ROS2 Humble Port, working for Livox

CMakeLists.txt

@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(fast_livo)
+cmake_minimum_required(VERSION 3.20)
+project(fastlivo2)
 
 set(CMAKE_BUILD_TYPE "Release")
 message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
@@ -11,136 +11,133 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 # Set common compile options
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -fexceptions")
 
-# Specific settings for Debug build
-set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0 -g")
-
 # Detect CPU architecture
 message(STATUS "Current CPU architecture: ${CMAKE_SYSTEM_PROCESSOR}")
 
 # Specific settings for Release build
 if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(arm|aarch64|ARM|AARCH64)")
-  if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
-    # 64-bit ARM optimizations (e.g., RK3588 and Jetson Orin NX)
-    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -mcpu=native -mtune=native -ffast-math")
-    message(STATUS "Using 64-bit ARM optimizations: -O3 -mcpu=native -mtune=native -ffast-math")
-  else()
-    # 32-bit ARM optimizations with NEON support
-    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -mcpu=native -mtune=native -mfpu=neon -ffast-math")
-    message(STATUS "Using 32-bit ARM optimizations: -O3 -mcpu=native -mtune=native -mfpu=neon -ffast-math")
-  endif()
+  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -mcpu=native -mtune=native -ffast-math")
+  message(STATUS "Using ARM optimizations")
   add_definitions(-DARM_ARCH)
 else()
-  # x86-64 (Intel/AMD) optimizations
-  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native -mtune=native -funroll-loops") #-flto
-  message(STATUS "Using general x86 optimizations: -O3 -march=native -mtune=native -funroll-loops") 
+  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native -mtune=native -funroll-loops")
+  message(STATUS "Using x86 optimizations")
   add_definitions(-DX86_ARCH)
 endif()
 
-# Define project root directory
 add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
 
-# Detect CPU core count for potential multithreading optimization
-include(ProcessorCount)
-ProcessorCount(N)
-message(STATUS "Processor count: ${N}")
-
-# Set the number of cores for multithreading
-if(N GREATER 4)
-  math(EXPR PROC_NUM "4")
-  add_definitions(-DMP_EN -DMP_PROC_NUM=${PROC_NUM})
-  message(STATUS "Multithreading enabled. Cores: ${PROC_NUM}")
-elseif(N GREATER 1)
-  math(EXPR PROC_NUM "${N}")
-  add_definitions(-DMP_EN -DMP_PROC_NUM=${PROC_NUM})
-  message(STATUS "Multithreading enabled. Cores: ${PROC_NUM}")
-else()
-  add_definitions(-DMP_PROC_NUM=1)
-  message(STATUS "Single core detected. Multithreading disabled.")
-endif()
-
-# Check for OpenMP support
-find_package(OpenMP QUIET)
-if(OpenMP_CXX_FOUND)
-  message(STATUS "OpenMP found")
-  add_compile_options(${OpenMP_CXX_FLAGS})
-else()
-  message(STATUS "OpenMP not found, proceeding without it")
-endif()
-
-# Check for mimalloc support
-find_package(mimalloc QUIET)
-if(mimalloc_FOUND)
-  message(STATUS "mimalloc found")
-else()
-  message(STATUS "mimalloc not found, proceeding without it")
-endif()
+# Find required dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(pcl_ros REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(PCL REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(Sophus REQUIRED)
+find_package(vikit_common REQUIRED)
+find_package(livox_interfaces REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(OpenMP REQUIRED)
 
-# Find catkin and required dependencies
-find_package(catkin REQUIRED COMPONENTS
+set(dependencies
+  rclcpp
   geometry_msgs
   nav_msgs
   sensor_msgs
-  roscpp
-  rospy
   std_msgs
   pcl_ros
-  tf
-  livox_ros_driver
-  message_generation
-  eigen_conversions
-  vikit_common
-  vikit_ros
+  tf2_ros
   cv_bridge
   image_transport
+  Eigen3
+  PCL
+  OpenCV
+  Sophus
+  Boost
+  vikit_common
+  livox_interfaces
+  visualization_msgs
+  OpenMP
 )
 
-find_package(Eigen3 REQUIRED)
-find_package(PCL REQUIRED)
-find_package(OpenCV REQUIRED)
-find_package(Sophus REQUIRED)
-find_package(Boost REQUIRED COMPONENTS thread)
-
-# Define the catkin package
-catkin_package(
-  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime cv_bridge vikit_common vikit_ros image_transport
-  DEPENDS EIGEN3 PCL OpenCV Sophus
-)
-
-# Include directories for dependencies
+# Include directories
 include_directories(
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
+  ${EIGEN3_INCLUDE_DIRS}
   ${PCL_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
   ${Sophus_INCLUDE_DIRS}
   include
 )
 
-# Add libraries
-add_library(vio src/vio.cpp src/frame.cpp src/visual_point.cpp)
-add_library(lio src/voxel_map.cpp)
-add_library(pre src/preprocess.cpp)
-add_library(imu_proc src/IMU_Processing.cpp)
-add_library(laser_mapping src/LIVMapper.cpp)
+# # set Sourcefiles
+# LIST(APPEND SOURCEFILES src/atan_camera.cpp
+#                         src/omni_camera.cpp
+#                         src/math_utils.cpp
+#                         src/vision.cpp
+#                         src/performance_monitor.cpp
+#                         src/robust_cost.cpp
+#                         src/user_input_thread.cpp
+#                         src/pinhole_camera.cpp
+#                         src/equidistant_camera.cpp
+#                         src/polynomial_camera.cpp
+#                         src/homography.cpp
+#                         src/img_align.cpp)
+
+set(Sophus_LIBRARIES libSophus.so)
+
+# Link dependencies using ament
+add_library(laser_mapping
+  src/vio.cpp
+  src/frame.cpp
+  src/visual_point.cpp
+  src/voxel_map.cpp
+  src/preprocess.cpp
+  src/IMU_Processing.cpp
+  src/LIVMapper.cpp
+)
+
+ament_target_dependencies(laser_mapping
+  ${dependencies}
+)
 
-# Add the main executable
-add_executable(fastlivo_mapping src/main.cpp)
+add_executable(fastlivo_mapping
+  src/main.cpp
+)
 
-# Link libraries to the executable
 target_link_libraries(fastlivo_mapping
   laser_mapping
-  vio
-  lio
-  pre
-  imu_proc
-  ${catkin_LIBRARIES}
+  ${Sophus_LIBRARIES}
+  ${OpenCV_LIBS}
   ${PCL_LIBRARIES}
-  ${OpenCV_LIBRARIES}
   ${Sophus_LIBRARIES}
   ${Boost_LIBRARIES}
+  ${OpenMP_CXX_LIBRARIES}
+)
+
+install(
+  TARGETS fastlivo_mapping
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install include directories
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch config rviz
+  DESTINATION share/${PROJECT_NAME}
 )
 
-# Link mimalloc if found
-if(mimalloc_FOUND)
-  target_link_libraries(fastlivo_mapping mimalloc)
-endif()
+ament_export_include_directories(include)
+ament_export_libraries(laser_mapping)
+ament_export_dependencies(${dependencies})
+ament_package()