coderabbitai[bot]
commented
5 months ago Walkthrough
The project has evolved significantly to boost performance and streamline dependencies. Key changes include integrating the Eigen library as an optional component, enhancing CMake logic for OpenMP and CUDA detection, and refining build instructions. These updates aim to optimize processing efficiency and enhance development workflows.
Changes
| Files | Change Summary |
|---|---|
CMakeLists.txt |
Added logic for optional inclusion of Eigen library, finding OpenMP and CUDA, and updated include paths. |
README.md |
Updated for faster processing, adjusted dependencies, renamed performance section, and revised build instructions. |
🐇✨
Amidst the code's dance, changes take flight,
A rabbit weaves through, with skills so bright.
Eigen joins the party, matrices align,
OpenMP and CUDA, in harmony combine.
Faster builds, smoother paths we find,
In this digital realm, where progress entwined.
Hop along, dear code, towards the unknown,
Together we journey, seeds of innovation sown.
✨🐇
Recent Review Details
**Configuration used: CodeRabbit UI** **Review profile: CHILL**Commits
Files that changed from the base of the PR and between bcea017b9ef6caa393365e19ac7d164e6e546696 and 809035a7f1d22c481a5592be953d1d557e0b6a22.Files selected for processing (2)
* CMakeLists.txt (2 hunks) * README.md (2 hunks)Additional Context Used
LanguageTool (17)
README.md (17)
Near line 1: Did you mean “3D”(= three-dimensional) or “3rd” (= third)? Context: # 3d_bbs Fast and accurate 3D global localiz... --- Near line 1: Possible spelling mistake found. Context: # 3d_bbs Fast and accurate 3D global localizatio... --- Near line 9: Possible spelling mistake found. Context: ...g times are as follows: - Hierarchical voxelmap construction - Paper: 9,272 ms on ave... --- Near line 12: Possible spelling mistake found. Context: ...**: 3,494 ms on average - **Use saved voxelmap**: 130 ms on average - Global localizat... --- Near line 18: Possible typo detected. Context: ...89 ms** on average ## Dependencies - bbs3d (Lower versions are not tested) - CMa... --- Near line 21: Possible spelling mistake found. Context: ... CMake - Eigen3 (3.4.0 or higher) - OpenMP - CUDA (12.0 or higher) - test - (A... --- Near line 22: Possible spelling mistake found. Context: ...Eigen3 (3.4.0 or higher) - OpenMP - CUDA (12.0 or higher) - test - (All bbs3d ... --- Near line 24: Possible typo detected. Context: ...- CUDA (12.0 or higher) - test - (All bbs3d dependencies) - PCL - ros2 test - (... --- Near line 27: Possible typo detected. Context: ...endencies) - PCL - ros2 test - (All bbs3d dependencies) - ros2 humble ### Supp... --- Near line 32: Possible spelling mistake found. Context: ...ros2 humble ### Support Docker 🐳 If nvidia driver is 525.60.11 or higher, try dock... --- Near line 33: Unpaired symbol: ‘]’ seems to be missing Context: ...! For more information, you can check [docker_start.md](./docker/docker_start.m... --- Near line 35: Possible spelling mistake found. Context: ....md](./docker/docker_start.md) ## 3d_bbs core source code ### Build and Install ... --- Near line 45: Possible spelling mistake found. Context: ..., git clone with ``--recursive`` - CPU ver. & GPU ver. (Please ignore the large nu... --- Near line 45: Possible spelling mistake found. Context: ... with ``--recursive`` - CPU ver. & GPU ver. (Please ignore the large number of war... --- Near line 52: Possible spelling mistake found. Context: ...se make -j sudo make install ``` - CPU ver. only ```shell script cmake .. -DCMAKE_... --- Near line 52: This sentence does not start with an uppercase letter. Context: ...ke -j sudo make install ``` - CPU ver. only ```shell script cmake .. -DCMAKE_BUILD_... --- Near line 60: Unpaired symbol: ‘]’ seems to be missing Context: ...sudo make install ``` ## Test code See [test_code.md](./test/test_code.md)
Additional comments not posted (7)
CMakeLists.txt (4)
`15-19`: Configuration for OpenMP is correctly set up. --- Line range hint `22-26`: CUDA configuration is correctly set up. --- `31-35`: Conditional inclusion of Eigen directories is correctly handled. --- Line range hint `36-55`: Build and installation process for CPU and GPU versions is correctly set up.README.md (3)
`9-13`: Updated processing times provide clear and useful performance metrics. --- `19-22`: Updated dependencies section correctly reflects the new setup requirements. --- `43-55`: Build and install instructions are clear and include necessary steps for different configurations.
Because eigen3.3.X has bug in the matrix calculation on CUDA kernel, I added eigen3.4.X in thirdparty/Eigen as submodule. This is optional.