point-lio with grid map

CMakeLists.txt

@@ -0,0 +1,86 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(point_lio)
+
+SET(CMAKE_BUILD_TYPE "Debug")
+
+ADD_COMPILE_OPTIONS(-std=c++14 )
+ADD_COMPILE_OPTIONS(-std=c++14 )
+set( CMAKE_CXX_FLAGS "-std=c++14 -O3" ) 
+
+add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
+set(CMAKE_CXX_STANDARD 14)
+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")
+
+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} ${OpenMP_CXX_FLAGS}")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}   ${OpenMP_C_FLAGS}")
+
+find_package(PythonLibs REQUIRED)
+find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
+
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  nav_msgs
+  sensor_msgs
+  roscpp
+  rospy
+  std_msgs
+  pcl_ros
+  tf
+  livox_ros_driver
+  message_generation
+  eigen_conversions
+)
+
+find_package(Eigen3 REQUIRED)
+find_package(PCL 1.8 REQUIRED)
+
+
+message(Eigen: ${EIGEN3_INCLUDE_DIR})
+
+include_directories(
+	${catkin_INCLUDE_DIRS} 
+  ${EIGEN3_INCLUDE_DIR}
+  ${PCL_INCLUDE_DIRS}
+  ${PYTHON_INCLUDE_DIRS}
+  include)
+
+link_directories(
+	include
+	${PCL_LIBRARY_DIRS}
+)
+
+add_executable(pointlio_mapping src/laserMapping.cpp
+                src/li_initialization.cpp src/parameters.cpp src/preprocess.cpp src/Estimator.cpp 
+                src/IMU_Processing.cpp)
+target_link_libraries(pointlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES})
+
+target_include_directories(pointlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
+
+
+