项目实训 - 智能车系统 - 第九周记录

项目实训 - 智能车系统 - 第九周记录

日期：4.18 – 4.24

项目进度

本周工作进展：

• 删除项目中保留的ros相关的部分代码
• 学习cmake编写
• 重新编写项目中的CMakeLists.txt文件

1、删除ros代码

之前为了方便测试，在修改代码的时候并没有删除ros相关的函数、变量。现在要完全脱离ros的环境，需要先将相关的代码删除，确保与ros完全无关。

2、学习CMakeLists.txt

学习过程记录在一下的博客

https://blog.csdn.net/qq_38170211/article/details/124352591

https://blog.csdn.net/qq_38170211/article/details/124354606

3、重新编写CmakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(lio_sam_linux)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")
set(CMAKEFLAGS "-j2")


find_package(OpenMP REQUIRED)

# find_package(EIGEN3 REQUIRED)
find_package(PCL REQUIRED QUIET)

find_package(OpenCV REQUIRED QUIET)

find_package(GTSAM REQUIRED QUIET)

find_package(Boost REQUIRED COMPONENTS timer)

# include directories
include_directories(
  /usr/include/eigen3
	${PCL_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
	${GTSAM_INCLUDE_DIR}
)

###########
## Build ##
###########

aux_source_directory(./src/communication_LVI_SAM DIR_COMM_SRCS)
aux_source_directory(./src/pcl DIR_PCL_STRUCT_SRCS)
aux_source_directory(./src/tf DIR_TF_STRUCT_SRCS)

message("***${DIR_COMM_SRCS}***")

# Range Image Projection
add_executable(${PROJECT_NAME}_imageProjection src/imageProjection.cpp ${DIR_COMM_SRCS} ${DIR_PCL_STRUCT_SRCS} ${DIR_TF_STRUCT_SRCS})
# add_dependencies(${PROJECT_NAME}_imageProjection )
target_link_libraries(${PROJECT_NAME}_imageProjection ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})


# Feature Association
add_executable(${PROJECT_NAME}_featureExtraction src/featureExtraction.cpp ${DIR_COMM_SRCS} ${DIR_PCL_STRUCT_SRCS} ${DIR_TF_STRUCT_SRCS})
# add_dependencies(${PROJECT_NAME}_featureExtraction ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_featureExtraction ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})

# Mapping Optimization
add_executable(${PROJECT_NAME}_mapOptmization src/mapOptmization.cpp ${DIR_COMM_SRCS} ${DIR_PCL_STRUCT_SRCS} ${DIR_TF_STRUCT_SRCS})
# add_dependencies(${PROJECT_NAME}_mapOptmization ${PROJECT_NAME}_generate_messages_cpp)
target_compile_options(${PROJECT_NAME}_mapOptmization PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_mapOptmization ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam)

# IMU Preintegration
add_executable(${PROJECT_NAME}_imuPreintegration src/imuPreintegration.cpp ${DIR_COMM_SRCS} ${DIR_PCL_STRUCT_SRCS} ${DIR_TF_STRUCT_SRCS})
target_link_libraries(${PROJECT_NAME}_imuPreintegration ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)


# # tf
# add_executable(${PROJECT_NAME}_tfChangeProjection src/tfChangeProjection.cpp ${DIR_COMM_SRCS} ${DIR_PCL_STRUCT_SRCS} ${DIR_TF_STRUCT_SRCS})
# target_link_libraries(${PROJECT_NAME}_tfChangeProjection ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)

重新编译项目，成功运行。

技术难点

cmake

bug记录

没啥大bug

其他

这周板子和雷达到了，下周开搞