS "Current CPU architecture: ${CMAKE_SYSTEM_PROCESSOR}")
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
+  include(ProcessorCount)
+  ProcessorCount(N)
+  message(STATUS "Processor number:  ${N}")
+  if(N GREATER 5)
+    add_definitions(-DMP_EN)
+    add_definitions(-DMP_PROC_NUM=4)
+    message(STATUS "core for MP:  3")
+  elseif(N GREATER 3)
+    math(EXPR PROC_NUM "${N} - 2")
+    add_definitions(-DMP_EN)
+    add_definitions(-DMP_PROC_NUM="${PROC_NUM}")
+    message(STATUS "core for MP:  ${PROC_NUM}")
+  else()
+    add_definitions(-DMP_PROC_NUM=1)
+  endif()
+else()
+  add_definitions(-DMP_PROC_NUM=1)
+endif()
+
+# Find packages
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(pcl_ros REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(visualization_msgs REQUIRED)
+# find_package(livox_ros_driver2 REQUIRED)
+
+find_package(Eigen3 REQUIRED)
+
+
+# OpenMP
+find_package(OpenMP QUIET)
+if(OPENMP_FOUND)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+endif()
+
+find_package(PythonLibs REQUIRED) # Consider using Pybind11 for ROS2
+find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
+
+include_directories(
+        include
+        ${EIGEN3_INCLUDE_DIR}
+        ${PYTHON_INCLUDE_DIRS}
+)
+
+# Declare a ROS2 executable
+add_executable(pointlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/parameters.cpp src/preprocess.cpp src/Estimator.cpp)
+ament_target_dependencies(pointlio_mapping
+        rclcpp
+        rclpy
+        geometry_msgs
+        nav_msgs
+        sensor_msgs
+        pcl_ros
+        pcl_conversions
+        tf2_ros
+        visualization_msgs
+        # livox_ros_driver2
+)
+target_link_libraries(pointlio_mapping ${PYTHON_LIBRARIES})
+target_include_directories(pointlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
+
+# Install the executable
+install(TARGETS
+        pointlio_mapping
+        DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+        DIRECTORY config launch rviz_cfg
+        DESTINATION share/${PROJECT_NAME}
+)
+
+# Export dependencies
+ament_export_dependencies(rclcpp
+  rclpy
+  geometry_msgs
+  nav_msgs
+  sensor_msgs
+  pcl_ros
+  pcl_conversions
+  tf2_ros
+  visualization_msgs
+  # livox_ros_driver2
+  Eigen3
+)
+
+ament_package()