Add spdlog logging and UTL profiling to lidar odometry hot path

.gitmodules

@@ -47,3 +47,9 @@
 [submodule "3rdparty/unordered_dense"]
 	path = 3rdparty/unordered_dense
 	url = https://github.com/martinus/unordered_dense.git
+[submodule "3rdparty/spdlog"]
+	path = 3rdparty/spdlog
+	url = https://github.com/gabime/spdlog.git
+[submodule "3rdparty/UTL"]
+	path = 3rdparty/UTL
+	url = https://github.com/DmitriBogdanov/UTL.git

CMakeLists.txt

@@ -21,6 +21,8 @@ if (MSVC)
     add_definitions(-DWIN32_LEAN_AND_MEAN)
 endif()
 
+option(UTL_PROFILER_DISABLE "Disable UTL profiler (zero overhead when ON)" ON)
+
 get_filename_component(REPOSITORY_DIRECTORY ${CMAKE_CURRENT_LIST_DIR} ABSOLUTE)
 set(THIRDPARTY_DIRECTORY ${REPOSITORY_DIRECTORY}/3rdparty)
 set(THIRDPARTY_DIRECTORY_BINARY ${REPOSITORY_DIRECTORY}/3rdpartyBinary)
@@ -366,6 +368,15 @@ endif()
 add_subdirectory(${THIRDPARTY_DIRECTORY}/unordered_dense)
 MESSAGE(STATUS "Using bundled unordered_dense from: ${THIRDPARTY_DIRECTORY}/unordered_dense")
 
+# Add spdlog logging library
+set(SPDLOG_BUILD_PIC ON CACHE BOOL "Build spdlog with position-independent code")
+add_subdirectory(${THIRDPARTY_DIRECTORY}/spdlog)
+MESSAGE(STATUS "Using bundled spdlog from: ${THIRDPARTY_DIRECTORY}/spdlog")
+
+# Add UTL header-only utility library
+add_subdirectory(${THIRDPARTY_DIRECTORY}/UTL)
+MESSAGE(STATUS "Using bundled UTL from: ${THIRDPARTY_DIRECTORY}/UTL")
+
 option(PYBIND "Enable pybind11 bindings" OFF)
 if(PYBIND)
     message(STATUS "PYBIND is enabled: fetching pybind.")

apps/compare_trajectories/CMakeLists.txt

@@ -31,6 +31,7 @@ target_link_libraries(
   mandeye_compare_trajectories
   PRIVATE Fusion
   unordered_dense::unordered_dense
+  spdlog::spdlog
   ${FREEGLUT_LIBRARY}
   ${OPENGL_gl_LIBRARY}
   OpenGL::GLU

apps/concatenate_multi_livox/CMakeLists.txt

@@ -25,6 +25,7 @@ target_include_directories(
 
 target_link_libraries(concatenate_multi_livox PRIVATE core
                                                 unordered_dense::unordered_dense
+                                                spdlog::spdlog
                                                 ${PLATFORM_LASZIP_LIB}
                                                 ${PLATFORM_MISCELLANEOUS_LIBS})
 

apps/lidar_odometry_step_1/CMakeLists.txt

@@ -20,7 +20,9 @@ add_executable(
   lidar_odometry_step_1 ${SOURCES}
   )
 
-target_compile_definitions(lidar_odometry_step_1 PRIVATE -DWITH_GUI=1)
+target_compile_definitions(lidar_odometry_step_1 PRIVATE
+    WITH_GUI=1
+    $<$<BOOL:${UTL_PROFILER_DISABLE}>:UTL_PROFILER_DISABLE>)
 
 target_include_directories(
   lidar_odometry_step_1
@@ -46,6 +48,8 @@ target_link_libraries(
           lidar_odometry_step_1
           PRIVATE Fusion
           unordered_dense::unordered_dense
+          spdlog::spdlog
+          UTL::include
           # PRIVATE ${THIRDPARTY_DIRECTORY}/glew-2.2.0/lib/Release/x64/glew32s.lib
           ${FREEGLUT_LIBRARY}
           ${OPENGL_gl_LIBRARY}

apps/lidar_odometry_step_1/lidar_odometry_gui.cpp

@@ -25,6 +25,8 @@
 #include <mutex>
 #include <pfd_wrapper.hpp>
 #include <session.h>
+#include <spdlog/cfg/env.h>
+#include <spdlog/spdlog.h>
 
 #ifdef _WIN32
 #include "resource.h"
@@ -2309,6 +2311,8 @@ void mouse(int glut_button, int state, int x, int y)
 
 int main(int argc, char* argv[])
 {
+    spdlog::cfg::load_env_levels();
+    spdlog::flush_on(spdlog::level::warn);
     set_lidar_odometry_default_params(params);
 
     try