update to slam_dev from Love_China

.gitignore

@@ -0,0 +1,8 @@
+**/build/
+.idea
+/bin/*
+/lib/*
+.vscode/*
+/data/**
+2dmapping
+

CMakeLists.txt

@@ -0,0 +1,50 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(slam)
+
+message("\n #### I love China! #### \n")
+
+set(CMAKE_BUILD_TYPE "Release")
+# set(CMAKE_BUILD_TYPE "Debug")
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_FLAGS "-w")
+set(CMAKE_CXX_FLAGS_RELEASE "-O2 -g -ggdb ${CMAKE_CXX_FLAGS}")
+set(CMAKE_CXX_FLAGS_DEBUG "-g ${CMAKE_CXX_FLAGS}")
+
+add_definitions("-DCATKIN_ENABLE_TESTING=0")
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
+
+message(STATUS "PROJECT_SOURCE_DIR: " ${PROJECT_SOURCE_DIR})
+message(STATUS "LIBRARY_OUTPUT_PATH: " ${LIBRARY_OUTPUT_PATH})
+message(STATUS "CMAKE_RUNTIME_OUTPUT_DIRECTORY: " ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
+
+option(BUILD_WITH_UBUNTU1804 OFF)
+
+include(cmake/packages.cmake)
+include_directories(${PROJECT_SOURCE_DIR})
+include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+include_directories(${PROJECT_SOURCE_DIR}/src)
+include_directories(${PROJECT_SOURCE_DIR}/src/homework)
+include_directories(${PROJECT_SOURCE_DIR}/build/devel/include)
+
+# add_subdirectory(source_dir [binary_dir] [EXCLUDE_FROM_ALL])
+add_subdirectory(src)
+
+option(TEST "BUILD TEST" OFF)
+if (TEST)
+    message("build test!")
+    add_subdirectory(${PROJECT_SOURCE_DIR}/test)
+endif()
+
+
+
+
+
+
+
+

Dockerfile

@@ -0,0 +1,22 @@
+FROM osrf/ros:noetic-desktop-full
+
+ADD docker/sources.list /etc/apt
+
+RUN apt-get update \
+&& apt-get install -y ros-noetic-pcl-ros ros-noetic-velodyne-msgs libopencv-dev libgoogle-glog-dev libeigen3-dev libsuitesparse-dev libpcl-dev libyaml-cpp-dev libbtbb-dev libgmock-dev unzip python3-tk\
+&& mkdir /sad
+
+COPY ./thirdparty/ /sad/
+
+WORKDIR /sad/
+
+RUN ls -la \
+&& rm -rf ./Pangolin \
+&& unzip ./Pangolin.zip \
+&& mkdir ./Pangolin/build \
+&& cmake ./Pangolin -B ./Pangolin/build \
+&& make -j4 -C ./Pangolin/build install \
+# && cmake ./g2o -B ./g2o/build \
+# && make -j4 -C ./g2o/build install \
+&& rm -rf /var/lib/apt/lists/* \
+&& rm -rf /sad