Merge branch 'master' of github.com:gaoxiang12/slam_in_autonomous_dri…

…ving

CMakeLists.txt

@@ -11,6 +11,8 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
+option(BUILD_WITH_UBUNTU1804 OFF)
+
 include(cmake/packages.cmake)
 include_directories(${PROJECT_SOURCE_DIR}/src)
 include_directories(${PROJECT_SOURCE_DIR})

cmake/packages.cmake

@@ -70,14 +70,63 @@ include_directories(${yaml-cpp_INCLUDE_DIRS})
 include_directories(${PROJECT_SOURCE_DIR}/thirdparty/)
 include_directories(${PROJECT_SOURCE_DIR}/thirdparty/velodyne/include)
 
-set(third_party_libs
-        ${catkin_LIBRARIES}
-        ${g2o_libs}
-        ${OpenCV_LIBS}
-        ${PCL_LIBRARIES}
-        ${Pangolin_LIBRARIES}
-        glog gflags
-        ${yaml-cpp_LIBRARIES}
-        yaml-cpp
-        tbb
-        )
+if(BUILD_WITH_UBUNTU1804)
+    function(extract_file filename extract_dir)
+        message(STATUS "Extract ${filename} to ${extract_dir} ...")
+        set(temp_dir ${extract_dir})
+        if(EXISTS ${temp_dir})
+            file(REMOVE_RECURSE ${temp_dir})
+        endif()
+        file(MAKE_DIRECTORY ${temp_dir})
+        execute_process(COMMAND ${CMAKE_COMMAND} -E tar -xvzf ${filename}
+                WORKING_DIRECTORY ${temp_dir})
+    endfunction()
+
+    set(TBB_ROOT_DIR ${PROJECT_SOURCE_DIR}/thirdparty/tbb/oneTBB-2019_U8/oneTBB-2019_U8)
+    set(TBB_BUILD_DIR "tbb_build_dir=${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
+    set(TBB_BUILD_PREFIX "tbb_build_prefix=tbb")
+
+    extract_file(${PROJECT_SOURCE_DIR}/thirdparty/tbb/2019_U8.tar.gz ${PROJECT_SOURCE_DIR}/thirdparty/tbb/oneTBB-2019_U8)
+
+    include(${TBB_ROOT_DIR}/cmake/TBBBuild.cmake)
+
+    #message(STATUS "======TBB_BUILD_DIR = ${TBB_BUILD_DIR}")
+    #message(STATUS "======TBB_BUILD_PREFIX = ${TBB_BUILD_PREFIX}")
+
+    tbb_build(TBB_ROOT ${TBB_ROOT_DIR}
+            compiler=gcc-9
+            stdver=c++17
+            ${TBB_BUILD_DIR}
+            ${TBB_BUILD_PREFIX}
+            CONFIG_DIR
+            TBB_DIR)
+
+    find_package(TBB REQUIRED)
+
+    include_directories(${PROJECT_SOURCE_DIR}/thirdparty/tbb/oneTBB-2019_U8/oneTBB-2019_U8/include)
+    link_directories(${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}/tbb_release)
+
+    set(third_party_libs
+            ${catkin_LIBRARIES}
+            ${g2o_libs}
+            ${OpenCV_LIBS}
+            ${PCL_LIBRARIES}
+            ${Pangolin_LIBRARIES}
+            glog gflags
+            ${yaml-cpp_LIBRARIES}
+            yaml-cpp
+            TBB::tbb
+            )
+else()
+    set(third_party_libs
+            ${catkin_LIBRARIES}
+            ${g2o_libs}
+            ${OpenCV_LIBS}
+            ${PCL_LIBRARIES}
+            ${Pangolin_LIBRARIES}
+            glog gflags
+            ${yaml-cpp_LIBRARIES}
+            yaml-cpp
+            tbb
+            )
+endif ()

readme.md

@@ -64,9 +64,53 @@
 ## 编译
 
 - 本书推荐的编译环境是Ubuntu 20.04。更老的Ubuntu版本需要适配gcc编译器，主要是C++17标准。更新的Ubuntu则需要您自己安装对应的ROS版本。
-- 在编译本书代码之前，请编译安装本书thirdparty/下的三方库（如果您机器上没有安装的话）。
+- 在编译本书代码之前，请编译安装本书thirdparty/下的```g2o```以及以下三方库（如果您机器上没有安装的话）
+   - ROS Noetic (http://wiki.ros.org/noetic/Installation/Ubuntu)
+   - pcl-ros (如果没有选择安装 ```ros-noetic-desktop-full```): ```sudo apt install ros-noetic-pcl-ros```
+   - velodyne-msgs (如果没有选择安装```ros-noetic-desktop-full```): ```sudo apt install ros-noetic-velodyne-msgs```
+   - opencv: ```sudo apt install libopencv-dev```
+   - glog: ```sudo apt install libgoogle-glog-dev```
+   - eigen3: ```sudo apt install libeigen3-dev```
+   - suitesparse: ```sudo apt install libsuitesparse-dev```
+   - pcl: ```sudo apt install libpcl-dev```
+   - yaml-cpp: ```sudo apt install libyaml-cpp-dev```
+   - tbb: ```sudo apt install libbtbb-dev```
+   - gmock: ```sudo apt install libgmock-dev```
+   - 以下命令可以一次安装上面几个库: ```sudo apt install -y libopencv-dev libgoogle-glog-dev libeigen3-dev libsuitesparse-dev libpcl-dev libyaml-cpp-dev libbtbb-dev libgmock-dev```
+   - Pangolin: https://github.com/stevenlovegrove/Pangolin
 - 之后，使用通常的cmake, make 方式就可以编译本书所有内容了。
 
+### 适配Ubuntu18.04
+
+为了在Ubuntu18.04上编译运行，需要安装gcc-9，并且使用对应版本的TBB
+
+**安装gcc-9**
+```bash
+sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+sudo update-alternatives --remove-all gcc
+sudo update-alternatives --remove-all g++
+
+#命令最后的1和10是优先级，如果使用auto选择模式，系统将默认使用优先级高的
+sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 1
+sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 10
+
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 1
+sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-9 10
+```
+
+**检查版本**
+```bash
+g++ -v
+```
+
+**编译程序**
+```bash
+mkdir build
+cd build
+cmake .. -DBUILD_WITH_UBUNTU1804=ON
+make -j8
+```
+
 ## TODO项
 
 - 一部分插图需要授权

src/ch7/loam-like/feature_extraction.cc

@@ -21,7 +21,7 @@ void FeatureExtraction::Extract(FullCloudPtr pc_in, CloudPtr pc_out_edge, CloudP
         p.z = pt.z;
         p.intensity = pt.intensity;
 
-        scans_in_each_line[pt.ring]->emplace_back(p);
+        scans_in_each_line[pt.ring]->points.emplace_back(p);
     }
 
     // 处理曲率