add CMakeLists.txt and fix bug: build OK

.gitignore

@@ -1 +1,3 @@
 /.vscode
+/lib
+/build

CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(oh_loam)
+
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++17")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
+
+find_package(PCL QUIET)
+if (NOT PCL_FOUND) 
+  message(FATAL_ERROR "PCL not found.")
+endif()
+
+include_directories(
+  ${PROJECT_SOURCE_DIR}/common
+  ${PROJECT_SOURCE_DIR}/src
+  ${PCL_INCLUDE_DIRS}
+)
+
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+
+add_library(${PROJECT_NAME} SHARED
+  ${PROJECT_SOURCE_DIR}/src/base_feature_extractor.cc
+)

common/filter.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "common/utils.h"
+#include "utils.h"
 
 namespace oh_loam {
 
@@ -20,14 +20,14 @@ void RemovePointsIf(const pcl::PointCloud<PointT>& cloud_in,
   }
   cloud_out->points.resize(j);
   cloud_out->height = 1;
-  cloud_out->widht = static_cast<uint32_t>(j);
+  cloud_out->width = static_cast<uint32_t>(j);
   cloud_out->is_dense = true;
 }
 
 template <typename PointT>
 void RemoveNaNPoint(const pcl::PointCloud<PointT>& cloud_in,
                     pcl::PointCloud<PointT>* const cloud_out) {
-  RemovePointsIf(cloud_in, cloud_out,
+  RemovePointsIf<PointT>(cloud_in, cloud_out,
                          [](const PointT& pt) { return !IsFinite(pt); });
 }
 
@@ -35,7 +35,7 @@ template <typename PointT>
 void RemoveClosedPoints(const pcl::PointCloud<PointT>& cloud_in,
                         pcl::PointCloud<PointT>* const cloud_out,
                         double min_dist = 0.1) {
-  RemovePointsIf(cloud_in, cloud_out, [](const PointT& pt) {
+  RemovePointsIf<PointT>(cloud_in, cloud_out, [&](const PointT& pt) {
     return DistanceSqure(pt) < min_dist * min_dist;
   });
 }

common/types.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <cmath>
 
@@ -16,13 +17,13 @@ enum class PointType {
   NORNAL = 0,
   LESS_SHARP = 1,
   SHARP = 2,
-}
+};
 
 struct EIGEN_ALIGN16 PointXYZTCT {
   PCL_ADD_POINT4D;
   float time = 0.0f;
   float curvature = NAN;
-  char type = PointType::NORNAL;
+  PointType type = PointType::NORNAL;
 
   PointXYZTCT() {
     x = y = z = 0.0f;
@@ -55,7 +56,7 @@ struct EIGEN_ALIGN16 PointXYZTCT {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
-using IPoint = pcl::PointXYZTCT;
+using IPoint = PointXYZTCT;
 using IPointCloud = pcl::PointCloud<IPoint>;
 using IPointCloudPtr = IPointCloud::Ptr;
 using IPointCloudConstPtr = IPointCloud::ConstPtr;

common/utils.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "common/types.h"
+#include "types.h"
 
 namespace oh_loam {
 
@@ -28,7 +28,7 @@ inline double NormalizeAngle(double ang) {
 std::pair<double, double> GetYawRange(const PointCloud& cloud) {
   const auto& pts = cloud.points;
   int pt_num = pts.size();
-  double yaw_start = -atan2(pts[0].y, pt[0].x);
+  double yaw_start = -atan2(pts[0].y, pts[0].x);
   double yaw_end = -atan2(pts[pt_num - 1].y, pts[pt_num - 1].x) + 2 * M_PI;
   double yaw_diff = NormalizeAngle(yaw_end - yaw_start);
   return {yaw_start, yaw_start + yaw_diff + 2 * M_PI};

src/base_feature_extractor.cc

@@ -1,7 +1,7 @@
-#include "src/base_feature_extractor.h"
+#include "base_feature_extractor.h"
 
 #include <cmath>
-#include "common/filter.h"
+#include "filter.h"
 
 namespace oh_loam {
 
@@ -14,26 +14,26 @@ bool FeaturePointsExtractor::Extract(const PointCloud& cloud_in,
   RemoveNaNPoint<Point>(cloud_in, cloud.get());
   RemoveClosedPoints<Point>(*cloud, cloud.get(), kPointMinDist);
   std::vector<IPointCloud> scans;
-  ScanSplit(*cloud, &scans);
+  SplitScan(*cloud, &scans);
-  for (auto& scan : sccans) {
+  for (auto& scan : scans) {
-    ComputeCurvature(&scan);
+    ComputePointCurvature(&scan);
-    AssignType(&scan);
+    AssignPointType(&scan);
   }
-  for (const auto& scan : sccans) {
+  for (const auto& scan : scans) {
     *(feature->laser_cloud) += scan;
     for (const auto& pt : scan.points) {
       switch (pt.type) {
         case PointType::FLAT:
-          feature->flat_surf_points.emplace_back(pt);
+          feature->flat_surf_points->points.emplace_back(pt);
           break;
         case PointType::LESS_FLAT:
-          feature->less_flat_surf_points.emplace_back(pt);
+          feature->less_flat_surf_points->points.emplace_back(pt);
           break;
         case PointType::LESS_SHARP:
-          feature->less_sharp_corner_points.emplace_back(pt);
+          feature->less_sharp_corner_points->points.emplace_back(pt);
           break;
         case PointType::SHARP:
-          feature->sharp_corner_points.emplace_back(pt);
+          feature->sharp_corner_points->points.emplace_back(pt);
           break;
         default:
           break;
@@ -44,8 +44,9 @@ bool FeaturePointsExtractor::Extract(const PointCloud& cloud_in,
 
 void FeaturePointsExtractor::SplitScan(
     const PointCloud& cloud, std::vector<IPointCloud>* const scans) const {
-  scans.resize(num_scans_);
+  scans->resize(num_scans_);
-  const auto & [ yaw_start, yaw_end ] = GetYawRange(cloud);
+  double yaw_start, yaw_end;
+  std::tie(yaw_start, yaw_end) = GetYawRange(cloud);
   const double yaw_range = yaw_end - yaw_start;
   bool half_passed = false;
   for (const auto& pt : cloud.points) {
@@ -59,14 +60,15 @@ void FeaturePointsExtractor::SplitScan(
       half_passed = true;
       yaw_start += 2 * M_PI;
     }
-    scans[scan_id].emplace_back(pt.x, pt.y, pt.z, yaw_diff / yaw_range);
+    (*scans)[scan_id].points.emplace_back(pt.x, pt.y, pt.z,
+                                          yaw_diff / yaw_range);
   }
 }
 
 void FeaturePointsExtractor::ComputePointCurvature(
     IPointCloud* const scan) const {
   auto& pts = scan->points;
-  for (int i = 5; i < pts.size() - 5; ++i) {
+  for (size_t i = 5; i < pts.size() - 5; ++i) {
     float diffX = pts[i - 5].x + pts[i - 4].x + pts[i - 3].x + pts[i - 2].x +
                   pts[i - 1].x + pts[i + 1].x + pts[i + 2].x + pts[i + 3].x +
                   pts[i + 4].x + pts[i + 5].x - 10 * pts[i].x;

src/base_feature_extractor.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "common/utils.h"
+#include "utils.h"
 
 namespace oh_loam {
 
@@ -32,7 +32,7 @@ class FeaturePointsExtractor {
   int num_scans() const { return num_scans_; }
 
  protected:
-  virtual GetScanID(const Point& pt) const = 0;
+  virtual int GetScanID(const Point& pt) const = 0;
 
   void SplitScan(const PointCloud& cloud,
                  std::vector<IPointCloud>* const scans) const;

src/feature_extractor_VLP16.h

@@ -1,7 +1,7 @@
 #pragma once
 
-#include "common/utils.h"
+#include "base_feature_extractor.h"
-#include "src/base_feature_extractor.h"
+#include "utils.h"
 
 namespace oh_loam {