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CMakeLists.txt: Use CUDAToolkit instead of CUDA (deprecated) in find_… #140

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CMakeLists.txt: Use CUDAToolkit instead of CUDA (deprecated) in find_…
alimon Dec 15, 2023
a8c4dea
MOstly compiling
neil-glydways Dec 15, 2023
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25 changes: 20 additions & 5 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 3.10.0)
project(fast_gicp)

option(BUILD_VGICP_CUDA "Build GPU-powered VGICP" OFF)
option(BUILD_VGICP_CUDA "Build GPU-powered VGICP" ON)
option(BUILD_apps "Build application programs" ON)
option(BUILD_test "Build test programs" OFF)
option(BUILD_PYTHON_BINDINGS "Build python bindings" OFF)
Expand Down Expand Up @@ -33,9 +33,10 @@ if (OPENMP_FOUND)
endif()

if(BUILD_VGICP_CUDA)
find_package(CUDA REQUIRED)
include_directories(${CUDA_INCLUDE_DIRS})
link_directories(${CUDA_LIBRARY_DIRS})
enable_language(CUDA)
find_package(CUDAToolkit REQUIRED)
include_directories(${CUDAToolkit_INCLUDE_DIRS})
link_directories(${CUDAToolkit_LIBRARY_DIR})
endif()

###################################
Expand All @@ -52,6 +53,8 @@ endif()
## Build ##
###########

link_directories(/home/neil/devel/glyd/.toolchain/c97040d85c983530acbe2e02c2327d0db40f6e7acb4dd8cbc280076c92c33ccf/sysroot/lib)

add_library(fast_gicp SHARED
src/fast_gicp/gicp/lsq_registration.cpp
src/fast_gicp/gicp/fast_gicp.cpp
Expand All @@ -61,6 +64,9 @@ add_library(fast_gicp SHARED
target_link_libraries(fast_gicp
${PCL_LIBRARIES}
)
target_link_directories(fast_gicp
PUBLIC /home/neil/devel/glyd/.toolchain/c97040d85c983530acbe2e02c2327d0db40f6e7acb4dd8cbc280076c92c33ccf/sysroot/lib
)
if (OPENMP_FOUND)
if (TARGET OpenMP::OpenMP_CXX)
target_link_libraries(fast_gicp OpenMP::OpenMP_CXX)
Expand Down Expand Up @@ -110,7 +116,7 @@ if(BUILD_VGICP_CUDA)
set(CUDA_NVCC_FLAGS "--expt-relaxed-constexpr")
add_definitions(-DUSE_VGICP_CUDA)

cuda_add_library(fast_vgicp_cuda SHARED
add_library(fast_vgicp_cuda SHARED
src/fast_gicp/cuda/fast_vgicp_cuda.cu
src/fast_gicp/cuda/brute_force_knn.cu
src/fast_gicp/cuda/covariance_estimation.cu
Expand All @@ -127,9 +133,16 @@ if(BUILD_VGICP_CUDA)
include
thirdparty/Eigen
thirdparty/nvbio
${OpenMP_CXX_FLAGS}
ld
${catkin_INCLUDE_DIRS}
)
target_link_directories(fast_vgicp_cuda
/home/neil/devel/glyd/.toolchain/c97040d85c983530acbe2e02c2327d0db40f6e7acb4dd8cbc280076c92c33ccf/sysroot/lib
)
target_link_libraries(fast_vgicp_cuda
${OpenMP_CXX_FLAGS}

${catkin_LIBRARIES}
)
cuda_add_cublas_to_target(fast_vgicp_cuda)
Expand All @@ -141,6 +154,8 @@ if(BUILD_VGICP_CUDA)
)
target_link_libraries(fast_gicp
fast_vgicp_cuda
${OpenMP_CXX_FLAGS}
ld
)
add_dependencies(fast_gicp fast_vgicp_cuda)
if(catkin_FOUND)
Expand Down
84 changes: 42 additions & 42 deletions src/kitti.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,8 @@
#include <pcl/point_cloud.h>
#include <pcl/filters/approximate_voxel_grid.h>

#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/point_cloud_color_handlers.h>
// #include <pcl/visualization/pcl_visualizer.h>
// #include <pcl/visualization/point_cloud_color_handlers.h>

#include <fast_gicp/gicp/fast_gicp.hpp>
#include <fast_gicp/gicp/fast_vgicp.hpp>
Expand Down Expand Up @@ -105,52 +105,52 @@ int main(int argc, char** argv) {
pcl::PointCloud<pcl::PointXYZ>::Ptr trajectory(new pcl::PointCloud<pcl::PointXYZ>);
trajectory->push_back(pcl::PointXYZ(0.0f, 0.0f, 0.0f));

pcl::visualization::PCLVisualizer vis;
vis.addPointCloud<pcl::PointXYZ>(trajectory, "trajectory");
// pcl::visualization::PCLVisualizer vis;
// vis.addPointCloud<pcl::PointXYZ>(trajectory, "trajectory");

// for calculating FPS
boost::circular_buffer<std::chrono::high_resolution_clock::time_point> stamps(30);
stamps.push_back(std::chrono::high_resolution_clock::now());

for (int i = 1; i < kitti.size(); i++) {
// set the current frame as source
voxelgrid.setInputCloud(kitti.cloud(i));
pcl::PointCloud<pcl::PointXYZ>::Ptr source(new pcl::PointCloud<pcl::PointXYZ>);
voxelgrid.filter(*source);
gicp.setInputSource(source);

// align and swap source and target cloud for next registration
pcl::PointCloud<pcl::PointXYZ>::Ptr aligned(new pcl::PointCloud<pcl::PointXYZ>);
gicp.align(*aligned);
gicp.swapSourceAndTarget();

// accumulate pose
poses[i] = poses[i - 1] * gicp.getFinalTransformation().cast<double>();

// FPS display
stamps.push_back(std::chrono::high_resolution_clock::now());
std::cout << stamps.size() / (std::chrono::duration_cast<std::chrono::nanoseconds>(stamps.back() - stamps.front()).count() / 1e9) << "fps" << std::endl;

// visualization
trajectory->push_back(pcl::PointXYZ(poses[i](0, 3), poses[i](1, 3), poses[i](2, 3)));
vis.updatePointCloud<pcl::PointXYZ>(trajectory, pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>(trajectory, 255.0, 0.0, 0.0), "trajectory");
vis.spinOnce();
}
// for (int i = 1; i < kitti.size(); i++) {
// // set the current frame as source
// voxelgrid.setInputCloud(kitti.cloud(i));
// pcl::PointCloud<pcl::PointXYZ>::Ptr source(new pcl::PointCloud<pcl::PointXYZ>);
// voxelgrid.filter(*source);
// gicp.setInputSource(source);

// // align and swap source and target cloud for next registration
// pcl::PointCloud<pcl::PointXYZ>::Ptr aligned(new pcl::PointCloud<pcl::PointXYZ>);
// gicp.align(*aligned);
// gicp.swapSourceAndTarget();

// // accumulate pose
// poses[i] = poses[i - 1] * gicp.getFinalTransformation().cast<double>();

// // FPS display
// stamps.push_back(std::chrono::high_resolution_clock::now());
// std::cout << stamps.size() / (std::chrono::duration_cast<std::chrono::nanoseconds>(stamps.back() - stamps.front()).count() / 1e9) << "fps" << std::endl;

// // visualization
// trajectory->push_back(pcl::PointXYZ(poses[i](0, 3), poses[i](1, 3), poses[i](2, 3)));
// // vis.updatePointCloud<pcl::PointXYZ>(trajectory, pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>(trajectory, 255.0, 0.0, 0.0), "trajectory");
// // vis.spinOnce();
// }

// save the estimated poses
std::ofstream ofs("/tmp/traj.txt");
for (const auto& pose : poses) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 4; j++) {
if (i || j) {
ofs << " ";
}

ofs << pose(i, j);
}
}
ofs << std::endl;
}
// std::ofstream ofs("/tmp/traj.txt");
// for (const auto& pose : poses) {
// for (int i = 0; i < 3; i++) {
// for (int j = 0; j < 4; j++) {
// if (i || j) {
// ofs << " ";
// }

// ofs << pose(i, j);
// }
// }
// ofs << std::endl;
// }

return 0;
}
}