Fix OOM Crash During Compilation

[ClayJay3]

Added some fancy options like Unity builds, LLD, and precompiling to the CMakeLists.txt to hopefully make builds faster and fix crashes on lower-end systems.

[gemini-code-assist]

Summary of Changes

Hello @ClayJay3, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request significantly enhances the project's compilation process by integrating modern build optimizations. The changes aim to prevent Out-Of-Memory crashes during compilation and accelerate build times, making development more efficient and accessible across various system configurations. These improvements focus on reducing resource consumption and speeding up the linking and compilation phases without altering the project's core logic.

Highlights

• Compilation Performance: Introduced several optimizations to the CMake build system to improve compilation speed and reduce memory usage, specifically targeting Out-Of-Memory (OOM) crashes on lower-end systems.
• LLD Linker Integration: Configured CMake to use the LLD linker for non-MSVC builds, which can significantly reduce RAM consumption and linking times.
• Unity Builds Enabled: Activated Unity Builds (also known as 'Jumbo Builds') with a batch size of 8, consolidating multiple source files into single compilation units to decrease overall compilation time and memory footprint.
• Precompiled Headers: Implemented precompiled headers for the main executable, unit tests, and integration tests, including heavy libraries such as Eigen, PCL, Torch, and OpenCV, to further reduce compilation overhead.
• Dev Container Updates: Updated the Dockerfiles for both Jammy and JetPack dev containers to include the LLD linker, ensuring consistency with the new build configurations. The default dev container build was also switched to Jammy.

Changelog

• .devcontainer/Jammy.dockerfile
  • Added 'lld' to the list of installed packages.
• .devcontainer/JetPack.dockerfile
  • Added 'lld' to the list of installed packages.
• .devcontainer/devcontainer.json
  • Changed the default 'dockerfile' build from 'JetPack.dockerfile' to 'Jammy.dockerfile'.
• CMakeLists.txt
  • Enabled LLD linker for non-MSVC builds to reduce RAM and linking time.
  • Activated Unity Builds with a batch size of 8 to lower memory usage during compilation.
  • Configured precompiled headers for the main executable, including common libraries like '', '', '', '<Eigen/Dense>', '<pcl/point_cloud.h>', '<pcl/point_types.h>', '<torch/torch.h>', and '<opencv2/opencv.hpp>'.
  • Applied the same precompiled header configuration to Unit Tests.
  • Applied the same precompiled header configuration to Integration Tests.

Activity

• No human activity has been recorded on this pull request yet.

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[gemini-code-assist]

Code Review

The pull request introduces several performance enhancements to the CMake build system, including the adoption of LLD linker, Unity builds, and precompiled headers. These changes are well-intentioned to address OOM crashes and improve build times, especially on resource-constrained systems. The Dockerfile updates correctly reflect the addition of lld to the build-essential packages. The devcontainer.json change to enable the Jammy.dockerfile build is also noted. Overall, the changes are positive for build optimization.

[frawgii]

Approved 🤓 🐸

[codacy-production]

Coverage summary from Codacy

See diff coverage on Codacy

Coverage variation	Diff coverage
✅ +0.00% (target: -3.00%)	✅ ∅

Coverage variation details

	Coverable lines	Covered lines	Coverage
Common ancestor commit (9a88fbf)	3031	1453	47.94%
Head commit (fd45c59)	3031 (+0)	1453 (+0)	47.94% (+0.00%)

Coverage variation is the difference between the coverage for the head and common ancestor commits of the pull request branch: <coverage of head commit> - <coverage of common ancestor commit>

Diff coverage details

	Coverable lines	Covered lines	Diff coverage
Pull request (#428)	0	0	∅ (not applicable)

Diff coverage is the percentage of lines that are covered by tests out of the coverable lines that the pull request added or modified: <covered lines added or modified>/<coverable lines added or modified> * 100%

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