add map_conversion

CMakeLists.txt

@@ -0,0 +1,77 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(map_conversion)
+
+SET(CMAKE_BUILD_TYPE "Release")
+SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")
+add_compile_options(-std=c++11)
+add_definitions(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  pcl_ros
+  geometry_msgs
+  tf
+  eigen_conversions
+)
+
+set(ALL_TARGET_LIBRARIES "")
+
+# find_package(gflags REQUIRED)
+
+include(cmake/glog.cmake)
+include(cmake/PCL.cmake)
+include(cmake/eigen.cmake)
+include(cmake/yaml.cmake)
+
+include_directories( include
+${catkin_INCLUDE_DIRS}
+)
+
+include(cmake/global_defination.cmake)
+catkin_package()
+
+file(GLOB_RECURSE ALL_SRCS "*.cpp")
+file(GLOB_RECURSE NODE_SRCS "src/*_node.cpp")
+list(REMOVE_ITEM ALL_SRCS ${NODE_SRCS})
+
+add_executable(local_environment_node src/app/local_environment_node.cpp ${ALL_SRCS})
+add_dependencies(local_environment_node ${catkin_EXPORTED_TARGETS})
+target_link_libraries(local_environment_node ${catkin_LIBRARIES} ${ALL_TARGET_LIBRARIES} gflags yaml-cpp)
+
+add_executable(global_submap_node src/app/global_submap_node.cpp ${ALL_SRCS})
+add_dependencies(global_submap_node ${catkin_EXPORTED_TARGETS})
+target_link_libraries(global_submap_node ${catkin_LIBRARIES} ${ALL_TARGET_LIBRARIES} gflags yaml-cpp)
+
+install(TARGETS 
+    local_environment_node
+    global_submap_node
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY 
+        include/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+)
+
+## Mark other directories for installation:
+install(DIRECTORY
+        launch/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+    FILES_MATCHING PATTERN "*.launch"
+)
+install(DIRECTORY
+        config/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
+    FILES_MATCHING PATTERN "*.yaml"
+)
+install(DIRECTORY
+        rviz/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
+    FILES_MATCHING PATTERN "*.rviz"
+)
+

cmake/PCL.cmake

@@ -0,0 +1,5 @@
+find_package(PCL 1.7 REQUIRED)
+list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
+
+include_directories(${PCL_INCLUDE_DIRS})
+list(APPEND ALL_TARGET_LIBRARIES ${PCL_LIBRARIES})

cmake/eigen.cmake

@@ -0,0 +1,2 @@
+set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+include_directories( ${Eigen3_INCLUDE_DIRS} )

cmake/global_defination.cmake

@@ -0,0 +1,5 @@
+set(WORK_SPACE_PATH ${PROJECT_SOURCE_DIR})
+configure_file (
+  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/global_defination/global_defination.h.in
+  ${PROJECT_BINARY_DIR}/include/${PROJECT_NAME}/global_defination/global_defination.h)
+include_directories(${PROJECT_BINARY_DIR}/include)

cmake/glog.cmake

@@ -0,0 +1,40 @@
+include(FindPackageHandleStandardArgs)
+
+set(GLOG_ROOT_DIR "" CACHE PATH "Folder contains Google glog")
+
+if(WIN32)
+    find_path(GLOG_INCLUDE_DIR glog/logging.h
+        PATHS ${GLOG_ROOT_DIR}/src/windows)
+else()
+    find_path(GLOG_INCLUDE_DIR glog/logging.h
+        PATHS ${GLOG_ROOT_DIR})
+endif()
+
+if(MSVC)
+    find_library(GLOG_LIBRARY_RELEASE libglog_static
+        PATHS ${GLOG_ROOT_DIR}
+        PATH_SUFFIXES Release)
+
+    find_library(GLOG_LIBRARY_DEBUG libglog_static
+        PATHS ${GLOG_ROOT_DIR}
+        PATH_SUFFIXES Debug)
+
+    set(GLOG_LIBRARY optimized ${GLOG_LIBRARY_RELEASE} debug ${GLOG_LIBRARY_DEBUG})
+else()
+    find_library(GLOG_LIBRARY glog
+        PATHS ${GLOG_ROOT_DIR}
+        PATH_SUFFIXES lib lib64)
+endif()
+
+find_package_handle_standard_args(Glog DEFAULT_MSG GLOG_INCLUDE_DIR GLOG_LIBRARY)
+
+if(GLOG_FOUND)
+  set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
+  set(GLOG_LIBRARIES ${GLOG_LIBRARY})
+  message(STATUS "Found glog    (include: ${GLOG_INCLUDE_DIR}, library: ${GLOG_LIBRARY})")
+  mark_as_advanced(GLOG_ROOT_DIR GLOG_LIBRARY_RELEASE GLOG_LIBRARY_DEBUG
+                                 GLOG_LIBRARY GLOG_INCLUDE_DIR)
+endif()
+
+include_directories(${GLOG_INCLUDE_DIRS})
+list(APPEND ALL_TARGET_LIBRARIES ${GLOG_LIBRARIES})

cmake/yaml.cmake

@@ -0,0 +1,2 @@
+find_package(yaml-cpp REQUIRED)
+include_directories( ${YAML_CPP_INCLUDE_DIR})

config/params.yaml

@@ -0,0 +1,8 @@
+%YAML:1.0
+
+Global_file_directory: "/home/qjs/cloudGlobal.pcd"   #全局地图文件位置
+local_cloud_frame:  "/velodyne_cloud_registered"     #局部雷达原始帧话题 (/laser_cloud_map)
+global_z: "0"       #这两个参数是调整栅格地图的Z轴直通滤波的范围
+local_z: "0.27"
+
+