From 1e2936b6cfab81501beda3838f97efa83c03298a Mon Sep 17 00:00:00 2001 From: Jochen Sprickerhof Date: Sun, 23 Feb 2025 07:54:49 +0100 Subject: [PATCH] New upstream version 1.15.0+dfsg --- .ci/azure-pipelines/azure-pipelines.yaml | 17 +- .ci/azure-pipelines/build/macos.yaml | 3 +- .ci/azure-pipelines/build/ubuntu.yaml | 3 +- .ci/azure-pipelines/env.yml | 15 +- .ci/azure-pipelines/release.yaml | 6 +- .ci/azure-pipelines/ubuntu-variety.yaml | 10 +- .clang-tidy | 2 + .dev/docker/env/Dockerfile | 2 + .dev/docker/perception_pcl_ros/Dockerfile | 8 +- .../perception_pcl_ros/noetic_rosinstall.yaml | 12 + .dev/docker/windows/Dockerfile | 36 +- .github/workflows/clang-tidy.yml | 6 +- 2d/CMakeLists.txt | 12 +- 2d/include/pcl/2d/impl/edge.hpp | 4 +- CHANGES.md | 233 +++ CMakeLists.txt | 154 +- PCLConfig.cmake.in | 45 +- README.md | 10 +- apps/3d_rec_framework/CMakeLists.txt | 11 +- .../3d_rec_framework/pc_source/mesh_source.h | 8 +- .../pipeline/impl/global_nn_classifier.hpp | 8 +- 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.../sample_consensus/impl/sac_model_plane.hpp | 30 - .../sample_consensus/impl/sac_model_torus.hpp | 581 ++++++ .../include/pcl/sample_consensus/rmsac.h | 33 +- .../include/pcl/sample_consensus/rransac.h | 33 +- .../pcl/sample_consensus/sac_model_circle3d.h | 14 +- .../pcl/sample_consensus/sac_model_cone.h | 3 +- .../pcl/sample_consensus/sac_model_cylinder.h | 3 +- .../sample_consensus/sac_model_ellipse3d.h | 1 + .../pcl/sample_consensus/sac_model_plane.h | 32 +- .../pcl/sample_consensus/sac_model_sphere.h | 3 +- .../pcl/sample_consensus/sac_model_torus.h | 318 +++ sample_consensus/sample_consensus.doxy | 2 +- .../src/sac_model_torus.cpp | 13 +- search/CMakeLists.txt | 2 - search/include/pcl/search/impl/organized.hpp | 2 +- search/include/pcl/search/organized.h | 17 +- segmentation/CMakeLists.txt | 5 +- segmentation/include/pcl/segmentation/boost.h | 55 - .../pcl/segmentation/extract_clusters.h | 8 +- .../segmentation/extract_labeled_clusters.h | 3 +- .../extract_polygonal_prism_data.h | 14 + ...imate_progressive_morphological_filter.hpp | 2 +- .../impl/conditional_euclidean_clustering.hpp | 8 +- .../impl/crf_normal_segmentation.hpp | 2 +- .../segmentation/impl/crf_segmentation.hpp | 2 +- .../impl/extract_labeled_clusters.hpp | 5 +- .../impl/extract_polygonal_prism_data.hpp | 22 +- .../impl/grabcut_segmentation.hpp | 4 +- .../impl/min_cut_segmentation.hpp | 2 +- .../impl/progressive_morphological_filter.hpp | 2 +- .../pcl/segmentation/impl/region_growing.hpp | 2 +- .../segmentation/impl/region_growing_rgb.hpp | 2 +- .../impl/seeded_hue_segmentation.hpp | 8 +- .../impl/supervoxel_clustering.hpp | 48 +- .../segmentation/impl/unary_classifier.hpp | 2 +- .../organized_multi_plane_segmentation.h | 2 +- .../plane_refinement_comparator.h | 2 +- .../pcl/segmentation/supervoxel_clustering.h | 22 + segmentation/src/crf_segmentation.cpp | 6 +- segmentation/src/grabcut_segmentation.cpp | 4 +- segmentation/src/region_growing_rgb.cpp | 8 +- segmentation/src/supervoxel_clustering.cpp | 33 +- simulation/CMakeLists.txt | 7 - simulation/src/model.cpp | 12 +- simulation/tools/CMakeLists.txt | 2 - simulation/tools/sim_viewer.cpp | 12 +- stereo/CMakeLists.txt | 4 +- surface/CMakeLists.txt | 9 - .../opennurbs/opennurbs_polyedgecurve.h | 3 +- .../3rdparty/poisson4/octree_poisson.hpp | 11 +- .../3rdparty/poisson4/poisson_exceptions.h | 2 + .../3rdparty/poisson4/sparse_matrix.hpp | 10 +- .../pcl/surface/bilateral_upsampling.h | 3 + surface/include/pcl/surface/boost.h | 47 - surface/include/pcl/surface/eigen.h | 47 - surface/include/pcl/surface/grid_projection.h | 2 +- .../include/pcl/surface/impl/convex_hull.hpp | 5 +- surface/include/pcl/surface/impl/gp3.hpp | 2 +- .../pcl/surface/impl/grid_projection.hpp | 4 +- .../pcl/surface/impl/marching_cubes.hpp | 2 +- .../pcl/surface/impl/marching_cubes_rbf.hpp | 6 +- surface/include/pcl/surface/mls.h | 10 - .../surface/on_nurbs/fitting_curve_2d_asdm.h | 2 + .../surface/on_nurbs/fitting_curve_2d_atdm.h | 3 + .../surface/on_nurbs/fitting_curve_2d_sdm.h | 1 + .../surface/on_nurbs/fitting_curve_2d_tdm.h | 2 + .../surface/on_nurbs/fitting_surface_tdm.h | 4 + .../opennurbs/opennurbs_3dm_settings.cpp | 6 +- .../3rdparty/opennurbs/opennurbs_archive.cpp | 14 +- .../3rdparty/opennurbs/opennurbs_lookup.cpp | 8 +- .../3rdparty/opennurbs/opennurbs_material.cpp | 4 +- .../src/3rdparty/opennurbs/opennurbs_math.cpp | 8 - .../src/3rdparty/opennurbs/opennurbs_mesh.cpp | 3 - .../opennurbs/opennurbs_nurbssurface.cpp | 2 +- .../opennurbs/opennurbs_nurbsvolume.cpp | 2 +- .../3rdparty/opennurbs/opennurbs_object.cpp | 3 +- .../3rdparty/opennurbs/opennurbs_point.cpp | 108 +- .../3rdparty/opennurbs/opennurbs_rtree.cpp | 16 - surface/src/gp3.cpp | 2 +- surface/src/on_nurbs/on_nurbs.cmake | 4 +- test/2d/CMakeLists.txt | 14 +- test/CMakeLists.txt | 8 +- test/common/CMakeLists.txt | 4 +- test/common/test_io.cpp | 122 ++ test/common/test_wrappers.cpp | 8 +- test/features/CMakeLists.txt | 4 +- test/features/test_curvatures_estimation.cpp | 2 +- test/filters/CMakeLists.txt | 4 +- test/filters/test_filters.cpp | 87 +- test/filters/test_uniform_sampling.cpp | 70 +- test/fuzz/build.sh | 2 +- test/geometry/CMakeLists.txt | 4 +- test/geometry/test_mesh.cpp | 172 +- test/geometry/test_mesh_circulators.cpp | 30 +- test/geometry/test_mesh_common_functions.h | 1 + test/geometry/test_mesh_data.cpp | 6 +- test/geometry/test_polygon_mesh.cpp | 26 +- test/geometry/test_quad_mesh.cpp | 21 +- test/geometry/test_triangle_mesh.cpp | 2 +- test/gpu/octree/CMakeLists.txt | 5 +- test/io/CMakeLists.txt | 9 +- test/io/test_grabbers.cpp | 7 +- test/io/test_io.cpp | 48 +- test/io/test_timestamp.cpp | 8 +- test/kdtree/CMakeLists.txt | 4 +- test/keypoints/CMakeLists.txt | 4 +- test/ml/CMakeLists.txt | 4 +- test/octree/CMakeLists.txt | 6 +- test/octree/test_octree.cpp | 6 +- test/outofcore/CMakeLists.txt | 5 +- test/outofcore/test_outofcore.cpp | 5 +- test/people/CMakeLists.txt | 5 +- test/recognition/CMakeLists.txt | 6 +- test/registration/CMakeLists.txt | 6 +- .../test_correspondence_estimation.cpp | 3 +- test/registration/test_fpcs_ia.cpp | 11 +- test/registration/test_fpcs_ia_data.h | 2 +- test/registration/test_kfpcs_ia.cpp | 15 +- test/registration/test_kfpcs_ia_data.h | 2 +- test/registration/test_registration.cpp | 23 +- test/registration/test_registration_api.cpp | 10 +- test/sample_consensus/CMakeLists.txt | 4 +- .../test_sample_consensus_quadric_models.cpp | 1721 ++++++++++++----- test/search/CMakeLists.txt | 4 +- test/segmentation/CMakeLists.txt | 8 +- test/segmentation/test_concave_prism.cpp | 92 + test/segmentation/test_segmentation.cpp | 2 +- test/surface/CMakeLists.txt | 4 +- test/visualization/CMakeLists.txt | 4 +- tools/CMakeLists.txt | 6 +- tools/cluster_extraction.cpp | 2 +- tools/converter.cpp | 18 +- tools/elch.cpp | 2 +- tools/fast_bilateral_filter.cpp | 11 +- tools/grid_min.cpp | 11 +- tools/image_grabber_saver.cpp | 6 +- tools/image_grabber_viewer.cpp | 4 +- tools/image_viewer.cpp | 2 +- tools/local_max.cpp | 11 +- tools/lum.cpp | 2 +- tools/morph.cpp | 11 +- tools/normal_estimation.cpp | 11 +- tools/oni_viewer_simple.cpp | 2 +- tools/openni2_viewer.cpp | 2 +- tools/openni_image.cpp | 10 +- tools/openni_pcd_recorder.cpp | 2 +- tools/openni_save_image.cpp | 2 +- tools/openni_viewer.cpp | 2 +- tools/openni_viewer_simple.cpp | 2 +- tools/passthrough_filter.cpp | 11 +- tools/pcd_grabber_viewer.cpp | 11 +- tools/pcd_viewer.cpp | 3 - tools/progressive_morphological_filter.cpp | 11 +- tools/radius_filter.cpp | 12 +- tools/sac_segmentation_plane.cpp | 11 +- tools/tiff2pcd.cpp | 16 +- tools/transform_point_cloud.cpp | 6 +- tools/unary_classifier_segment.cpp | 10 +- tools/uniform_sampling.cpp | 5 +- tools/virtual_scanner.cpp | 10 +- tracking/CMakeLists.txt | 2 - .../nearest_pair_point_cloud_coherence.h | 3 +- .../include/pcl/tracking/particle_filter.h | 2 +- tracking/include/pcl/tracking/pyramidal_klt.h | 18 +- tracking/src/coherence.cpp | 4 +- visualization/CMakeLists.txt | 20 +- .../pcl/visualization/area_picking_event.h | 2 + .../common/ren_win_interact_map.h | 4 +- .../include/pcl/visualization/eigen.h | 48 - .../pcl/visualization/impl/pcl_visualizer.hpp | 17 +- .../impl/point_cloud_color_handlers.hpp | 26 +- .../pcl/visualization/interactor_style.h | 1 + .../pcl/visualization/pcl_visualizer.h | 8 +- .../pcl/visualization/qvtk_compatibility.h | 2 + visualization/include/pcl/visualization/vtk.h | 10 - .../vtk/vtkRenderWindowInteractorFix.h | 3 +- visualization/src/interactor_style.cpp | 6 +- visualization/src/pcl_visualizer.cpp | 54 +- visualization/src/point_cloud_handlers.cpp | 8 + 582 files changed, 7034 insertions(+), 6824 deletions(-) create mode 100644 .dev/docker/perception_pcl_ros/noetic_rosinstall.yaml delete mode 100644 apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h delete mode 100644 apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/eigen.h create mode 100644 benchmarks/filters/radius_outlier_removal.cpp delete mode 100644 cmake/Modules/FindGLEW.cmake delete mode 100644 cmake/Modules/FindOpenMP.cmake delete mode 100644 common/include/pcl/common/boost.h rename registration/include/pcl/registration/boost.h => common/include/pcl/common/pcl_filesystem.h (81%) delete mode 100644 common/include/pcl/make_shared.h delete mode 100644 features/include/pcl/features/boost.h delete mode 100644 features/include/pcl/features/eigen.h delete mode 100644 filters/include/pcl/filters/boost.h delete mode 100644 geometry/include/pcl/geometry/eigen.h create mode 100644 gpu/containers/include/pcl/gpu/containers/impl/repacks.hpp rename gpu/{utils/include/pcl/gpu/utils/device/static_check.hpp => containers/include/pcl/gpu/containers/impl/texture_binder.hpp} (52%) rename gpu/{utils => containers}/src/repacks.cu (98%) create mode 100644 gpu/utils/src/empty.cu delete mode 100644 gpu/utils/src/repacks.cpp delete mode 100644 io/include/pcl/io/boost.h delete mode 100644 io/include/pcl/io/eigen.h delete mode 100644 io/include/pcl/io/io.h delete mode 100644 keypoints/include/pcl/keypoints/uniform_sampling.h delete mode 100644 octree/include/pcl/octree/boost.h delete mode 100644 outofcore/include/pcl/outofcore/cJSON.h delete mode 100644 outofcore/src/cJSON.cpp delete mode 100644 recognition/include/pcl/recognition/auxiliary.h delete mode 100644 recognition/include/pcl/recognition/boost.h delete mode 100644 recognition/include/pcl/recognition/bvh.h delete mode 100644 recognition/include/pcl/recognition/hypothesis.h delete mode 100644 recognition/include/pcl/recognition/impl/line_rgbd.hpp delete mode 100644 recognition/include/pcl/recognition/impl/simple_octree.hpp delete mode 100644 recognition/include/pcl/recognition/impl/voxel_structure.hpp delete mode 100644 recognition/include/pcl/recognition/line_rgbd.h delete mode 100644 recognition/include/pcl/recognition/model_library.h delete mode 100644 recognition/include/pcl/recognition/obj_rec_ransac.h delete mode 100644 recognition/include/pcl/recognition/orr_graph.h delete mode 100644 recognition/include/pcl/recognition/orr_octree.h delete mode 100644 recognition/include/pcl/recognition/orr_octree_zprojection.h delete mode 100644 recognition/include/pcl/recognition/rigid_transform_space.h delete mode 100644 recognition/include/pcl/recognition/simple_octree.h delete mode 100644 recognition/include/pcl/recognition/trimmed_icp.h delete mode 100644 recognition/include/pcl/recognition/voxel_structure.h delete mode 100644 registration/include/pcl/registration/eigen.h delete mode 100644 registration/include/pcl/registration/impl/correspondence_rejection_distance.hpp delete mode 100644 registration/include/pcl/registration/impl/correspondence_rejection_median_distance.hpp delete mode 100644 registration/include/pcl/registration/impl/correspondence_rejection_one_to_one.hpp delete mode 100644 registration/include/pcl/registration/impl/correspondence_rejection_organized_boundary.hpp delete mode 100644 registration/include/pcl/registration/impl/correspondence_rejection_surface_normal.hpp delete mode 100644 registration/include/pcl/registration/impl/correspondence_rejection_trimmed.hpp delete mode 100644 registration/include/pcl/registration/impl/correspondence_rejection_var_trimmed.hpp delete mode 100644 registration/include/pcl/registration/impl/transformation_estimation_dq.hpp delete mode 100644 registration/include/pcl/registration/transformation_estimation_dq.h delete mode 100644 registration/include/pcl/registration/transforms.h delete mode 100644 registration/src/transformation_estimation_dq.cpp delete mode 100644 sample_consensus/include/pcl/sample_consensus/boost.h delete mode 100644 sample_consensus/include/pcl/sample_consensus/eigen.h create mode 100644 sample_consensus/include/pcl/sample_consensus/impl/sac_model_torus.hpp create mode 100644 sample_consensus/include/pcl/sample_consensus/sac_model_torus.h rename common/include/pcl/point_traits.h => sample_consensus/src/sac_model_torus.cpp (82%) delete mode 100644 segmentation/include/pcl/segmentation/boost.h delete mode 100644 surface/include/pcl/surface/boost.h delete mode 100644 surface/include/pcl/surface/eigen.h create mode 100644 test/segmentation/test_concave_prism.cpp delete mode 100644 visualization/include/pcl/visualization/eigen.h delete mode 100644 visualization/include/pcl/visualization/vtk.h diff --git a/.ci/azure-pipelines/azure-pipelines.yaml b/.ci/azure-pipelines/azure-pipelines.yaml index bc6d7501..c69343d5 100644 --- a/.ci/azure-pipelines/azure-pipelines.yaml +++ b/.ci/azure-pipelines/azure-pipelines.yaml @@ -24,8 +24,8 @@ resources: image: pointcloudlibrary/env:20.04 - container: env2204 image: pointcloudlibrary/env:22.04 - - container: env2304 - image: pointcloudlibrary/env:23.04 + - container: env2404 + image: pointcloudlibrary/env:24.04 stages: - stage: formatting @@ -48,12 +48,13 @@ stages: CC: gcc CXX: g++ BUILD_GPU: ON - CMAKE_ARGS: '-DPCL_WARNINGS_ARE_ERRORS=ON' - 23.04 GCC: # latest Ubuntu - CONTAINER: env2304 + CMAKE_ARGS: '-DPCL_WARNINGS_ARE_ERRORS=ON -DCMAKE_CXX_STANDARD=14 -DCMAKE_CUDA_STANDARD=14' + 24.04 GCC: # latest Ubuntu + CONTAINER: env2404 CC: gcc CXX: g++ BUILD_GPU: ON + CMAKE_ARGS: '-DCMAKE_CXX_STANDARD=17 -DCMAKE_CUDA_STANDARD=17' container: $[ variables['CONTAINER'] ] timeoutInMinutes: 0 variables: @@ -73,12 +74,12 @@ stages: vmImage: '$(VMIMAGE)' strategy: matrix: - Monterey 12: - VMIMAGE: 'macOS-12' - OSX_VERSION: '12' Ventura 13: VMIMAGE: 'macOS-13' OSX_VERSION: '13' + Sonoma 14: + VMIMAGE: 'macOS-14' + OSX_VERSION: '14' timeoutInMinutes: 0 variables: BUILD_DIR: '$(Agent.WorkFolder)/build' diff --git a/.ci/azure-pipelines/build/macos.yaml b/.ci/azure-pipelines/build/macos.yaml index b085dba0..32a7825b 100644 --- a/.ci/azure-pipelines/build/macos.yaml +++ b/.ci/azure-pipelines/build/macos.yaml @@ -3,7 +3,7 @@ steps: # find the commit hash on a quick non-forced update too fetchDepth: 10 - script: | - brew install cmake pkg-config boost eigen flann glew libusb qhull vtk glew qt5 libpcap libomp google-benchmark + brew install cmake pkg-config boost eigen flann glew libusb qhull vtk glew freeglut qt5 libpcap libomp suite-sparse zlib google-benchmark cjson brew install brewsci/science/openni git clone https://github.com/abseil/googletest.git $GOOGLE_TEST_DIR # the official endpoint changed to abseil/googletest cd $GOOGLE_TEST_DIR && git checkout release-1.8.1 @@ -18,6 +18,7 @@ steps: -DGTEST_INCLUDE_DIR="$GOOGLE_TEST_DIR/googletest/include" \ -DQt5_DIR=/usr/local/opt/qt5/lib/cmake/Qt5 \ -DPCL_ONLY_CORE_POINT_TYPES=ON \ + -DBUILD_surface_on_nurbs=ON -DUSE_UMFPACK=ON \ -DBUILD_simulation=ON \ -DBUILD_global_tests=ON \ -DBUILD_benchmarks=ON \ diff --git a/.ci/azure-pipelines/build/ubuntu.yaml b/.ci/azure-pipelines/build/ubuntu.yaml index 961e34ea..ea9897fd 100644 --- a/.ci/azure-pipelines/build/ubuntu.yaml +++ b/.ci/azure-pipelines/build/ubuntu.yaml @@ -27,8 +27,7 @@ steps: -DBUILD_GPU=$BUILD_GPU \ -DBUILD_cuda_io=$BUILD_GPU \ -DBUILD_gpu_tracking=$BUILD_GPU \ - -DBUILD_gpu_surface=$BUILD_GPU \ - -DBUILD_gpu_people=$BUILD_GPU + -DBUILD_gpu_surface=$BUILD_GPU # Temporary fix to ensure no tests are skipped cmake $(Build.SourcesDirectory) displayName: 'CMake Configuration' diff --git a/.ci/azure-pipelines/env.yml b/.ci/azure-pipelines/env.yml index a6559a22..905f59fd 100644 --- a/.ci/azure-pipelines/env.yml +++ b/.ci/azure-pipelines/env.yml @@ -46,16 +46,21 @@ jobs: UBUNTU_VERSION: 20.04 VTK_VERSION: 7 TAG: 20.04 - # Test the latest LTS version of Ubuntu Ubuntu 22.04: UBUNTU_VERSION: 22.04 VTK_VERSION: 9 TAG: 22.04 - Ubuntu 23.04: - UBUNTU_VERSION: 23.04 + # Test the latest LTS version of Ubuntu + Ubuntu 24.04: + UBUNTU_VERSION: 24.04 + VTK_VERSION: 9 + TAG: 24.04 + # Test the latest version of Ubuntu (non LTS) + Ubuntu 24.10: + UBUNTU_VERSION: 24.10 USE_LATEST_CMAKE: true VTK_VERSION: 9 - TAG: 23.04 + TAG: 24.10 steps: - script: | dockerBuildArgs="" ; \ @@ -114,7 +119,7 @@ jobs: PLATFORM: x86 TAG: windows2022-x86 GENERATOR: "'Visual Studio 16 2019' -A Win32" - VCPKGCOMMIT: 8eb57355a4ffb410a2e94c07b4dca2dffbee8e50 + VCPKGCOMMIT: f7423ee180c4b7f40d43402c2feb3859161ef625 Winx64: PLATFORM: x64 TAG: windows2022-x64 diff --git a/.ci/azure-pipelines/release.yaml b/.ci/azure-pipelines/release.yaml index 81ba26c6..3a02ab0f 100644 --- a/.ci/azure-pipelines/release.yaml +++ b/.ci/azure-pipelines/release.yaml @@ -89,10 +89,8 @@ stages: vmImage: 'ubuntu-latest' strategy: matrix: - # Only ROS Melodic works with current releases of PCL - # Kinetic has stopped supporting any version later than PCL 1.7.2 - ROS Melodic: - flavor: "melodic" + ROS Noetic: + flavor: "noetic" variables: tag: "ros" steps: diff --git a/.ci/azure-pipelines/ubuntu-variety.yaml b/.ci/azure-pipelines/ubuntu-variety.yaml index 24f34dbe..997e6272 100644 --- a/.ci/azure-pipelines/ubuntu-variety.yaml +++ b/.ci/azure-pipelines/ubuntu-variety.yaml @@ -30,13 +30,13 @@ jobs: steps: - script: | POSSIBLE_VTK_VERSION=("9") \ - POSSIBLE_CMAKE_CXX_STANDARD=("14" "17" "20") \ + POSSIBLE_CMAKE_CXX_STANDARD=("14" "17" "20" "23") \ POSSIBLE_CMAKE_BUILD_TYPE=("None" "Debug" "Release" "RelWithDebInfo" "MinSizeRel") \ - POSSIBLE_COMPILER_PACKAGE=("g++" "g++-10" "g++-11" "g++-12" "g++-13" "clang libomp-dev" "clang-13 libomp-13-dev" "clang-14 libomp-14-dev" "clang-15 libomp-15-dev" "clang-16 libomp-16-dev" "clang-17 libomp-17-dev") \ - POSSIBLE_CMAKE_C_COMPILER=("gcc" "gcc-10" "gcc-11" "gcc-12" "gcc-13" "clang" "clang-13" "clang-14" "clang-15" "clang-16" "clang-17") \ - POSSIBLE_CMAKE_CXX_COMPILER=("g++" "g++-10" "g++-11" "g++-12" "g++-13" "clang++" "clang++-13" "clang++-14" "clang++-15" "clang++-16" "clang++-17") \ + POSSIBLE_COMPILER_PACKAGE=("g++" "g++-11" "g++-12" "g++-13" "g++-14" "clang libomp-dev" "clang-14 libomp-14-dev" "clang-15 libomp-15-dev" "clang-16 libomp-16-dev" "clang-17 libomp-17-dev" "clang-18 libomp-18-dev" "clang-19 libomp-19-dev") \ + POSSIBLE_CMAKE_C_COMPILER=("gcc" "gcc-11" "gcc-12" "gcc-13" "gcc-14" "clang" "clang-14" "clang-15" "clang-16" "clang-17" "clang-18" "clang-19") \ + POSSIBLE_CMAKE_CXX_COMPILER=("g++" "g++-11" "g++-12" "g++-13" "g++-14" "clang++" "clang++-14" "clang++-15" "clang++-16" "clang++-17" "clang++-18" "clang++-19") \ CHOSEN_COMPILER=$[RANDOM%${#POSSIBLE_COMPILER_PACKAGE[@]}] \ - dockerBuildArgs="--build-arg VTK_VERSION=${POSSIBLE_VTK_VERSION[$[RANDOM%${#POSSIBLE_VTK_VERSION[@]}]]} --build-arg CMAKE_CXX_STANDARD=${POSSIBLE_CMAKE_CXX_STANDARD[$[RANDOM%${#POSSIBLE_CMAKE_CXX_STANDARD[@]}]]} --build-arg CMAKE_BUILD_TYPE=${POSSIBLE_CMAKE_BUILD_TYPE[$[RANDOM%${#POSSIBLE_CMAKE_BUILD_TYPE[@]}]]} --build-arg COMPILER_PACKAGE=${POSSIBLE_COMPILER_PACKAGE[$CHOSEN_COMPILER]} --build-arg CMAKE_C_COMPILER=${POSSIBLE_CMAKE_C_COMPILER[$CHOSEN_COMPILER]} --build-arg CMAKE_CXX_COMPILER=${POSSIBLE_CMAKE_CXX_COMPILER[$CHOSEN_COMPILER]}" ; \ + dockerBuildArgs="--build-arg VTK_VERSION=${POSSIBLE_VTK_VERSION[$[RANDOM%${#POSSIBLE_VTK_VERSION[@]}]]} --build-arg CMAKE_CXX_STANDARD=${POSSIBLE_CMAKE_CXX_STANDARD[$[RANDOM%${#POSSIBLE_CMAKE_CXX_STANDARD[@]}]]} --build-arg CMAKE_BUILD_TYPE=${POSSIBLE_CMAKE_BUILD_TYPE[$[RANDOM%${#POSSIBLE_CMAKE_BUILD_TYPE[@]}]]} --build-arg COMPILER_PACKAGE=\"${POSSIBLE_COMPILER_PACKAGE[$CHOSEN_COMPILER]}\" --build-arg CMAKE_C_COMPILER=${POSSIBLE_CMAKE_C_COMPILER[$CHOSEN_COMPILER]} --build-arg CMAKE_CXX_COMPILER=${POSSIBLE_CMAKE_CXX_COMPILER[$CHOSEN_COMPILER]}" ; \ echo "##vso[task.setvariable variable=dockerBuildArgs]$dockerBuildArgs" displayName: "Prepare docker build arguments" - task: Docker@2 diff --git a/.clang-tidy b/.clang-tidy index b4a145f8..ba61a35b 100644 --- a/.clang-tidy +++ b/.clang-tidy @@ -1,6 +1,8 @@ --- Checks: > -*, + bugprone-copy-constructor-init, + bugprone-macro-parentheses, cppcoreguidelines-pro-type-cstyle-cast, cppcoreguidelines-pro-type-static-cast-downcast, google-readability-casting, diff --git a/.dev/docker/env/Dockerfile b/.dev/docker/env/Dockerfile index 27579269..a8122a96 100644 --- a/.dev/docker/env/Dockerfile +++ b/.dev/docker/env/Dockerfile @@ -34,8 +34,10 @@ RUN apt-get update \ libboost-filesystem-dev \ libboost-iostreams-dev \ libboost-system-dev \ + libcjson-dev \ libflann-dev \ libglew-dev \ + freeglut3-dev \ libgtest-dev \ libomp-dev \ libopenni-dev \ diff --git a/.dev/docker/perception_pcl_ros/Dockerfile b/.dev/docker/perception_pcl_ros/Dockerfile index 2541cc68..3d0cf141 100644 --- a/.dev/docker/perception_pcl_ros/Dockerfile +++ b/.dev/docker/perception_pcl_ros/Dockerfile @@ -1,9 +1,9 @@ # flavor appears twice, once for the FOR, once for the contents since # Dockerfile seems to reset arguments after a FOR appears -ARG flavor="melodic" +ARG flavor="noetic" FROM ros:${flavor}-robot -ARG flavor="melodic" +ARG flavor="noetic" ARG workspace="/root/catkin_ws" COPY ${flavor}_rosinstall.yaml ${workspace}/src/.rosinstall @@ -17,10 +17,12 @@ COPY ${flavor}_rosinstall.yaml ${workspace}/src/.rosinstall RUN sed -i "s/^# deb-src/deb-src/" /etc/apt/sources.list \ && apt update \ && apt install -y \ + git \ + libboost-iostreams-dev \ libeigen3-dev \ libflann-dev \ libqhull-dev \ - python-pip \ + python3-pip \ ros-${flavor}-tf2-eigen \ && pip install -U pip \ && pip install catkin_tools \ diff --git a/.dev/docker/perception_pcl_ros/noetic_rosinstall.yaml b/.dev/docker/perception_pcl_ros/noetic_rosinstall.yaml new file mode 100644 index 00000000..e8f08058 --- /dev/null +++ b/.dev/docker/perception_pcl_ros/noetic_rosinstall.yaml @@ -0,0 +1,12 @@ +- git: + local-name: 'noetic/perception_pcl' + uri: 'https://github.com/ros-perception/perception_pcl' + version: 'melodic-devel' +- git: + local-name: 'noetic/pcl_msgs' + uri: 'https://github.com/ros-perception/pcl_msgs' + version: 'noetic-devel' +- git: + local-name: 'pcl' + uri: 'https://github.com/PointCloudLibrary/pcl' + version: 'master' diff --git a/.dev/docker/windows/Dockerfile b/.dev/docker/windows/Dockerfile index ae6fc94b..902cc9a8 100644 --- a/.dev/docker/windows/Dockerfile +++ b/.dev/docker/windows/Dockerfile @@ -30,15 +30,14 @@ RUN wget $Env:CHANNEL_BASE_URL/vs_buildtools.exe -OutFile 'C:\TEMP\vs_buildtools "C:\TEMP\VisualStudio.chman", ` "--add", ` "Microsoft.VisualStudio.Workload.VCTools", ` - "Microsoft.Net.Component.4.8.SDK", ` + "Microsoft.Net.Component.4.8.SDK", ` "Microsoft.VisualStudio.Component.VC.ATLMFC", ` "--includeRecommended" ` -Wait -PassThru; ` del c:\temp\vs_buildtools.exe; -# VCPKG requires update if Cmake version is > 3.20.5 see: https://github.com/microsoft/vcpkg-tool/pull/107 RUN iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1')); ` - choco install cmake --version=3.20.5 --installargs 'ADD_CMAKE_TO_PATH=System' -y --no-progress; ` + choco install cmake --installargs 'ADD_CMAKE_TO_PATH=System' -y --no-progress; ` choco install git -y --no-progress RUN git clone https://github.com/microsoft/vcpkg.git; cd vcpkg; git checkout $Env:VCPKGCOMMIT; @@ -46,7 +45,32 @@ RUN git clone https://github.com/microsoft/vcpkg.git; cd vcpkg; git checkout $En # To explicit set VCPKG to only build Release version of the libraries. COPY $PLATFORM'-windows-rel.cmake' 'c:\vcpkg\triplets\'$PLATFORM'-windows-rel.cmake' -RUN cd .\vcpkg; ` - .\bootstrap-vcpkg.bat; ` - .\vcpkg install boost flann eigen3 qhull vtk[qt,opengl] gtest benchmark openni2 --triplet $Env:PLATFORM-windows-rel --host-triplet $Env:PLATFORM-windows-rel --clean-after-build --x-buildtrees-root=C:\b; ` +RUN cd .\vcpkg; ` + .\bootstrap-vcpkg.bat; ` + .\vcpkg install ` + boost-accumulators ` + boost-asio ` + boost-algorithm ` + boost-filesystem ` + boost-format ` + boost-graph ` + boost-interprocess ` + boost-iostreams ` + boost-math ` + boost-ptr-container ` + boost-signals2 ` + boost-sort ` + boost-uuid ` + boost-cmake ` + flann ` + eigen3 ` + qhull ` + glew ` + freeglut ` + vtk[qt,opengl] ` + gtest ` + benchmark ` + openni2 ` + cjson ` + --triplet $Env:PLATFORM-windows-rel --host-triplet $Env:PLATFORM-windows-rel --clean-after-build --x-buildtrees-root=C:\b; diff --git a/.github/workflows/clang-tidy.yml b/.github/workflows/clang-tidy.yml index a78a1881..59fc4071 100755 --- a/.github/workflows/clang-tidy.yml +++ b/.github/workflows/clang-tidy.yml @@ -6,15 +6,15 @@ jobs: tidy: runs-on: ubuntu-latest container: - image: pointcloudlibrary/env:22.04 + image: pointcloudlibrary/env:24.04 steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Run clang-tidy run: | bash -c "$(wget -O - https://apt.llvm.org/llvm.sh)" - cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_CXX_COMPILER=/usr/bin/clang-14 -DCMAKE_C_COMPILER=/usr/bin/clang-14 . \ + cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_CXX_COMPILER=/usr/bin/clang-18 -DCMAKE_C_COMPILER=/usr/bin/clang-18 . \ -DBUILD_benchmarks=ON \ -DBUILD_examples=ON \ -DBUILD_simulation=ON \ diff --git a/2d/CMakeLists.txt b/2d/CMakeLists.txt index e97d4adb..45f9f9e5 100644 --- a/2d/CMakeLists.txt +++ b/2d/CMakeLists.txt @@ -2,9 +2,8 @@ set(SUBSYS_NAME 2d) set(SUBSYS_DESC "Point cloud 2d") set(SUBSYS_DEPS common filters) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) -PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS vtk) +PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) PCL_ADD_DOC("${SUBSYS_NAME}") @@ -30,13 +29,10 @@ set(impl_incs "include/pcl/${SUBSYS_NAME}/impl/morphology.hpp" ) -if(${VTK_FOUND}) - set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkIO vtkImaging) -endif() - -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") - set(LIB_NAME "pcl_${SUBSYS_NAME}") +PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} INCLUDES ${incs} ${impl_incs}) +target_link_libraries(${LIB_NAME} INTERFACE pcl_filters) + PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} HEADER_ONLY) #Install include files diff --git a/2d/include/pcl/2d/impl/edge.hpp b/2d/include/pcl/2d/impl/edge.hpp index 75e35f94..a79eb7f9 100644 --- a/2d/include/pcl/2d/impl/edge.hpp +++ b/2d/include/pcl/2d/impl/edge.hpp @@ -259,9 +259,7 @@ Edge::suppressNonMaxima( const int height = edges.height; const int width = edges.width; - maxima.height = height; - maxima.width = width; - maxima.resize(height * width); + maxima.resize(edges.width, edges.height); for (auto& point : maxima) point.intensity = 0.0f; diff --git a/CHANGES.md b/CHANGES.md index 1faa1b86..76b21eb3 100644 --- a/CHANGES.md +++ b/CHANGES.md @@ -1,5 +1,238 @@ # ChangeList +## = 1.15.0 (22 February 2025) = + +### Notable changes + +**New features** *added to PCL* + +* **[filters]** UniformSampling Filter: add option for a minimum number of points required per voxel [[#5968](https://github.com/PointCloudLibrary/pcl/pull/5968)] +* **[sample_consensus]** Torus ransac model [[#5816](https://github.com/PointCloudLibrary/pcl/pull/5816)] +* **[common]** Allow type conversion in fromPCLPointCloud2 [[#6059](https://github.com/PointCloudLibrary/pcl/pull/6059)] +* **[segmentation]** ExtractPolygonalPrismData and ConcaveHull bugfix [[#5168](https://github.com/PointCloudLibrary/pcl/pull/5168)] +* Allow hidden visibility default on gcc/clang [[#5779](https://github.com/PointCloudLibrary/pcl/pull/5779)] + +**Deprecation** *of public APIs, scheduled to be removed after two minor releases* + +* **[registration]** Fix spelling error in pcl::NormalDistributionsTransform getOulierRatio/setOulierRatio [[#6140](https://github.com/PointCloudLibrary/pcl/pull/6140)] + +**Removal** *of the public APIs deprecated in previous releases* + +* Remove Deprecated Code for 1.15.0 release [[#6040](https://github.com/PointCloudLibrary/pcl/pull/6040)] + +**Behavior changes** *in classes, apps, or tools* + +* **[cmake]** Compile PCL as C++17 by default, switching back to C++14 currently still possible [[#6201](https://github.com/PointCloudLibrary/pcl/pull/6201)] + +**ABI changes** *that are still API compatible* + +* **[recognition]** C++17 filesystem for recognition module [[#5935](https://github.com/PointCloudLibrary/pcl/pull/5935)] +* **[registration]** Add OMP based Multi-threading to IterativeClosestPoint [[#4520](https://github.com/PointCloudLibrary/pcl/pull/4520)] +* **[segmentation]** ExtractPolygonalPrismData and ConcaveHull bugfix [[#5168](https://github.com/PointCloudLibrary/pcl/pull/5168)] + +### Changes grouped by module + +#### CMake: + +* Remove global includes and use target include for Apps [[#6009](https://github.com/PointCloudLibrary/pcl/pull/6009)] +* Give users more control regarding with which point types classes are … [[#6062](https://github.com/PointCloudLibrary/pcl/pull/6062)] +* Fix finding lib when install with relwithdebinfo or minsizerel [[#6089](https://github.com/PointCloudLibrary/pcl/pull/6089)] +* Use system-installed cJSON, if available [[#6084](https://github.com/PointCloudLibrary/pcl/pull/6084)] +* Remove broken support for external metslib. [[#5959](https://github.com/PointCloudLibrary/pcl/pull/5959)] +* Require at least Boost 1.71, support Boost 1.86, switch to BoostConfig.cmake [[#6105](https://github.com/PointCloudLibrary/pcl/pull/6105)] +* Remove global includes and use target include for GPU/CUDA [[#6010](https://github.com/PointCloudLibrary/pcl/pull/6010)] +* Remove findGLEW and FindOpenMP as they are already present in CMake. Update minimum required cmake to 3.16.3 [[#6100](https://github.com/PointCloudLibrary/pcl/pull/6100)] +* PCLConfig.cmake.in: Handle potentially empty ${LIB} variable [[#6134](https://github.com/PointCloudLibrary/pcl/pull/6134)] +* Replace make_directory (deprecated since CMake version 3.0) [[#6150](https://github.com/PointCloudLibrary/pcl/pull/6150)] +* Updates to CXX flags and removal of cmake checks less than 3.16. [[#6144](https://github.com/PointCloudLibrary/pcl/pull/6144)] +* Fix OpenMP on macOS/homebrew [[#6114](https://github.com/PointCloudLibrary/pcl/pull/6114)] +* Preparation for Boost 1.87, flag change for GCC 14 [[#6166](https://github.com/PointCloudLibrary/pcl/pull/6166)] +* Print warning if incompatible alignment option chosen [[#6184](https://github.com/PointCloudLibrary/pcl/pull/6184)] +* **[behavior change]** Compile PCL as C++17 by default, switching back to C++14 currently still possible [[#6201](https://github.com/PointCloudLibrary/pcl/pull/6201)] +* Fix linking with pcl_io_ply [[#6205](https://github.com/PointCloudLibrary/pcl/pull/6205)] +* Remove global includes from PCL_SUBSYS_DEPEND in PCL_TARGETS and adjust accordingly [[#6013](https://github.com/PointCloudLibrary/pcl/pull/6013)] + +#### libpcl_common: + +* **[new feature]** Allow type conversion in fromPCLPointCloud2 [[#6059](https://github.com/PointCloudLibrary/pcl/pull/6059)] +* change `sprintf` to `snprintf` to suppress deprecated warning on macOS [[#6102](https://github.com/PointCloudLibrary/pcl/pull/6102)] +* Remove "No data to copy" warning in conversions.h [[#6108](https://github.com/PointCloudLibrary/pcl/pull/6108)] +* add PCL_HIGH convenience macro [[#6136](https://github.com/PointCloudLibrary/pcl/pull/6136)] +* Remove unnecessary PCL_EXPORTS in common [[#6141](https://github.com/PointCloudLibrary/pcl/pull/6141)] +* Print warning if incompatible alignment option chosen [[#6184](https://github.com/PointCloudLibrary/pcl/pull/6184)] +* Update `__func__` and `__PRETTY_FUNCTION__` defines for MSVC [[#6222](https://github.com/PointCloudLibrary/pcl/pull/6222)] + +#### libpcl_features: + +* Added parallel implementation of PrincipalCurvaturesEstimation [[#6048](https://github.com/PointCloudLibrary/pcl/pull/6048)] +* :bug: Fix RoPS total area [[#6187](https://github.com/PointCloudLibrary/pcl/pull/6187)] + +#### libpcl_filters: + +* **[new feature]** UniformSampling Filter: add option for a minimum number of points required per voxel [[#5968](https://github.com/PointCloudLibrary/pcl/pull/5968)] +* Fix issues related to nan/invalid points [[#6036](https://github.com/PointCloudLibrary/pcl/pull/6036)] +* Make UniformSampling inherit from FilterIndices instead of Filter [[#6064](https://github.com/PointCloudLibrary/pcl/pull/6064)] +* Fix an integer overflow issue in the PassThrough filter. [[#6097](https://github.com/PointCloudLibrary/pcl/pull/6097)] +* Convolution3D: use dynamic schedule for OpenMP [[#6155](https://github.com/PointCloudLibrary/pcl/pull/6155)] +* Add OpenMP to radius outlier removal [[#6182](https://github.com/PointCloudLibrary/pcl/pull/6182)] + +#### libpcl_gpu: + +* fix int type overflow by casting int to size_t [[#6058](https://github.com/PointCloudLibrary/pcl/pull/6058)] + +#### libpcl_io: + +* Fix problem with normals in obj loader [[#6047](https://github.com/PointCloudLibrary/pcl/pull/6047)] +* fix saveRangeImagePlanarFilePNG [[#6095](https://github.com/PointCloudLibrary/pcl/pull/6095)] +* fix pcd io small probability bug [[#6122](https://github.com/PointCloudLibrary/pcl/pull/6122)] +* Preparation for Boost 1.87, flag change for GCC 14 [[#6166](https://github.com/PointCloudLibrary/pcl/pull/6166)] +* Fix linking with pcl_io_ply [[#6205](https://github.com/PointCloudLibrary/pcl/pull/6205)] +* Fix regression in OBJ loader [[#6228](https://github.com/PointCloudLibrary/pcl/pull/6228)] + +#### libpcl_octree: + +* Faster octree nearestKSearch [[#6037](https://github.com/PointCloudLibrary/pcl/pull/6037)] +* Faster octree radiusSearch [[#6045](https://github.com/PointCloudLibrary/pcl/pull/6045)] + +#### libpcl_outofcore: + +* Use system-installed cJSON, if available [[#6084](https://github.com/PointCloudLibrary/pcl/pull/6084)] + +#### libpcl_recognition: + +* **[ABI break]** C++17 filesystem for recognition module [[#5935](https://github.com/PointCloudLibrary/pcl/pull/5935)] +* add border type setting in linemod gauss step [[#6103](https://github.com/PointCloudLibrary/pcl/pull/6103)] + +#### libpcl_registration: + +* **[ABI break]** Add OMP based Multi-threading to IterativeClosestPoint [[#4520](https://github.com/PointCloudLibrary/pcl/pull/4520)] +* GICP: parallel covariance computation [[#6046](https://github.com/PointCloudLibrary/pcl/pull/6046)] +* Fixes and improvements for FPCS and KFPCS [[#6073](https://github.com/PointCloudLibrary/pcl/pull/6073)] +* **[deprecation]** Fix spelling error in pcl::NormalDistributionsTransform getOulierRatio/setOulierRatio [[#6140](https://github.com/PointCloudLibrary/pcl/pull/6140)] +* fix registration iteration 1 mse print [[#6198](https://github.com/PointCloudLibrary/pcl/pull/6198)] +* Speed up PPFRegistration by using a hash function with fewer collisions [[#6223](https://github.com/PointCloudLibrary/pcl/pull/6223)] + +#### libpcl_sample_consensus: + +* **[new feature]** Torus ransac model [[#5816](https://github.com/PointCloudLibrary/pcl/pull/5816)] +* Circle3D: fix optimizeModelCoefficients use an uninitialized var [[#6088](https://github.com/PointCloudLibrary/pcl/pull/6088)] +* Set better default for RRANSAC and RMSAC [[#6158](https://github.com/PointCloudLibrary/pcl/pull/6158)] +* Circle3D: Changed segmentation collinear check precision from float to double. [[#6175](https://github.com/PointCloudLibrary/pcl/pull/6175)] + +#### libpcl_search: + +* Faster organized radius search [[#6160](https://github.com/PointCloudLibrary/pcl/pull/6160)] + +#### libpcl_segmentation: + +* fix pcl::squaredEuclideanDistance already defined in grabcut_2d.cpp.obj [[#5985](https://github.com/PointCloudLibrary/pcl/pull/5985)] +* **[new feature][ABI break]** ExtractPolygonalPrismData and ConcaveHull bugfix [[#5168](https://github.com/PointCloudLibrary/pcl/pull/5168)] +* fix: Initialization with correct signedness [[#6111](https://github.com/PointCloudLibrary/pcl/pull/6111)] + +#### libpcl_surface: + +* Remove deprecated readdir_r [[#6035](https://github.com/PointCloudLibrary/pcl/pull/6035)] +* Update opennurbs VS issue (opennurbs_lookup.cpp) [[#6143](https://github.com/PointCloudLibrary/pcl/pull/6143)] +* Add missing include for implementation header in bilateral_upsampling.h [[#6203](https://github.com/PointCloudLibrary/pcl/pull/6203)] + +#### libpcl_visualization: + +* Fix issues related to nan/invalid points [[#6036](https://github.com/PointCloudLibrary/pcl/pull/6036)] +* Fix boost hash data type [[#6053](https://github.com/PointCloudLibrary/pcl/pull/6053)] + +#### PCL Apps: + +* Preparation for Boost 1.87, flag change for GCC 14 [[#6166](https://github.com/PointCloudLibrary/pcl/pull/6166)] + +#### PCL Tools: + +* compile missing tools/bilateral_upsampling [[#6112](https://github.com/PointCloudLibrary/pcl/pull/6112)] + +#### CI: + +* Update windows docker boost and cmake [[#6033](https://github.com/PointCloudLibrary/pcl/pull/6033)] +* CI: Install cjson [[#6082](https://github.com/PointCloudLibrary/pcl/pull/6082)] +* Update Windows x86 docker, install boost-cmake [[#6109](https://github.com/PointCloudLibrary/pcl/pull/6109)] +* Update clang-tidy github action [[#6116](https://github.com/PointCloudLibrary/pcl/pull/6116)] +* Update macOS on CI (macOS 12 is now unmaintained) [[#6147](https://github.com/PointCloudLibrary/pcl/pull/6147)] +* CI updates [[#6153](https://github.com/PointCloudLibrary/pcl/pull/6153)] +* Fix OpenMP on macOS/homebrew [[#6114](https://github.com/PointCloudLibrary/pcl/pull/6114)] + +## = 1.14.1 (03 May 2024) = + +### Notable changes + +**New features** *added to PCL* + +* **[cmake]** Make Boost filesystem optional for C++17 [[#5937](https://github.com/PointCloudLibrary/pcl/pull/5937)] +* **[common]** Enhance toPCLPointCloud2 to remove padding on request [[#5913](https://github.com/PointCloudLibrary/pcl/pull/5913)] +* **[io]** Enable writing data in binary PLY format to std::ostream [[#5975](https://github.com/PointCloudLibrary/pcl/pull/5975)] + +### Changes grouped by module + +#### CMake: + +* Switch latest Ubuntu CI to C++17 [[#5931](https://github.com/PointCloudLibrary/pcl/pull/5931)] +* **[new feature]** Make Boost filesystem optional for C++17 [[#5937](https://github.com/PointCloudLibrary/pcl/pull/5937)] +* Add OpenGL_GLU as external dependency. [[#5963](https://github.com/PointCloudLibrary/pcl/pull/5963)] +* Preparation for default hidden visibility on gcc [[#5970](https://github.com/PointCloudLibrary/pcl/pull/5970)] +* Cmake cuda find_package cuda is deprecated. [[#5953](https://github.com/PointCloudLibrary/pcl/pull/5953)] +* fix build with CUDA [[#5976](https://github.com/PointCloudLibrary/pcl/pull/5976)] +* Enable compatibility with Boost 1.85.0 [[#6014](https://github.com/PointCloudLibrary/pcl/pull/6014)] + +#### libpcl_common: + +* Rename variables with reserved names (PointXYZLAB) [[#5951](https://github.com/PointCloudLibrary/pcl/pull/5951)] +* **[new feature]** Enhance toPCLPointCloud2 to remove padding on request [[#5913](https://github.com/PointCloudLibrary/pcl/pull/5913)] +* Fix behaviour of eigen33 function if smallest eigenvalue is not unique [[#5956](https://github.com/PointCloudLibrary/pcl/pull/5956)] +* Add option to choose boost filesystem over std filesystem [[#6005](https://github.com/PointCloudLibrary/pcl/pull/6005)] + +#### libpcl_filters: + +* Fix Bug in NormalSpaceSampling::findBin() [[#5936](https://github.com/PointCloudLibrary/pcl/pull/5936)] +* VoxelGridOcclusionEstimation should always round down to go from coordinates to voxel indices. [[#5942](https://github.com/PointCloudLibrary/pcl/pull/5942)] +* StatisticalOutlierRemoval: fix potential container overflow read [[#5980](https://github.com/PointCloudLibrary/pcl/pull/5980)] +* fixing ignored `pcl::Indices` in `VoxelGrid` of `PCLPointCloud2` [[#5979](https://github.com/PointCloudLibrary/pcl/pull/5979)] + +#### libpcl_gpu: + +* Add missing PCL_EXPORTS (economical_download, optimizeModelCoefficients, vtkRenderWindowInteractorFixNew) [[#5926](https://github.com/PointCloudLibrary/pcl/pull/5926)] + +#### libpcl_io: + +* Real Sense 2 grabber stream fix [[#5912](https://github.com/PointCloudLibrary/pcl/pull/5912)] +* Improve documentation in vtk_lib_io [[#5955](https://github.com/PointCloudLibrary/pcl/pull/5955)] +* Add special implementation for raw_fallocate for OpenBSD [[#5957](https://github.com/PointCloudLibrary/pcl/pull/5957)] +* Fix missing include in ply_parser.h (#5962) [[#5964](https://github.com/PointCloudLibrary/pcl/pull/5964)] +* **[new feature]** Enable writing data in binary PLY format to std::ostream [[#5975](https://github.com/PointCloudLibrary/pcl/pull/5975)] +* OBJReader: fix possible out-of-bounds access [[#5988](https://github.com/PointCloudLibrary/pcl/pull/5988)] +* ImageGrabber: Fix potential index out of bounds [[#6016](https://github.com/PointCloudLibrary/pcl/pull/6016)] + +#### libpcl_registration: + +* NDT: allow access to target cloud distribution [[#5969](https://github.com/PointCloudLibrary/pcl/pull/5969)] +* Optimize Eigen block operations [[#5974](https://github.com/PointCloudLibrary/pcl/pull/5974)] + +#### libpcl_sample_consensus: + +* Add missing PCL_EXPORTS (economical_download, optimizeModelCoefficients, vtkRenderWindowInteractorFixNew) [[#5926](https://github.com/PointCloudLibrary/pcl/pull/5926)] + +#### libpcl_surface: + +* Add `pcl::PointXYZLNormal` to GP3 PCL_INSTANTIATE (#5981) [[#5983](https://github.com/PointCloudLibrary/pcl/pull/5983)] + +#### libpcl_visualization: + +* Add missing PCL_EXPORTS (economical_download, optimizeModelCoefficients, vtkRenderWindowInteractorFixNew) [[#5926](https://github.com/PointCloudLibrary/pcl/pull/5926)] +* Add missing pragma once in qvtk_compatibility.h [[#5943](https://github.com/PointCloudLibrary/pcl/pull/5943)] +* fixed setShapeRenderingProperties(PCL_VISUALIZER_FONT_SIZE) [[#5993](https://github.com/PointCloudLibrary/pcl/pull/5993)] +* fix addPolygon and addLine return value error [[#5996](https://github.com/PointCloudLibrary/pcl/pull/5996)] + +#### CI: + +* Switch latest Ubuntu CI to C++17 [[#5931](https://github.com/PointCloudLibrary/pcl/pull/5931)] +* Fix ubuntu-variety CI and update compilers [[#5990](https://github.com/PointCloudLibrary/pcl/pull/5990)] + ## = 1.14.0 (03 January 2024) = ### Notable changes diff --git a/CMakeLists.txt b/CMakeLists.txt index 1709af51..617498c7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,19 +1,23 @@ ### ---[ PCL global CMake -cmake_minimum_required(VERSION 3.10 FATAL_ERROR) - -if(POLICY CMP0074) - # 1. Remove with 3.12.4. - # 2. Remove search paths with *_ROOT since they will be automatically checked - cmake_policy(SET CMP0074 NEW) -endif() +cmake_minimum_required(VERSION 3.16.3 FATAL_ERROR) # Set target C++ standard and required compiler features -set(CMAKE_CXX_STANDARD 14 CACHE STRING "The target C++ standard. PCL requires C++14 or higher.") +set(CMAKE_CXX_STANDARD 17 CACHE STRING "The target C++ standard. PCL requires C++14 or higher.") set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_EXTENSIONS OFF) -set(PCL_CXX_COMPILE_FEATURES cxx_std_14) +if("${CMAKE_CXX_STANDARD}" GREATER_EQUAL 17) + set(PCL_CXX_COMPILE_FEATURES cxx_std_17) + set(PCL__cplusplus 201703L) + set(PCL_REQUIRES_MSC_VER 1912) +elseif("${CMAKE_CXX_STANDARD}" EQUAL 14) + set(PCL_CXX_COMPILE_FEATURES cxx_std_14) + set(PCL__cplusplus 201402L) + set(PCL_REQUIRES_MSC_VER 1900) +else() + message(FATAL_ERROR "Unknown or unsupported C++ standard specified") +endif() -set(CMAKE_CUDA_STANDARD 14 CACHE STRING "The target CUDA/C++ standard. PCL requires CUDA/C++ 14 or higher.") +set(CMAKE_CUDA_STANDARD 17 CACHE STRING "The target CUDA/C++ standard. PCL requires CUDA/C++ 14 or higher.") set(CMAKE_CUDA_STANDARD_REQUIRED ON) set(CMAKE_CONFIGURATION_TYPES "Debug;Release" CACHE STRING "possible configurations" FORCE) @@ -23,7 +27,7 @@ if("${CMAKE_BUILD_TYPE}" STREQUAL "") set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "build type default to RelWithDebInfo, set to Release to improve performance" FORCE) endif() -project(PCL VERSION 1.14.0) +project(PCL VERSION 1.15.0) string(TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER) if(MSVC AND ("${MSVC_VERSION}" LESS 1910)) @@ -78,7 +82,8 @@ ENDIF() # Create a variable with expected default CXX flags # This will be used further down the road to check if the user explicitly provided CXX flags if(CMAKE_COMPILER_IS_MSVC) - set(CMAKE_CXX_FLAGS_DEFAULT "/DWIN32 /D_WINDOWS /W3 /GR /EHsc") + set(CMAKE_CXX_FLAGS_DEFAULT ${CMAKE_CXX_FLAGS_INIT}) + string(STRIP ${CMAKE_CXX_FLAGS_DEFAULT} CMAKE_CXX_FLAGS_DEFAULT) else() set(CMAKE_CXX_FLAGS_DEFAULT "") endif() @@ -111,11 +116,18 @@ if(PCL_ENABLE_AVX AND "${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}" PCL_CHECK_FOR_AVX() endif() +# Cuda +option(WITH_CUDA "Build NVIDIA-CUDA support" TRUE) +if(WITH_CUDA) + include("${PCL_SOURCE_DIR}/cmake/pcl_find_cuda.cmake") +endif() + + # ---[ Unix/Darwin/Windows specific flags if(CMAKE_COMPILER_IS_GNUCXX) if("${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}") if (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 7) - string(APPEND CMAKE_CXX_FLAGS " -Wabi=11") + string(APPEND CMAKE_CXX_FLAGS " -Wabi=18") else() string(APPEND CMAKE_CXX_FLAGS " -Wabi") endif() @@ -144,20 +156,26 @@ if(CMAKE_COMPILER_IS_GNUCXX) endif() if(CMAKE_COMPILER_IS_MSVC) - add_definitions("-DBOOST_ALL_NO_LIB -D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -DPCL_ONLY_CORE_POINT_TYPES ${SSE_DEFINITIONS}") - + add_definitions("-DBOOST_ALL_NO_LIB -D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX ${SSE_DEFINITIONS}") + if("${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}") + string(APPEND CMAKE_CXX_FLAGS " /fp:precise ${SSE_FLAGS} ${AVX_FLAGS}") + set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -Xcompiler=/bigobj") + + set(PCL_USE_GLOBAL_OPTIMIZATION TRUE) + if(CUDA_FOUND) + if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "10.0" AND ${CUDA_VERSION_STRING} VERSION_LESS "12.0") + set(PCL_USE_GLOBAL_OPTIMIZATION FALSE) + message("Global optimizations /GL has been turned off, as it doesn't work with nvcc/thrust in CUDA 10 and 11.") + endif() + endif() # Add extra code generation/link optimizations - if(CMAKE_MSVC_CODE_LINK_OPTIMIZATION AND (NOT BUILD_CUDA) AND (NOT BUILD_GPU)) + if(CMAKE_MSVC_CODE_LINK_OPTIMIZATION AND PCL_USE_GLOBAL_OPTIMIZATION) string(APPEND CMAKE_CXX_FLAGS_RELEASE " /GL") string(APPEND CMAKE_SHARED_LINKER_FLAGS_RELEASE " /LTCG /OPT:REF") string(APPEND CMAKE_EXE_LINKER_FLAGS_RELEASE " /LTCG") - else() - set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -Xcompiler=/bigobj") - - message("Global optimizations /GL has been turned off, as it doesn't work with nvcc/thrust") endif() # /MANIFEST:NO") # please, don't disable manifest generation, otherwise crash at start for vs2008 @@ -182,24 +200,13 @@ if(CMAKE_COMPILER_IS_MSVC) include(ProcessorCount) ProcessorCount(CPUCores) set(MSVC_MP ${CPUCores} CACHE STRING "Number of simultaneously running compilers (0 = automatic detection by MSVC). See documentation of /MP flag.") - if (CMAKE_VERSION VERSION_LESS 3.11.0) - # Usage of COMPILE_LANGUAGE generator expression for MSVC in add_compile_options requires at least CMake 3.11, see https://gitlab.kitware.com/cmake/cmake/issues/17435 - if(MSVC_MP EQUAL 0) - # MSVC_MP is 0 in case the information cannot be determined by ProcessorCount => fallback - string(APPEND CMAKE_C_FLAGS " /MP") - string(APPEND CMAKE_CXX_FLAGS " /MP") - elseif(MSVC_MP GREATER 1) - string(APPEND CMAKE_C_FLAGS " /MP${MSVC_MP}") - string(APPEND CMAKE_CXX_FLAGS " /MP${MSVC_MP}") - endif() - else() - if(MSVC_MP EQUAL 0) - # MSVC_MP is 0 in case the information cannot be determined by ProcessorCount => fallback - # Generator expression is necessary to limit /MP flag to C/CXX, so flag will be not set to e.g. CUDA (see https://gitlab.kitware.com/cmake/cmake/issues/17535) - add_compile_options($<$,$>:/MP>) - elseif(MSVC_MP GREATER 1) - add_compile_options($<$,$>:/MP${MSVC_MP}>) - endif() + + if(MSVC_MP EQUAL 0) + # MSVC_MP is 0 in case the information cannot be determined by ProcessorCount => fallback + # Generator expression is necessary to limit /MP flag to C/CXX, so flag will be not set to e.g. CUDA (see https://gitlab.kitware.com/cmake/cmake/issues/17535) + add_compile_options($<$,$>:/MP>) + elseif(MSVC_MP GREATER 1) + add_compile_options($<$,$>:/MP${MSVC_MP}>) endif() endif() string(APPEND CMAKE_CXX_FLAGS " /bigobj") @@ -232,10 +239,6 @@ if(CMAKE_COMPILER_IS_CLANG) set(CLANG_LIBRARIES "stdc++") endif() -if(CMAKE_COMPILER_IS_MINGW) - add_definitions(-DPCL_ONLY_CORE_POINT_TYPES) -endif() - include("${PCL_SOURCE_DIR}/cmake/pcl_utils.cmake") DISSECT_VERSION() GET_OS_INFO() @@ -248,8 +251,8 @@ endif() set(PCL_OUTPUT_LIB_DIR "${PCL_BINARY_DIR}/${LIB_INSTALL_DIR}") set(PCL_OUTPUT_BIN_DIR "${PCL_BINARY_DIR}/${BIN_INSTALL_DIR}") -make_directory("${PCL_OUTPUT_LIB_DIR}") -make_directory("${PCL_OUTPUT_BIN_DIR}") +file(MAKE_DIRECTORY "${PCL_OUTPUT_LIB_DIR}") +file(MAKE_DIRECTORY "${PCL_OUTPUT_BIN_DIR}") set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${PCL_OUTPUT_LIB_DIR}") set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${PCL_OUTPUT_BIN_DIR}") if(WIN32) @@ -296,8 +299,24 @@ endif() # OpenMP (optional) option(WITH_OPENMP "Build with parallelization using OpenMP" TRUE) +option(USE_HOMEBREW_FALLBACK "(macOS-only) also look in 'brew --prefix' for libraries (e.g. OpenMP)" TRUE) if(WITH_OPENMP) find_package(OpenMP COMPONENTS C CXX) + if(APPLE AND NOT OpenMP_FOUND) + if(USE_HOMEBREW_FALLBACK) + # libomp 15.0+ from brew is keg-only, so have to search in other locations. + # See https://github.com/Homebrew/homebrew-core/issues/112107#issuecomment-1278042927. + execute_process(COMMAND brew --prefix libomp + OUTPUT_VARIABLE HOMEBREW_LIBOMP_PREFIX + OUTPUT_STRIP_TRAILING_WHITESPACE) + set(OpenMP_C_FLAGS "-Xpreprocessor -fopenmp -I${HOMEBREW_LIBOMP_PREFIX}/include") + set(OpenMP_CXX_FLAGS "-Xpreprocessor -fopenmp -I${HOMEBREW_LIBOMP_PREFIX}/include") + set(OpenMP_C_LIB_NAMES omp) + set(OpenMP_CXX_LIB_NAMES omp) + set(OpenMP_omp_LIBRARY ${HOMEBREW_LIBOMP_PREFIX}/lib/libomp.dylib) + find_package(OpenMP COMPONENTS C CXX) + endif() + endif() endif() if(OpenMP_FOUND) string(APPEND CMAKE_C_FLAGS " ${OpenMP_C_FLAGS}") @@ -349,26 +368,12 @@ PCL_ADD_GRABBER_DEPENDENCY("DSSDK" "DepthSense SDK support") PCL_ADD_GRABBER_DEPENDENCY("RSSDK" "RealSense SDK support") PCL_ADD_GRABBER_DEPENDENCY("RSSDK2" "RealSense SDK 2.0 (librealsense) support") -# metslib -if(PKG_CONFIG_FOUND) - pkg_check_modules(METSLIB metslib) - if(METSLIB_FOUND) - set(HAVE_METSLIB ON) - include_directories(SYSTEM ${METSLIB_INCLUDE_DIRS}) - else() - include_directories(SYSTEM "${PCL_SOURCE_DIR}/recognition/include/pcl/recognition/3rdparty/") - endif() -else() - include_directories(SYSTEM ${PCL_SOURCE_DIR}/recognition/include/pcl/recognition/3rdparty/) -endif() - # LibPNG option(WITH_PNG "PNG file support" TRUE) if(WITH_PNG) find_package(PNG) if(PNG_FOUND) set(HAVE_PNG ON) - include_directories(SYSTEM "${PNG_INCLUDE_DIR}") endif() endif() @@ -381,10 +386,10 @@ if(WITH_QHULL) endif() endif() -# Cuda -option(WITH_CUDA "Build NVIDIA-CUDA support" TRUE) -if(WITH_CUDA) - include("${PCL_SOURCE_DIR}/cmake/pcl_find_cuda.cmake") +# find GLEW before VTK as it uses custom findGLEW that doesn't work with cmakes findGLEW. +option(WITH_GLEW "Support for GLEW" TRUE) +if(WITH_GLEW) + find_package(GLEW QUIET) endif() @@ -431,6 +436,31 @@ if(WITH_SYSTEM_ZLIB) endif() endif() +option(WITH_SYSTEM_CJSON "Use system cJSON" TRUE) +if(WITH_SYSTEM_CJSON) + find_package(cJSON) + if(cJSON_FOUND) + set(HAVE_CJSON ON) + else() + message(WARNING "It is recommended to install an up-to-date version of cJSON on your system. CMake did not find one, and will instead use a cJSON version bundled with the PCL source code. However, that is an older version which may pose a risk and may be removed in a future PCL release.") + endif() +endif() + +set(CMAKE_REQUIRED_LIBRARIES Eigen3::Eigen) # so that Eigen/Core is found below +CHECK_CXX_SOURCE_COMPILES(" +#include +#if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED +#error Eigen will not use handmade_aligned_malloc (which is fine, we just throw an error here to make this compilation fail) +#endif +int main() { return 0; }" +PCL_USES_EIGEN_HANDMADE_ALIGNED_MALLOC) +if (PCL_USES_EIGEN_HANDMADE_ALIGNED_MALLOC) # CHECK_CXX_SOURCE_COMPILES does not necessarily set this to 0 or 1 + set(PCL_USES_EIGEN_HANDMADE_ALIGNED_MALLOC 1) +else() + set(PCL_USES_EIGEN_HANDMADE_ALIGNED_MALLOC 0) +endif() +unset(CMAKE_REQUIRED_LIBRARIES) + ### ---[ Create the config.h file set(pcl_config_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pcl_config.h.in") set(pcl_config_h "${CMAKE_CURRENT_BINARY_DIR}/include/pcl/pcl_config.h") diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in index cf21c443..6e1af47c 100644 --- a/PCLConfig.cmake.in +++ b/PCLConfig.cmake.in @@ -13,16 +13,7 @@ #------------------------------------------------------------------------------------ # Set default policy behavior similar to minimum requirement version -cmake_policy(VERSION 3.10) - -# explicitly set policies we already support in newer cmake versions -if(POLICY CMP0074) - # TODO: update *_ROOT variables to be PCL_*_ROOT or equivalent. - # CMP0074 directly affects how Find* modules work and *_ROOT variables. Since - # this is a config file that will be consumed by parent projects with (likely) - # NEW behavior, we need to push a policy stack. - cmake_policy(SET CMP0074 NEW) -endif() +cmake_policy(VERSION 3.16.3) list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules") @@ -93,15 +84,8 @@ macro(find_boost) elseif(NOT BOOST_INCLUDEDIR) set(BOOST_INCLUDEDIR "@Boost_INCLUDE_DIR@") endif() - - set(Boost_ADDITIONAL_VERSIONS - "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@.@Boost_SUBMINOR_VERSION@" "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@" - "1.84.0" "1.84" "1.83.0" "1.83" "1.82.0" "1.82" "1.81.0" "1.81" "1.80.0" "1.80" - "1.79.0" "1.79" "1.78.0" "1.78" "1.77.0" "1.77" "1.76.0" "1.76" "1.75.0" "1.75" - "1.74.0" "1.74" "1.73.0" "1.73" "1.72.0" "1.72" "1.71.0" "1.71" "1.70.0" "1.70" - "1.69.0" "1.69" "1.68.0" "1.68" "1.67.0" "1.67" "1.66.0" "1.66" "1.65.1" "1.65.0" "1.65") - - find_package(Boost 1.65.0 ${QUIET_} COMPONENTS @PCLCONFIG_AVAILABLE_BOOST_MODULES@) + + find_package(Boost 1.71.0 ${QUIET_} COMPONENTS @PCLCONFIG_AVAILABLE_BOOST_MODULES@ CONFIG) set(BOOST_FOUND ${Boost_FOUND}) set(BOOST_INCLUDE_DIRS "${Boost_INCLUDE_DIR}") @@ -318,17 +302,17 @@ function(find_external_library _component _lib _is_optional) string(TOUPPER "${_component}" COMPONENT) string(TOUPPER "${_lib}" LIB) - string(REGEX REPLACE "[.-]" "_" LIB ${LIB}) + string(REGEX REPLACE "[.-]" "_" LIB "${LIB}") if(${LIB}_FOUND) list(APPEND PCL_${COMPONENT}_INCLUDE_DIRS ${${LIB}_INCLUDE_DIRS}) set(PCL_${COMPONENT}_INCLUDE_DIRS ${PCL_${COMPONENT}_INCLUDE_DIRS} PARENT_SCOPE) - + if(${LIB} MATCHES "VTK") if(${${LIB}_VERSION_MAJOR} GREATER_EQUAL 9) set(ISVTK9ORGREATER TRUE) endif() endif() - + if(${LIB}_USE_FILE AND NOT ISVTK9ORGREATER ) include(${${LIB}_USE_FILE}) else() @@ -439,6 +423,8 @@ set(PCL_INCLUDE_DIRS "${PCL_CONF_INCLUDE_DIR}") #set a suffix for debug libraries set(PCL_DEBUG_SUFFIX "@CMAKE_DEBUG_POSTFIX@") set(PCL_RELEASE_SUFFIX "@CMAKE_RELEASE_POSTFIX@") +set(PCL_RELWITHDEBINFO_SUFFIX "@CMAKE_RELWITHDEBINFO_POSTFIX@") +set(PCL_MINSIZEREL_SUFFIX "@CMAKE_MINSIZEREL_POSTFIX@") set(PCL_SHARED_LIBS "@PCL_SHARED_LIBS@") @@ -450,6 +436,10 @@ list(APPEND PCL_COMPILE_OPTIONS @PCLCONFIG_SSE_COMPILE_OPTIONS@) list(APPEND PCL_COMPILE_OPTIONS @PCLCONFIG_AVX_COMPILE_OPTIONS@) set(pcl_all_components @PCLCONFIG_AVAILABLE_COMPONENTS@) +# insert "io_ply" before "io" +list(FIND pcl_all_components "io" pcl_pos_io) +list(INSERT pcl_all_components ${pcl_pos_io} "io_ply") +unset(pcl_pos_io) list(LENGTH pcl_all_components PCL_NB_COMPONENTS) #list each component dependencies IN PCL @@ -460,6 +450,11 @@ list(LENGTH pcl_all_components PCL_NB_COMPONENTS) @PCLCONFIG_OPTIONAL_DEPENDENCIES@ +# io_ply subcomponent +list(APPEND pcl_io_int_dep io_ply) +set(pcl_io_ply_int_dep common) +set(pcl_io_ply_ext_dep boost) + # VTK components required by PCL set(PCL_VTK_COMPONENTS "@PCL_VTK_COMPONENTS@") @@ -517,18 +512,21 @@ foreach(component ${PCL_TO_FIND_COMPONENTS}) string(REGEX REPLACE "^cuda_(.*)$" "\\1" cuda_component "${component}") string(REGEX REPLACE "^gpu_(.*)$" "\\1" gpu_component "${component}") + string(REGEX REPLACE "^io_(.*)$" "\\1" io_component "${component}") find_path(PCL_${COMPONENT}_INCLUDE_DIR NAMES pcl/${component} pcl/apps/${component} pcl/cuda/${cuda_component} pcl/cuda/${component} pcl/gpu/${gpu_component} pcl/gpu/${component} + pcl/io/${io_component} HINTS ${PCL_INCLUDE_DIRS} PATH_SUFFIXES ${component}/include apps/${component}/include cuda/${cuda_component}/include gpu/${gpu_component}/include + io/${io_component}/include DOC "path to ${component} headers" NO_DEFAULT_PATH) mark_as_advanced(PCL_${COMPONENT}_INCLUDE_DIR) @@ -543,7 +541,8 @@ foreach(component ${PCL_TO_FIND_COMPONENTS}) # Skip find_library for header only modules list(FIND pcl_header_only_components ${component} _is_header_only) if(_is_header_only EQUAL -1) - find_library(PCL_${COMPONENT}_LIBRARY ${pcl_component}${PCL_RELEASE_SUFFIX} + find_library(PCL_${COMPONENT}_LIBRARY + NAMES ${pcl_component}${PCL_RELEASE_SUFFIX} ${pcl_component}${PCL_RELWITHDEBINFO_SUFFIX} ${pcl_component}${PCL_MINSIZEREL_SUFFIX} HINTS ${PCL_LIBRARY_DIRS} DOC "path to ${pcl_component} library" NO_DEFAULT_PATH) diff --git a/README.md b/README.md index 08318ebf..87a931f2 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@ [![Release][release-image]][releases] [![License][license-image]][license] -[release-image]: https://img.shields.io/badge/release-1.14.0-green.svg?style=flat +[release-image]: https://img.shields.io/badge/release-1.15.0-green.svg?style=flat [releases]: https://github.com/PointCloudLibrary/pcl/releases [license-image]: https://img.shields.io/badge/license-BSD-green.svg?style=flat @@ -23,19 +23,19 @@ Continuous integration [ci-latest-build]: https://dev.azure.com/PointCloudLibrary/pcl/_build/latest?definitionId=9&branchName=master [ci-ubuntu-20.04]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20GCC&jobName=Ubuntu&configuration=Ubuntu%2020.04%20GCC&label=Ubuntu%2020.04%20GCC [ci-ubuntu-22.04]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20Clang&jobName=Ubuntu&configuration=Ubuntu%2022.04%20Clang&label=Ubuntu%2022.04%20Clang -[ci-ubuntu-23.04]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20GCC&jobName=Ubuntu&configuration=Ubuntu%2023.04%20GCC&label=Ubuntu%2023.04%20GCC +[ci-ubuntu-24.04]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20GCC&jobName=Ubuntu&configuration=Ubuntu%2024.04%20GCC&label=Ubuntu%2024.04%20GCC [ci-windows-x86]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20MSVC&jobName=Windows%20Build&configuration=Windows%20Build%20x86&label=Windows%20VS2019%20x86 [ci-windows-x64]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20MSVC&jobName=Windows%20Build&configuration=Windows%20Build%20x64&label=Windows%20VS2019%20x64 -[ci-macos-12]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20Clang&jobName=macOS&configuration=macOS%20Monterey%2012&label=macOS%20Monterey%2012 [ci-macos-13]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20Clang&jobName=macOS&configuration=macOS%20Ventura%2013&label=macOS%20Ventura%2013 +[ci-macos-14]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20Clang&jobName=macOS&configuration=macOS%20Sonoma%2014&label=macOS%20Sonoma%2014 [ci-docs]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/Documentation?branchName=master [ci-latest-docs]: https://dev.azure.com/PointCloudLibrary/pcl/_build/latest?definitionId=14&branchName=master Build Platform | Status ------------------------ | ------------------------------------------------------------------------------------------------- | -Ubuntu | [![Status][ci-ubuntu-20.04]][ci-latest-build]
[![Status][ci-ubuntu-22.04]][ci-latest-build]
[![Status][ci-ubuntu-23.04]][ci-latest-build] | +Ubuntu | [![Status][ci-ubuntu-20.04]][ci-latest-build]
[![Status][ci-ubuntu-22.04]][ci-latest-build]
[![Status][ci-ubuntu-24.04]][ci-latest-build] | Windows | [![Status][ci-windows-x86]][ci-latest-build]
[![Status][ci-windows-x64]][ci-latest-build] | -macOS | [![Status][ci-macos-12]][ci-latest-build]
[![Status][ci-macos-13]][ci-latest-build] | +macOS | [![Status][ci-macos-13]][ci-latest-build]
[![Status][ci-macos-14]][ci-latest-build] | Documentation | [![Status][ci-docs]][ci-latest-docs] | Read the Docs | [![Documentation Status](https://readthedocs.org/projects/pcl-tutorials/badge/?version=master)](https://pcl.readthedocs.io/projects/tutorials/en/master/?badge=master) | diff --git a/apps/3d_rec_framework/CMakeLists.txt b/apps/3d_rec_framework/CMakeLists.txt index 3e8b8e99..a75d1704 100644 --- a/apps/3d_rec_framework/CMakeLists.txt +++ b/apps/3d_rec_framework/CMakeLists.txt @@ -2,10 +2,11 @@ set(SUBSUBSYS_NAME 3d_rec_framework) set(SUBSUBSYS_DESC "3D recognition framework") set(SUBSUBSYS_DEPS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search recognition ml) set(SUBSUBSYS_EXT_DEPS vtk openni) +set(REASON "") +set(DEFAULT OFF) -# Default to not building for now -if(${DEFAULT} STREQUAL "TRUE") - set(DEFAULT FALSE) +if(NOT TARGET Boost::filesystem) + set(REASON "Boost filesystem is not available.") endif() PCL_SUBSUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" ${DEFAULT} "${REASON}") @@ -15,8 +16,6 @@ if(NOT build) return() endif() -include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include") - set(incs_fw "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/feature_wrapper/normal_estimator.h" ) @@ -90,7 +89,7 @@ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/ set(LIB_NAME "pcl_${SUBSUBSYS_NAME}") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSUBSYS_NAME} SOURCES ${srcs} ${impl_incs_pipeline} ${incs_utils} ${incs_fw} ${incs_fw_global} ${incs_fw_local} ${incc_tools_framework} ${incs_pipelines} ${incs_pc_source}) -target_link_libraries("${LIB_NAME}" pcl_apps pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search pcl_registration) +target_link_libraries("${LIB_NAME}" pcl_apps pcl_common pcl_io pcl_filters pcl_keypoints pcl_recognition pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search pcl_registration) if(WITH_OPENNI) target_link_libraries("${LIB_NAME}" ${OPENNI_LIBRARIES}) diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/mesh_source.h b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/mesh_source.h index 6e171361..4b39619f 100644 --- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/mesh_source.h +++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/mesh_source.h @@ -81,7 +81,7 @@ public: loadOrGenerate(std::string& dir, std::string& model_path, ModelT& model) { const std::string pathmodel = dir + '/' + model.class_ + '/' + model.id_; - bf::path trained_dir = pathmodel; + pcl_fs::path trained_dir = pathmodel; model.views_.reset(new std::vector::Ptr>); model.poses_.reset( @@ -90,12 +90,12 @@ public: model.assembled_.reset(new pcl::PointCloud); uniform_sampling(model_path, 100000, *model.assembled_, model_scale_); - if (bf::exists(trained_dir)) { + if (pcl_fs::exists(trained_dir)) { // load views, poses and self-occlusions std::vector view_filenames; - for (const auto& dir_entry : bf::directory_iterator(trained_dir)) { + for (const auto& dir_entry : pcl_fs::directory_iterator(trained_dir)) { // check if its a directory, then get models in it - if (!(bf::is_directory(dir_entry))) { + if (!(pcl_fs::is_directory(dir_entry))) { // check that it is a ply file and then add, otherwise ignore.. std::vector strs; std::vector strs_; diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_classifier.hpp b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_classifier.hpp index 0592be86..79929997 100644 --- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_classifier.hpp +++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_classifier.hpp @@ -17,7 +17,7 @@ pcl::rec_3d_framework::GlobalNNPipeline:: std::string path = source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_); - for (const auto& dir_entry : bf::directory_iterator(path)) { + for (const auto& dir_entry : pcl_fs::directory_iterator(path)) { std::string file_name = (dir_entry.path().filename()).string(); std::vector strs; @@ -177,9 +177,9 @@ pcl::rec_3d_framework::GlobalNNPipeline::initializ std::string path = source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_); - bf::path desc_dir = path; - if (!bf::exists(desc_dir)) - bf::create_directory(desc_dir); + pcl_fs::path desc_dir = path; + if (!pcl_fs::exists(desc_dir)) + pcl_fs::create_directory(desc_dir); const std::string path_view = path + "/view_" + std::to_string(v) + ".pcd"; pcl::io::savePCDFileBinary(path_view, *processed); diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp index bf6607ee..af7ab87d 100644 --- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp +++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp @@ -91,7 +91,7 @@ pcl::rec_3d_framework::GlobalNNCRHRecognizer:: std::string path = source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_); - for (const auto& dir_entry : bf::directory_iterator(path)) { + for (const auto& dir_entry : pcl_fs::directory_iterator(path)) { std::string file_name = (dir_entry.path().filename()).string(); std::vector strs; @@ -412,9 +412,9 @@ pcl::rec_3d_framework::GlobalNNCRHRecognizer::init std::string path = source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_); - bf::path desc_dir = path; - if (!bf::exists(desc_dir)) - bf::create_directory(desc_dir); + pcl_fs::path desc_dir = path; + if (!pcl_fs::exists(desc_dir)) + pcl_fs::create_directory(desc_dir); const std::string path_view = path + "/view_" + std::to_string(v) + ".pcd"; pcl::io::savePCDFileBinary(path_view, *processed); diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp index fdd83be8..6a583006 100644 --- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp +++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp @@ -51,8 +51,8 @@ pcl::rec_3d_framework::GlobalNNCVFHRecognizer:: const std::string dir = path + "/roll_trans_" + std::to_string(view_id) + '_' + std::to_string(d_id) + ".txt"; - const bf::path file_path = dir; - if (bf::exists(file_path)) { + const pcl_fs::path file_path = dir; + if (pcl_fs::exists(file_path)) { PersistenceUtils::readMatrixFromFile(dir, pose_matrix); return true; } @@ -108,7 +108,7 @@ pcl::rec_3d_framework::GlobalNNCVFHRecognizer:: std::string path = source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_); - for (const auto& dir_entry : bf::directory_iterator(path)) { + for (const auto& dir_entry : pcl_fs::directory_iterator(path)) { std::string file_name = (dir_entry.path().filename()).string(); std::vector strs; @@ -608,9 +608,9 @@ pcl::rec_3d_framework::GlobalNNCVFHRecognizer::ini std::string path = source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_); - bf::path desc_dir = path; - if (!bf::exists(desc_dir)) - bf::create_directory(desc_dir); + pcl_fs::path desc_dir = path; + if (!pcl_fs::exists(desc_dir)) + pcl_fs::create_directory(desc_dir); const std::string path_view = path + "/view_" + std::to_string(v) + ".pcd"; pcl::io::savePCDFileBinary(path_view, *processed); diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp index 3561c303..1bf8388f 100644 --- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp +++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp @@ -20,7 +20,7 @@ pcl::rec_3d_framework::LocalRecognitionPipeline:: std::string path = source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_); - for (const auto& dir_entry : bf::directory_iterator(path)) { + for (const auto& dir_entry : pcl_fs::directory_iterator(path)) { std::string file_name = (dir_entry.path().filename()).string(); std::vector strs; @@ -150,9 +150,9 @@ pcl::rec_3d_framework::LocalRecognitionPipeline:: std::string path = source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_); - bf::path desc_dir = path; - if (!bf::exists(desc_dir)) - bf::create_directory(desc_dir); + pcl_fs::path desc_dir = path; + if (!pcl_fs::exists(desc_dir)) + pcl_fs::create_directory(desc_dir); const std::string path_view = path = "/view_" + std::to_string(v) + ".pcd"; pcl::io::savePCDFileBinary(path_view, *processed); diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/persistence_utils.h b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/persistence_utils.h index a3c58124..528a7daf 100644 --- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/persistence_utils.h +++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/persistence_utils.h @@ -1,7 +1,7 @@ +#include #include #include -#include #include diff --git a/apps/3d_rec_framework/src/pipeline/global_nn_classifier.cpp b/apps/3d_rec_framework/src/pipeline/global_nn_classifier.cpp index 6a88b8f4..edeff123 100644 --- a/apps/3d_rec_framework/src/pipeline/global_nn_classifier.cpp +++ b/apps/3d_rec_framework/src/pipeline/global_nn_classifier.cpp @@ -9,13 +9,16 @@ #include // Instantiation -template class pcl::rec_3d_framework:: +// GlobalClassifier is the parent class of GlobalNNPipeline. They must be instantiated +// in this order, otherwise visibility attributes of the former are not applied +// correctly. +template class PCL_EXPORTS pcl::rec_3d_framework::GlobalClassifier; + +template class PCL_EXPORTS pcl::rec_3d_framework:: GlobalNNPipeline; -template class pcl::rec_3d_framework::GlobalNNPipeline< - Metrics::HistIntersectionUnionDistance, - pcl::PointXYZ, - pcl::VFHSignature308>; -template class pcl::rec_3d_framework:: +template class PCL_EXPORTS + pcl::rec_3d_framework::GlobalNNPipeline; +template class PCL_EXPORTS pcl::rec_3d_framework:: GlobalNNPipeline; - -template class pcl::rec_3d_framework::GlobalClassifier; diff --git a/apps/3d_rec_framework/src/tools/local_recognition_mian_dataset.cpp b/apps/3d_rec_framework/src/tools/local_recognition_mian_dataset.cpp index 53891821..22095234 100644 --- a/apps/3d_rec_framework/src/tools/local_recognition_mian_dataset.cpp +++ b/apps/3d_rec_framework/src/tools/local_recognition_mian_dataset.cpp @@ -22,17 +22,17 @@ #include void -getScenesInDirectory(bf::path& dir, +getScenesInDirectory(pcl_fs::path& dir, std::string& rel_path_so_far, std::vector& relative_paths) { // list models in MODEL_FILES_DIR_ and return list - for (const auto& dir_entry : bf::directory_iterator(dir)) { + for (const auto& dir_entry : pcl_fs::directory_iterator(dir)) { // check if its a directory, then get models in it - if (bf::is_directory(dir_entry)) { + if (pcl_fs::is_directory(dir_entry)) { std::string so_far = rel_path_so_far + (dir_entry.path().filename()).string() + "/"; - bf::path curr_path = dir_entry.path(); + pcl_fs::path curr_path = dir_entry.path(); getScenesInDirectory(curr_path, so_far, relative_paths); } else { @@ -86,7 +86,7 @@ recognizeAndVisualize( { // read mians scenes - bf::path ply_files_dir = scenes_dir; + pcl_fs::path ply_files_dir = scenes_dir; std::vector files; std::string start; getScenesInDirectory(ply_files_dir, start, files); @@ -223,18 +223,18 @@ recognizeAndVisualize( } void -getModelsInDirectory(bf::path& dir, +getModelsInDirectory(pcl_fs::path& dir, std::string& rel_path_so_far, std::vector& relative_paths, std::string& ext) { - for (const auto& dir_entry : bf::directory_iterator(dir)) { + for (const auto& dir_entry : pcl_fs::directory_iterator(dir)) { // check if its a directory, then get models in it - if (bf::is_directory(dir_entry)) { + if (pcl_fs::is_directory(dir_entry)) { std::string so_far = rel_path_so_far + (dir_entry.path().filename()).string() + "/"; - bf::path curr_path = dir_entry.path(); + pcl_fs::path curr_path = dir_entry.path(); getModelsInDirectory(curr_path, so_far, relative_paths, ext); } else { @@ -315,8 +315,8 @@ main(int argc, char** argv) return -1; } - bf::path models_dir_path = path; - if (!bf::exists(models_dir_path)) { + pcl_fs::path models_dir_path = path; + if (!pcl_fs::exists(models_dir_path)) { PCL_ERROR("Models dir path %s does not exist, use -models_dir [dir] option\n", path.c_str()); return -1; @@ -324,7 +324,7 @@ main(int argc, char** argv) std::vector files; std::string start; std::string ext = std::string("ply"); - bf::path dir = models_dir_path; + pcl_fs::path dir = models_dir_path; getModelsInDirectory(dir, start, files, ext); assert(files.size() == 4); diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt index 670f2d8f..ff551b13 100644 --- a/apps/CMakeLists.txt +++ b/apps/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Application examples/samples that show how PCL works") set(SUBSYS_DEPS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search recognition ml stereo 2d) set(SUBSYS_OPT_DEPS openni vtk ${QTX}) -set(DEFAULT FALSE) -set(REASON "Disabled by default") -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${SUBSYS_OPT_DEPS}) if(NOT build) @@ -17,16 +15,40 @@ set(CMAKE_AUTOMOC ON) set(CMAKE_AUTORCC ON) set(CMAKE_AUTOUIC ON) +list(APPEND CMAKE_AUTOUIC_SEARCH_PATHS "src") + +if(VTK_FOUND) + set(incs "include/pcl/${SUBSYS_NAME}/render_views_tesselated_sphere.h") + set(srcs "src/render_views_tesselated_sphere.cpp") +endif() + +if(QHULL_FOUND) + set(incs + "include/pcl/${SUBSYS_NAME}/dominant_plane_segmentation.h" + "include/pcl/${SUBSYS_NAME}/timer.h" + ${incs} + ) + set(impl_incs "include/pcl/${SUBSYS_NAME}/impl/dominant_plane_segmentation.hpp") + set(srcs "src/dominant_plane_segmentation.cpp" ${srcs}) +endif() + +set(LIB_NAME "pcl_${SUBSYS_NAME}") +PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${impl_incs} ${incs}) +target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search) +PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC}) +# Install include files +PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs}) +PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs}) + # to be filled with all targets the apps subsystem set(PCL_APPS_ALL_TARGETS) -include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include") - PCL_ADD_EXECUTABLE(pcl_test_search_speed COMPONENT ${SUBSYS_NAME} SOURCES src/test_search.cpp) target_link_libraries(pcl_test_search_speed pcl_common pcl_io pcl_search pcl_kdtree pcl_visualization) PCL_ADD_EXECUTABLE(pcl_nn_classification_example COMPONENT ${SUBSYS_NAME} SOURCES src/nn_classification_example.cpp) target_link_libraries(pcl_nn_classification_example pcl_common pcl_io pcl_features pcl_kdtree) +target_include_directories(pcl_nn_classification_example PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) PCL_ADD_EXECUTABLE(pcl_pyramid_surface_matching COMPONENT ${SUBSYS_NAME} SOURCES src/pyramid_surface_matching.cpp) target_link_libraries(pcl_pyramid_surface_matching pcl_common pcl_io pcl_features pcl_registration pcl_filters) @@ -40,9 +62,6 @@ if(LIBUSB_FOUND) endif() if(VTK_FOUND) - set(incs "include/pcl/${SUBSYS_NAME}/render_views_tesselated_sphere.h") - set(srcs "src/render_views_tesselated_sphere.cpp") - PCL_ADD_EXECUTABLE(pcl_ppf_object_recognition COMPONENT ${SUBSYS_NAME} SOURCES src/ppf_object_recognition.cpp) target_link_libraries(pcl_ppf_object_recognition pcl_common pcl_io pcl_filters pcl_features pcl_registration pcl_visualization pcl_sample_consensus pcl_segmentation) @@ -72,8 +91,9 @@ if(VTK_FOUND) PCL_ADD_EXECUTABLE(pcl_face_trainer COMPONENT ${SUBSYS_NAME} SOURCES src/face_detection/face_trainer.cpp) target_link_libraries(pcl_face_trainer pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree) - PCL_ADD_EXECUTABLE(pcl_fs_face_detector COMPONENT ${SUBSYS_NAME} SOURCES src/face_detection//filesystem_face_detection.cpp BUNDLE) + PCL_ADD_EXECUTABLE(pcl_fs_face_detector COMPONENT ${SUBSYS_NAME} SOURCES src/face_detection/filesystem_face_detection.cpp BUNDLE) target_link_libraries(pcl_fs_face_detector pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree) + target_include_directories(pcl_fs_face_detector PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) PCL_ADD_EXECUTABLE(pcl_stereo_ground_segmentation COMPONENT ${SUBSYS_NAME} SOURCES src/stereo_ground_segmentation.cpp) target_link_libraries(pcl_stereo_ground_segmentation pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features pcl_stereo) @@ -93,6 +113,7 @@ if(VTK_FOUND) BUNDLE) target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface pcl_registration ${QTX}::Widgets) + target_include_directories(pcl_manual_registration PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) PCL_ADD_EXECUTABLE(pcl_pcd_video_player COMPONENT @@ -103,7 +124,8 @@ if(VTK_FOUND) src/pcd_video_player/pcd_video_player.ui BUNDLE) - target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QTX}::Widgets) + target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_registration pcl_visualization pcl_segmentation pcl_features pcl_surface ${QTX}::Widgets) + target_include_directories(pcl_pcd_video_player PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) endif() if(WITH_OPENNI) @@ -117,8 +139,8 @@ if(VTK_FOUND) target_link_libraries(pcl_openni_octree_compression pcl_common pcl_io pcl_filters pcl_visualization pcl_octree) if(HAVE_PNG) - PCL_ADD_EXECUTABLE(pcl_openni_organized_compression COMPONENT ${SUBSYS_NAME} SOURCES src/openni_organized_compression.cpp BUNDLE) - target_link_libraries(pcl_openni_organized_compression pcl_common pcl_io pcl_filters pcl_visualization pcl_octree) + PCL_ADD_EXECUTABLE(pcl_openni_organized_compression COMPONENT ${SUBSYS_NAME} SOURCES src/openni_organized_compression.cpp BUNDLE) + target_link_libraries(pcl_openni_organized_compression pcl_common pcl_io pcl_filters pcl_visualization pcl_octree) endif() PCL_ADD_EXECUTABLE(pcl_openni_shift_to_depth_conversion COMPONENT ${SUBSYS_NAME} SOURCES src/openni_shift_to_depth_conversion.cpp BUNDLE) @@ -156,6 +178,7 @@ if(VTK_FOUND) PCL_ADD_EXECUTABLE(pcl_openni_face_detector COMPONENT ${SUBSYS_NAME} SOURCES src/face_detection//openni_face_detection.cpp src/face_detection//openni_frame_source.cpp BUNDLE) target_link_libraries(pcl_openni_face_detector pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree) + target_include_directories(pcl_openni_face_detector PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) if(QT_FOUND AND HAVE_QVTK) # OpenNI Passthrough application demo @@ -163,13 +186,13 @@ if(VTK_FOUND) COMPONENT ${SUBSYS_NAME} SOURCES + include/pcl/apps/openni_passthrough_qt.h include/pcl/apps/openni_passthrough.h src/openni_passthrough.cpp src/openni_passthrough.ui) target_link_libraries(pcl_openni_passthrough pcl_common pcl_io pcl_filters pcl_visualization ${QTX}::Widgets) - - list(APPEND CMAKE_AUTOUIC_SEARCH_PATHS "src") + target_include_directories(pcl_openni_passthrough PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) # OpenNI Organized Connected Component application demo PCL_ADD_EXECUTABLE(pcl_organized_segmentation_demo @@ -182,48 +205,51 @@ if(VTK_FOUND) src/organized_segmentation_demo.ui BUNDLE) target_link_libraries(pcl_organized_segmentation_demo pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QTX}::Widgets) + target_include_directories(pcl_organized_segmentation_demo PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) endif() if(QHULL_FOUND) - PCL_ADD_EXECUTABLE(pcl_openni_3d_convex_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_3d_convex_hull.cpp BUNDLE) - target_link_libraries(pcl_openni_3d_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface) - - PCL_ADD_EXECUTABLE(pcl_openni_3d_concave_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_3d_concave_hull.cpp BUNDLE) - target_link_libraries(pcl_openni_3d_concave_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface) - - PCL_ADD_EXECUTABLE(pcl_openni_tracking COMPONENT ${SUBSYS_NAME} SOURCES src/openni_tracking.cpp BUNDLE) - target_link_libraries(pcl_openni_tracking pcl_common pcl_io pcl_surface pcl_visualization pcl_filters pcl_features pcl_segmentation pcl_tracking pcl_search) - - PCL_ADD_EXECUTABLE(pcl_openni_planar_convex_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_planar_convex_hull.cpp BUNDLE) - target_link_libraries(pcl_openni_planar_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface) - - PCL_ADD_EXECUTABLE(pcl_ni_linemod COMPONENT ${SUBSYS_NAME} SOURCES src/ni_linemod.cpp BUNDLE) - target_link_libraries(pcl_ni_linemod pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface pcl_search) + PCL_ADD_EXECUTABLE(pcl_openni_3d_convex_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_3d_convex_hull.cpp BUNDLE) + target_link_libraries(pcl_openni_3d_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface) + + PCL_ADD_EXECUTABLE(pcl_openni_3d_concave_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_3d_concave_hull.cpp BUNDLE) + target_link_libraries(pcl_openni_3d_concave_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface) + + PCL_ADD_EXECUTABLE(pcl_openni_tracking COMPONENT ${SUBSYS_NAME} SOURCES src/openni_tracking.cpp BUNDLE) + target_link_libraries(pcl_openni_tracking pcl_common pcl_io pcl_surface pcl_visualization pcl_filters pcl_features pcl_segmentation pcl_tracking pcl_search) + + PCL_ADD_EXECUTABLE(pcl_openni_planar_convex_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_planar_convex_hull.cpp BUNDLE) + target_link_libraries(pcl_openni_planar_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface) + + PCL_ADD_EXECUTABLE(pcl_ni_linemod COMPONENT ${SUBSYS_NAME} SOURCES src/ni_linemod.cpp BUNDLE) + target_link_libraries(pcl_ni_linemod pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface pcl_search) + target_include_directories(pcl_ni_linemod PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) endif() # QHULL_FOUND PCL_ADD_EXECUTABLE(pcl_ni_agast COMPONENT ${SUBSYS_NAME} SOURCES src/ni_agast.cpp BUNDLE) target_link_libraries(pcl_ni_agast pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_keypoints pcl_surface pcl_search) + target_include_directories(pcl_ni_agast PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) PCL_ADD_EXECUTABLE(pcl_ni_brisk COMPONENT ${SUBSYS_NAME} SOURCES src/ni_brisk.cpp BUNDLE) target_link_libraries(pcl_ni_brisk pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_keypoints pcl_surface pcl_search) + target_include_directories(pcl_ni_brisk PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) PCL_ADD_EXECUTABLE(pcl_ni_susan COMPONENT ${SUBSYS_NAME} SOURCES src/ni_susan.cpp BUNDLE) target_link_libraries(pcl_ni_susan pcl_common pcl_visualization pcl_features pcl_keypoints pcl_search) + target_include_directories(pcl_ni_susan PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) PCL_ADD_EXECUTABLE(pcl_ni_trajkovic COMPONENT ${SUBSYS_NAME} SOURCES src/ni_trajkovic.cpp BUNDLE) target_link_libraries(pcl_ni_trajkovic pcl_common pcl_visualization pcl_features pcl_keypoints pcl_search) + target_include_directories(pcl_ni_trajkovic PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) PCL_ADD_EXECUTABLE(pcl_openni_klt COMPONENT ${SUBSYS_NAME} SOURCES src/openni_klt.cpp BUNDLE) - target_link_libraries(pcl_openni_klt pcl_common pcl_io pcl_visualization pcl_tracking) + target_link_libraries(pcl_openni_klt pcl_common pcl_io pcl_keypoints pcl_visualization pcl_tracking) endif() # WITH_OPENNI endif() # VTK_FOUND # OpenGL and GLUT if(OPENGL_FOUND AND GLUT_FOUND) - if(NOT WIN32) - include_directories(SYSTEM "${OPENGL_INCLUDE_DIR}") - endif() PCL_ADD_EXECUTABLE(pcl_grabcut_2d COMPONENT ${SUBSYS_NAME} SOURCES src/grabcut_2d.cpp BUNDLE) if(APPLE) set(_glut_target ${GLUT_glut_LIBRARY}) @@ -238,27 +264,9 @@ set(PCL_APPS_MODULES_NAMES_UNSORTED ${PCL_APPS_MODULES_NAMES}) topological_sort(PCL_APPS_MODULES_NAMES PCL_APPS_ _DEPENDS) sort_relative(PCL_APPS_MODULES_NAMES_UNSORTED PCL_APPS_MODULES_NAMES PCL_APPS_MODULES_DIRS) foreach(subdir ${PCL_APPS_MODULES_DIRS}) -add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/${subdir}") + add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/${subdir}") endforeach() -if(QHULL_FOUND) - set(incs - "include/pcl/${SUBSYS_NAME}/dominant_plane_segmentation.h" - "include/pcl/${SUBSYS_NAME}/timer.h" - ${incs} - ) - set(impl_incs "include/pcl/${SUBSYS_NAME}/impl/dominant_plane_segmentation.hpp") - set(srcs "src/dominant_plane_segmentation.cpp" ${srcs}) -endif() - -set(LIB_NAME "pcl_${SUBSYS_NAME}") -PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${impl_incs} ${incs}) -target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search) -PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC}) -# Install include files -PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs}) -PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs}) - if(CMAKE_GENERATOR_IS_IDE) set(SUBSYS_TARGET_NAME APPS_BUILD) else() diff --git a/apps/cloud_composer/CMakeLists.txt b/apps/cloud_composer/CMakeLists.txt index 24196bcc..47668e16 100644 --- a/apps/cloud_composer/CMakeLists.txt +++ b/apps/cloud_composer/CMakeLists.txt @@ -5,21 +5,18 @@ set(SUBSUBSYS_NAME cloud_composer) set(SUBSUBSYS_DESC "Cloud Composer - Application for Manipulating Point Clouds") -set(SUBSUBSYS_DEPS common io visualization filters apps) +set(SUBSUBSYS_DEPS common io visualization features filters apps) set(SUBSUBSYS_EXT_DEPS vtk ${QTX}) +set(REASON "") +set(DEFAULT OFF) -# QVTK? -if(NOT HAVE_QVTK) - set(DEFAULT AUTO_OFF) - set(REASON "Cloud composer requires QVTK") -elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF") - set(DEFAULT TRUE) - set(REASON) +# Have Qt? +if("${QTX}" STREQUAL "") + set(REASON "Cloud composer requires Qt.") endif() -#Default to not building for now -if("${DEFAULT}" STREQUAL "TRUE") - set(DEFAULT FALSE) +if(NOT HAVE_QVTK) + set(REASON "VTK was not built with Qt support.") endif() PCL_SUBSUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" ${DEFAULT} "${REASON}") @@ -31,8 +28,6 @@ if(NOT build) return() endif() -include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include") - #Create subdirectory for plugin libs set(CLOUD_COMPOSER_PLUGIN_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cloud_composer_plugins") make_directory("${CLOUD_COMPOSER_PLUGIN_DIR}") @@ -76,7 +71,7 @@ set(PCL_LIB_TYPE STATIC) PCL_ADD_LIBRARY(pcl_cc_tool_interface COMPONENT ${SUBSUBSYS_NAME} SOURCES ${INTERFACE_HEADERS} ${INTERFACE_SOURCES}) -target_link_libraries(pcl_cc_tool_interface pcl_common pcl_filters pcl_search pcl_visualization ${QTX}::Widgets) +target_link_libraries(pcl_cc_tool_interface pcl_common pcl_features pcl_filters pcl_search pcl_visualization ${QTX}::Widgets) set(PCL_LIB_TYPE ${PCL_LIB_TYPE_ORIGIN}) diff --git a/apps/in_hand_scanner/CMakeLists.txt b/apps/in_hand_scanner/CMakeLists.txt index 5c3350ff..8a670a5b 100644 --- a/apps/in_hand_scanner/CMakeLists.txt +++ b/apps/in_hand_scanner/CMakeLists.txt @@ -1,14 +1,14 @@ set(SUBSUBSYS_NAME in_hand_scanner) set(SUBSUBSYS_DESC "In-hand scanner for small objects") -set(SUBSUBSYS_DEPS common features io kdtree apps) -set(SUBSUBSYS_LIBS pcl_common pcl_features pcl_io pcl_kdtree) +set(SUBSUBSYS_DEPS common geometry features io kdtree) +set(SUBSUBSYS_LIBS pcl_common pcl_geometry pcl_features pcl_io pcl_kdtree) set(SUBSUBSYS_EXT_DEPS ${QTX} OpenGL OpenGL_GLU openni) +set(REASON "") +set(DEFAULT OFF) -################################################################################ - -# Default to not building for now -if(${DEFAULT} STREQUAL "TRUE") - set(DEFAULT FALSE) +# Have Qt? +if("${QTX}" STREQUAL "") + set(REASON "Cloud composer requires Qt.") endif() pcl_subsubsys_option(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" ${DEFAULT} "${REASON}") @@ -19,9 +19,7 @@ pcl_add_doc("${SUBSUBSYS_NAME}") ################################################################################ set(INCS - "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/boost.h" "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/common_types.h" - "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/eigen.h" "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/icp.h" "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/input_data_processing.h" "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/integration.h" @@ -77,8 +75,6 @@ if(NOT build) return() endif() -include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include") - set(EXE_NAME "pcl_${SUBSUBSYS_NAME}") PCL_ADD_EXECUTABLE( @@ -93,6 +89,7 @@ PCL_ADD_EXECUTABLE( BUNDLE) target_link_libraries("${EXE_NAME}" ${SUBSUBSYS_LIBS} ${OPENGL_LIBRARIES} ${QTX}::Concurrent ${QTX}::Widgets ${QTX}::OpenGL) +target_include_directories(${EXE_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) if (${QTX} MATCHES "Qt6") target_link_libraries("${EXE_NAME}" ${QTX}::OpenGLWidgets) endif() @@ -112,6 +109,7 @@ PCL_ADD_EXECUTABLE( BUNDLE) target_link_libraries(pcl_offline_integration ${SUBSUBSYS_LIBS} ${OPENGL_LIBRARIES} ${QTX}::Concurrent ${QTX}::Widgets ${QTX}::OpenGL) +target_include_directories(pcl_offline_integration PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) if (${QTX} MATCHES "Qt6") target_link_libraries(pcl_offline_integration ${QTX}::OpenGLWidgets) endif() diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h deleted file mode 100644 index f4f53542..00000000 --- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h +++ /dev/null @@ -1,48 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2009-2012, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ - -#pragma once - -#ifdef __GNUC__ -#pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.") -#include -#include diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/eigen.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/eigen.h deleted file mode 100644 index a4380316..00000000 --- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/eigen.h +++ /dev/null @@ -1,49 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2009-2012, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ - -#pragma once - -#ifdef __GNUC__ -#pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed eigen headers directly.") -#include -#include -#include diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h index 389bc815..b3d2abcf 100644 --- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h +++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h @@ -253,7 +253,7 @@ private: void drawText(); - /** \brief Actual implementeation of startGrabber (needed so it can be run in a + /** \brief Actual implementation of startGrabber (needed so it can be run in a * different thread and doesn't block the application when starting up). */ void startGrabberImpl(); diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h index c1c86448..4ce4e7ca 100644 --- a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h +++ b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h @@ -118,7 +118,7 @@ public: /** \brief How to draw the mesh. */ enum MeshRepresentation { MR_POINTS, /**< Draw the points. */ - MR_EDGES, /**< Wireframe represen of the mesh. */ + MR_EDGES, /**< Wireframe representation of the mesh. */ MR_FACES /**< Draw the faces of the mesh without edges. */ }; diff --git a/apps/in_hand_scanner/src/offline_integration.cpp b/apps/in_hand_scanner/src/offline_integration.cpp index 853232dc..9de7bee7 100644 --- a/apps/in_hand_scanner/src/offline_integration.cpp +++ b/apps/in_hand_scanner/src/offline_integration.cpp @@ -40,12 +40,12 @@ #include #include +#include #include #include #include #include -#include #include #include @@ -186,14 +186,14 @@ pcl::ihs::OfflineIntegration::getFilesFromDirectory( const std::string& extension, std::vector& files) const { - if (path_dir.empty() || !boost::filesystem::exists(path_dir)) { + if (path_dir.empty() || !pcl_fs::exists(path_dir)) { std::cerr << "ERROR in offline_integration.cpp: Invalid path\n '" << path_dir << "'\n"; return (false); } - boost::filesystem::directory_iterator it_end; - for (boost::filesystem::directory_iterator it(path_dir); it != it_end; ++it) { + pcl_fs::directory_iterator it_end; + for (pcl_fs::directory_iterator it(path_dir); it != it_end; ++it) { if (!is_directory(it->status()) && boost::algorithm::to_upper_copy(it->path().extension().string()) == boost::algorithm::to_upper_copy(extension)) { diff --git a/apps/include/pcl/apps/face_detection/face_detection_apps_utils.h b/apps/include/pcl/apps/face_detection/face_detection_apps_utils.h index b986ea9a..5c3c36fe 100644 --- a/apps/include/pcl/apps/face_detection/face_detection_apps_utils.h +++ b/apps/include/pcl/apps/face_detection/face_detection_apps_utils.h @@ -7,6 +7,8 @@ #pragma once +#include + namespace face_detection_apps_utils { inline bool @@ -65,18 +67,18 @@ sortFiles(const std::string& file1, const std::string& file2) } inline void -getFilesInDirectory(bf::path& dir, +getFilesInDirectory(pcl_fs::path& dir, std::string& rel_path_so_far, std::vector& relative_paths, std::string& ext) { - for (const auto& dir_entry : bf::directory_iterator(dir)) { + for (const auto& dir_entry : pcl_fs::directory_iterator(dir)) { // check if its a directory, then get models in it - if (bf::is_directory(dir_entry)) { + if (pcl_fs::is_directory(dir_entry)) { std::string so_far = rel_path_so_far + (dir_entry.path().filename()).string() + "/"; - bf::path curr_path = dir_entry.path(); + pcl_fs::path curr_path = dir_entry.path(); getFilesInDirectory(curr_path, so_far, relative_paths, ext); } else { diff --git a/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp b/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp index 549f893b..119c9f3b 100644 --- a/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp +++ b/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp @@ -120,7 +120,6 @@ pcl::apps::DominantPlaneSegmentation::compute_table_plane() // Compute the plane coefficients Eigen::Vector4f model_coefficients; - EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix; model_coefficients[0] = table_coefficients_->values[0]; model_coefficients[1] = table_coefficients_->values[1]; @@ -251,7 +250,6 @@ pcl::apps::DominantPlaneSegmentation::compute_fast( // Compute the plane coefficients Eigen::Vector4f model_coefficients; - EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix; model_coefficients[0] = table_coefficients_->values[0]; model_coefficients[1] = table_coefficients_->values[1]; @@ -626,7 +624,6 @@ pcl::apps::DominantPlaneSegmentation::compute( // Compute the plane coefficients Eigen::Vector4f model_coefficients; - EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix; model_coefficients[0] = table_coefficients_->values[0]; model_coefficients[1] = table_coefficients_->values[1]; @@ -795,7 +792,6 @@ pcl::apps::DominantPlaneSegmentation::compute_full( // Compute the plane coefficients Eigen::Vector4f model_coefficients; - EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix; model_coefficients[0] = table_coefficients_->values[0]; model_coefficients[1] = table_coefficients_->values[1]; diff --git a/apps/include/pcl/apps/pcd_video_player.h b/apps/include/pcl/apps/pcd_video_player.h index ba177d66..b10c0870 100644 --- a/apps/include/pcl/apps/pcd_video_player.h +++ b/apps/include/pcl/apps/pcd_video_player.h @@ -35,6 +35,7 @@ */ #include +#include #include #include #include @@ -42,8 +43,6 @@ #include #include -#include - #include #include #include @@ -100,7 +99,7 @@ protected: QString dir_; std::vector pcd_files_; - std::vector pcd_paths_; + std::vector pcd_paths_; /** \brief The current displayed frame */ unsigned int current_frame_; diff --git a/apps/modeler/CMakeLists.txt b/apps/modeler/CMakeLists.txt index 7c621248..f7d2bae1 100644 --- a/apps/modeler/CMakeLists.txt +++ b/apps/modeler/CMakeLists.txt @@ -3,19 +3,15 @@ set(SUBSUBSYS_DESC "PCLModeler: PCL based reconstruction platform") set(SUBSUBSYS_DEPS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search apps) set(SUBSUBSYS_EXT_DEPS vtk ${QTX}) set(REASON "") +set(DEFAULT OFF) # QVTK? if(NOT HAVE_QVTK) - set(DEFAULT AUTO_OFF) set(REASON "VTK was not built with Qt support.") -elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF") - set(DEFAULT TRUE) - set(REASON) endif() -# Default to not building for now -if(${DEFAULT} STREQUAL "TRUE") - set(DEFAULT FALSE) +if(NOT HAVE_QVTK) + set(REASON "VTK was not built with Qt support.") endif() PCL_SUBSUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" ${DEFAULT} "${REASON}") @@ -27,8 +23,6 @@ if(NOT build) return() endif() -include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include") - # Set Qt files and resources here set(uis main_window.ui @@ -39,7 +33,7 @@ set(resources ) set(incs - "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/main_window.h" + "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/main_window.h" "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/scene_tree.h" "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/parameter_dialog.h" "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/thread_controller.h" @@ -118,7 +112,8 @@ PCL_ADD_EXECUTABLE( ${incs} ${impl_incs}) -target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_kdtree pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search ${QTX}::Widgets) +target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_kdtree pcl_filters pcl_registration pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search ${QTX}::Widgets) +target_include_directories(${EXE_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) # Install include files PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}" ${incs}) diff --git a/apps/point_cloud_editor/CMakeLists.txt b/apps/point_cloud_editor/CMakeLists.txt index 7374b72e..6a355b1e 100644 --- a/apps/point_cloud_editor/CMakeLists.txt +++ b/apps/point_cloud_editor/CMakeLists.txt @@ -1,12 +1,9 @@ set(SUBSUBSYS_NAME point_cloud_editor) set(SUBSUBSYS_DESC "Point Cloud Editor - Simple editor for 3D point clouds") set(SUBSUBSYS_DEPS common filters io apps) -set(SUBSUBSYS_EXT_DEPS vtk ${QTX} OpenGL) - -# Default to not building for now -if(${DEFAULT} STREQUAL "TRUE") - set(DEFAULT FALSE) -endif() +set(SUBSUBSYS_EXT_DEPS vtk ${QTX} OpenGL OpenGL_GLU) +set(REASON "") +set(DEFAULT OFF) PCL_SUBSUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" ${DEFAULT} "${REASON}") PCL_SUBSYS_DEPEND(build NAME ${SUBSUBSYS_NAME} PARENT_NAME ${SUBSYS_NAME} DEPS ${SUBSUBSYS_DEPS} EXT_DEPS ${SUBSUBSYS_EXT_DEPS}) @@ -71,11 +68,6 @@ set(SRCS src/denoiseParameterForm.cpp ) -include_directories( - "${CMAKE_CURRENT_BINARY_DIR}" - "${CMAKE_CURRENT_SOURCE_DIR}/include" -) - set(EXE_NAME "pcl_${SUBSUBSYS_NAME}") PCL_ADD_EXECUTABLE( ${EXE_NAME} @@ -87,6 +79,7 @@ PCL_ADD_EXECUTABLE( ${INCS}) target_link_libraries("${EXE_NAME}" ${QTX}::Widgets ${QTX}::OpenGL ${OPENGL_LIBRARIES} ${BOOST_LIBRARIES} pcl_common pcl_io pcl_filters) +target_include_directories(${EXE_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include) if (${QTX} MATCHES "Qt6") target_link_libraries("${EXE_NAME}" ${QTX}::OpenGLWidgets) endif() diff --git a/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/select2DTool.h b/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/select2DTool.h index 2052f10e..6243fcc6 100644 --- a/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/select2DTool.h +++ b/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/select2DTool.h @@ -135,7 +135,7 @@ class Select2DTool : public ToolInterface /// @brief highlight all the points in the rubber band. /// @detail draw the cloud using a stencil buffer. During this time, the - /// points that are highlighted will not be recorded by the selecion object. + /// points that are highlighted will not be recorded by the selection object. /// @param viewport the viewport obtained from GL void highlightPoints (GLint* viewport) const; diff --git a/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/selection.h b/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/selection.h index 7855e171..d0e47151 100644 --- a/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/selection.h +++ b/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/selection.h @@ -35,7 +35,7 @@ /// @file selection.h /// @details A Selection object maintains the set of indices of points from a -/// point cloud that have been identifed by the selection tools. +/// point cloud that have been identified by the selection tools. /// @author Yue Li and Matthew Hielsberg #pragma once diff --git a/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/selectionTransformTool.h b/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/selectionTransformTool.h index d871a44a..d555f007 100644 --- a/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/selectionTransformTool.h +++ b/apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/selectionTransformTool.h @@ -87,7 +87,7 @@ class SelectionTransformTool : public ToolInterface /// mouse screen coordinates. Then depending on the passed modifiers, the /// transformation matrix is computed correspondingly. If CONTROL is pressed /// the selection will be translated (panned) parallel to the view plane. If - /// ALT is pressed the selection witll be translated along the z-axis + /// ALT is pressed the selection will be translated along the z-axis /// perpendicular to the view plane. If no key modifiers is pressed the /// selection will be rotated. /// @param x the x value of the mouse screen coordinates. diff --git a/apps/src/face_detection/filesystem_face_detection.cpp b/apps/src/face_detection/filesystem_face_detection.cpp index fcb5028b..a13a49c7 100644 --- a/apps/src/face_detection/filesystem_face_detection.cpp +++ b/apps/src/face_detection/filesystem_face_detection.cpp @@ -5,6 +5,7 @@ * Author: Aitor Aldoma */ +#include #include #include #include @@ -13,10 +14,6 @@ #include // clang-format on -#include - -namespace bf = boost::filesystem; - bool SHOW_GT = false; bool VIDEO = false; @@ -101,7 +98,7 @@ run(pcl::RFFaceDetectorTrainer& fdrf, bool result = face_detection_apps_utils::readMatrixFromFile(pose_file, pose_mat); if (result) { - Eigen::Vector3f ea = pose_mat.block<3, 3>(0, 0).eulerAngles(0, 1, 2); + Eigen::Vector3f ea = pose_mat.topLeftCorner<3, 3>().eulerAngles(0, 1, 2); Eigen::Vector3f trans_vector = Eigen::Vector3f(pose_mat(0, 3), pose_mat(1, 3), pose_mat(2, 3)); std::cout << ea << std::endl; @@ -130,7 +127,7 @@ run(pcl::RFFaceDetectorTrainer& fdrf, Eigen::AngleAxisf(ea[1], Eigen::Vector3f::UnitY()) * Eigen::AngleAxisf(ea[2], Eigen::Vector3f::UnitZ()); - // matrixxx = pose_mat.block<3,3>(0,0); + // matrixxx = pose_mat.topLeftCorner<3,3>(); vec = matrixxx * vec; cylinder_coeff.values[3] = vec[0]; @@ -222,7 +219,7 @@ main(int argc, char** argv) // recognize all files in directory... std::string start; std::string ext = std::string("pcd"); - bf::path dir = test_directory; + pcl_fs::path dir = test_directory; std::vector files; face_detection_apps_utils::getFilesInDirectory(dir, start, files, ext); diff --git a/apps/src/face_detection/openni_face_detection.cpp b/apps/src/face_detection/openni_face_detection.cpp index 5a12081e..6574d1ef 100644 --- a/apps/src/face_detection/openni_face_detection.cpp +++ b/apps/src/face_detection/openni_face_detection.cpp @@ -19,7 +19,7 @@ run(pcl::RFFaceDetectorTrainer& fdrf, bool heat_map = false, bool show_votes = f OpenNIFrameSource::OpenNIFrameSource camera; OpenNIFrameSource::PointCloudPtr scene_vis; - pcl::visualization::PCLVisualizer vis("Face dection"); + pcl::visualization::PCLVisualizer vis("Face detection"); vis.addCoordinateSystem(0.1, "global"); // keyboard callback to stop getting frames and finalize application diff --git a/apps/src/openni_grab_frame.cpp b/apps/src/openni_grab_frame.cpp index fbdc4d42..2f126259 100644 --- a/apps/src/openni_grab_frame.cpp +++ b/apps/src/openni_grab_frame.cpp @@ -35,6 +35,7 @@ * Christian Potthast (potthast@usc.edu) */ +#include #include #include #include @@ -45,8 +46,6 @@ #include #include -#include - #include using namespace std::chrono_literals; @@ -75,7 +74,6 @@ using namespace std::chrono_literals; #endif using namespace pcl::console; -using namespace boost::filesystem; template class OpenNIGrabFrame { @@ -222,7 +220,7 @@ public: bool paused, bool visualizer) { - boost::filesystem::path path(filename); + pcl_fs::path path(filename); if (filename.empty()) { dir_name_ = "."; @@ -231,7 +229,7 @@ public: else { dir_name_ = path.parent_path().string(); - if (!dir_name_.empty() && !boost::filesystem::exists(path.parent_path())) { + if (!dir_name_.empty() && !pcl_fs::exists(path.parent_path())) { std::cerr << "directory \"" << path.parent_path() << "\" does not exist!\n"; exit(1); } diff --git a/apps/src/openni_grab_images.cpp b/apps/src/openni_grab_images.cpp index 7a864567..428b083d 100644 --- a/apps/src/openni_grab_images.cpp +++ b/apps/src/openni_grab_images.cpp @@ -44,12 +44,9 @@ #include #include -#include - #include using namespace pcl::console; -using namespace boost::filesystem; class OpenNIGrabFrame { public: @@ -254,7 +251,7 @@ public: depth_image->getWidth(), depth_image->getHeight(), std::numeric_limits::min(), - // Scale so that the colors look brigher on screen + // Scale so that the colors look brighter on screen std::numeric_limits::max() / 10, true); diff --git a/apps/src/openni_mobile_server.cpp b/apps/src/openni_mobile_server.cpp index bf6778d1..aee1892a 100644 --- a/apps/src/openni_mobile_server.cpp +++ b/apps/src/openni_mobile_server.cpp @@ -157,7 +157,7 @@ public: viewer_.showCloud(getLatestPointCloud()); - boost::asio::io_service io_service; + boost::asio::io_context io_service; tcp::endpoint endpoint(tcp::v4(), static_cast(port_)); tcp::acceptor acceptor(io_service, endpoint); tcp::socket socket(io_service); diff --git a/apps/src/openni_octree_compression.cpp b/apps/src/openni_octree_compression.cpp index 0a056054..4592cbd3 100644 --- a/apps/src/openni_octree_compression.cpp +++ b/apps/src/openni_octree_compression.cpp @@ -415,7 +415,7 @@ main(int argc, char** argv) if (bEnDecode) { // ENCODING try { - boost::asio::io_service io_service; + boost::asio::io_context io_service; tcp::endpoint endpoint(tcp::v4(), 6666); tcp::acceptor acceptor(io_service, endpoint); @@ -423,7 +423,7 @@ main(int argc, char** argv) std::cout << "Waiting for connection.." << std::endl; - acceptor.accept(*socketStream.rdbuf()); + acceptor.accept(socketStream.rdbuf()->socket()); std::cout << "Connected!" << std::endl; diff --git a/apps/src/openni_organized_compression.cpp b/apps/src/openni_organized_compression.cpp index c0448bde..f68314f4 100644 --- a/apps/src/openni_organized_compression.cpp +++ b/apps/src/openni_organized_compression.cpp @@ -438,7 +438,7 @@ main(int argc, char** argv) if (bEnDecode) { // ENCODING try { - boost::asio::io_service io_service; + boost::asio::io_context io_service; tcp::endpoint endpoint(tcp::v4(), 6666); tcp::acceptor acceptor(io_service, endpoint); @@ -446,7 +446,7 @@ main(int argc, char** argv) std::cout << "Waiting for connection.." << std::endl; - acceptor.accept(*socketStream.rdbuf()); + acceptor.accept(socketStream.rdbuf()->socket()); std::cout << "Connected!" << std::endl; diff --git a/apps/src/organized_segmentation_demo.cpp b/apps/src/organized_segmentation_demo.cpp index 48081734..cbf81a72 100644 --- a/apps/src/organized_segmentation_demo.cpp +++ b/apps/src/organized_segmentation_demo.cpp @@ -15,9 +15,6 @@ #include #include -// #include // for boost::filesystem::directory_iterator -#include // for boost::signals2::connection - void displayPlanarRegions( std::vector, diff --git a/apps/src/pcd_video_player/pcd_video_player.cpp b/apps/src/pcd_video_player/pcd_video_player.cpp index aa6157e3..66c3d4fa 100644 --- a/apps/src/pcd_video_player/pcd_video_player.cpp +++ b/apps/src/pcd_video_player/pcd_video_player.cpp @@ -167,11 +167,10 @@ PCDVideoPlayer::selectFolderButtonPressed() QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks); - boost::filesystem::directory_iterator end_itr; + pcl_fs::directory_iterator end_itr; - if (boost::filesystem::is_directory(dir_.toStdString())) { - for (boost::filesystem::directory_iterator itr(dir_.toStdString()); itr != end_itr; - ++itr) { + if (pcl_fs::is_directory(dir_.toStdString())) { + for (pcl_fs::directory_iterator itr(dir_.toStdString()); itr != end_itr; ++itr) { std::string ext = itr->path().extension().string(); if (ext == ".pcd") { pcd_files_.push_back(itr->path().string()); @@ -211,7 +210,7 @@ void PCDVideoPlayer::selectFilesButtonPressed() { pcd_files_.clear(); // Clear the std::vector - pcd_paths_.clear(); // Clear the boost filesystem paths + pcd_paths_.clear(); // Clear the filesystem paths QStringList qt_pcd_files = QFileDialog::getOpenFileNames( this, "Select one or more PCD files to open", "/home", "PointClouds (*.pcd)"); diff --git a/apps/src/render_views_tesselated_sphere.cpp b/apps/src/render_views_tesselated_sphere.cpp index 896b1015..9f6ba71e 100644 --- a/apps/src/render_views_tesselated_sphere.cpp +++ b/apps/src/render_views_tesselated_sphere.cpp @@ -409,7 +409,7 @@ pcl::apps::RenderViewsTesselatedSphere::generateViews() trans_view(x, y) = float(view_transform->GetElement(x, y)); // NOTE: vtk view coordinate system is different than the standard camera - // coordinates (z forward, y down, x right) thus, the fliping in y and z + // coordinates (z forward, y down, x right) thus, the flipping in y and z for (auto& point : cloud->points) { point.getVector4fMap() = trans_view * point.getVector4fMap(); point.y *= -1.0f; @@ -430,7 +430,7 @@ pcl::apps::RenderViewsTesselatedSphere::generateViews() transOCtoCC->Concatenate(cam_tmp->GetViewTransformMatrix()); // NOTE: vtk view coordinate system is different than the standard camera - // coordinates (z forward, y down, x right) thus, the fliping in y and z + // coordinates (z forward, y down, x right) thus, the flipping in y and z vtkSmartPointer cameraSTD = vtkSmartPointer::New(); cameraSTD->Identity(); cameraSTD->SetElement(0, 0, 1); diff --git a/apps/src/stereo_ground_segmentation.cpp b/apps/src/stereo_ground_segmentation.cpp index 0ef2ed02..576705de 100755 --- a/apps/src/stereo_ground_segmentation.cpp +++ b/apps/src/stereo_ground_segmentation.cpp @@ -36,6 +36,7 @@ #include // for computeMeanAndCovarianceMatrix #include #include +#include #include #include #include @@ -50,8 +51,6 @@ #include #include -#include // for directory_iterator - #include using PointT = pcl::PointXYZRGB; @@ -541,13 +540,13 @@ main(int argc, char** argv) // Get list of stereo files std::vector left_images; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr(argv[1]); itr != end_itr; ++itr) { + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr(argv[1]); itr != end_itr; ++itr) { left_images.push_back(itr->path().string()); } sort(left_images.begin(), left_images.end()); std::vector right_images; - for (boost::filesystem::directory_iterator itr(argv[2]); itr != end_itr; ++itr) { + for (pcl_fs::directory_iterator itr(argv[2]); itr != end_itr; ++itr) { right_images.push_back(itr->path().string()); } sort(right_images.begin(), right_images.end()); diff --git a/benchmarks/CMakeLists.txt b/benchmarks/CMakeLists.txt index 95f421db..bf353c70 100644 --- a/benchmarks/CMakeLists.txt +++ b/benchmarks/CMakeLists.txt @@ -1,10 +1,8 @@ set(SUBSYS_NAME benchmarks) set(SUBSYS_DESC "Point cloud library benchmarks") set(SUBSYS_DEPS common filters features search kdtree io) -set(DEFAULT OFF) -set(build TRUE) -set(REASON "Disabled by default") -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") + +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) if(NOT build) return() @@ -25,6 +23,11 @@ PCL_ADD_BENCHMARK(filters_voxel_grid FILES filters/voxel_grid.cpp ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd" "${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd") +PCL_ADD_BENCHMARK(filters_radius_outlier_removal FILES filters/radius_outlier_removal.cpp + LINK_WITH pcl_io pcl_filters + ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd" + "${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd") + PCL_ADD_BENCHMARK(search_radius_search FILES search/radius_search.cpp LINK_WITH pcl_io pcl_search ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd" diff --git a/benchmarks/filters/radius_outlier_removal.cpp b/benchmarks/filters/radius_outlier_removal.cpp new file mode 100644 index 00000000..66aa527d --- /dev/null +++ b/benchmarks/filters/radius_outlier_removal.cpp @@ -0,0 +1,84 @@ +#include +#include // for PCDReader + +#include + +static void +BM_RadiusOutlierRemoval(benchmark::State& state, const std::string& file) +{ + // Perform setup here + pcl::PointCloud::Ptr cloud(new pcl::PointCloud); + pcl::PCDReader reader; + reader.read(file, *cloud); + + pcl::RadiusOutlierRemoval ror; + ror.setInputCloud(cloud); + ror.setRadiusSearch(0.02); + ror.setMinNeighborsInRadius(14); + + pcl::PointCloud::Ptr cloud_voxelized( + new pcl::PointCloud); + for (auto _ : state) { + // This code gets timed + ror.filter(*cloud_voxelized); + } +} + +static void +BM_RadiusOutlierRemovalOpenMP(benchmark::State& state, const std::string& file) +{ + // Perform setup here + pcl::PointCloud::Ptr cloud(new pcl::PointCloud); + pcl::PCDReader reader; + reader.read(file, *cloud); + + pcl::RadiusOutlierRemoval ror; + ror.setInputCloud(cloud); + ror.setRadiusSearch(0.02); + ror.setMinNeighborsInRadius(14); + ror.setNumberOfThreads(0); + + pcl::PointCloud::Ptr cloud_voxelized( + new pcl::PointCloud); + for (auto _ : state) { + // This code gets timed + ror.filter(*cloud_voxelized); + } +} + +int +main(int argc, char** argv) +{ + constexpr int runs = 100; + + if (argc < 3) { + std::cerr + << "No test files given. Please download `table_scene_mug_stereo_textured.pcd` " + "and `milk_cartoon_all_small_clorox.pcd`, and pass their paths to the test." + << std::endl; + return (-1); + } + + benchmark::RegisterBenchmark( + "BM_RadiusOutlierRemoval_milk", &BM_RadiusOutlierRemoval, argv[2]) + ->Unit(benchmark::kMillisecond) + ->Iterations(runs); + + benchmark::RegisterBenchmark( + "BM_RadiusOutlierRemoval_mug", &BM_RadiusOutlierRemoval, argv[1]) + ->Unit(benchmark::kMillisecond) + ->Iterations(runs); + + benchmark::RegisterBenchmark( + "BM_RadiusOutlierRemovalOpenMP_milk", &BM_RadiusOutlierRemovalOpenMP, argv[2]) + ->Unit(benchmark::kMillisecond) + ->Iterations(runs); + + benchmark::RegisterBenchmark( + "BM_RadiusOutlierRemovalOpenMP_mug", &BM_RadiusOutlierRemovalOpenMP, argv[1]) + ->Unit(benchmark::kMillisecond) + ->Iterations(runs); + + benchmark::Initialize(&argc, argv); + benchmark::RunSpecifiedBenchmarks(); +} diff --git a/benchmarks/search/radius_search.cpp b/benchmarks/search/radius_search.cpp index 9641375b..12336a8f 100644 --- a/benchmarks/search/radius_search.cpp +++ b/benchmarks/search/radius_search.cpp @@ -26,7 +26,7 @@ BM_OrganizedNeighborSearch(benchmark::State& state, const std::string& file) int searchIdx = indices[radiusSearchIdx++ % indices.size()]; double searchRadius = 0.1; // or any fixed radius like 0.05 - std::vector k_indices; + pcl::Indices k_indices; std::vector k_sqr_distances; auto start_time = std::chrono::high_resolution_clock::now(); diff --git a/cmake/Modules/FindFLANN.cmake b/cmake/Modules/FindFLANN.cmake index f42bca3f..8633ac81 100644 --- a/cmake/Modules/FindFLANN.cmake +++ b/cmake/Modules/FindFLANN.cmake @@ -104,8 +104,6 @@ find_path(FLANN_INCLUDE_DIR flann/flann.hpp HINTS ${PC_FLANN_INCLUDE_DIRS} - ${FLANN_ROOT} - $ENV{FLANN_ROOT} PATHS $ENV{PROGRAMFILES}/Flann $ENV{PROGRAMW6432}/Flann @@ -118,8 +116,6 @@ find_library(FLANN_LIBRARY_SHARED flann_cpp HINTS ${PC_FLANN_LIBRARY_DIRS} - ${FLANN_ROOT} - $ENV{FLANN_ROOT} PATHS $ENV{PROGRAMFILES}/Flann $ENV{PROGRAMW6432}/Flann @@ -132,8 +128,6 @@ find_library(FLANN_LIBRARY_DEBUG_SHARED flann_cpp-gd flann_cppd HINTS ${PC_FLANN_LIBRARY_DIRS} - ${FLANN_ROOT} - $ENV{FLANN_ROOT} PATHS $ENV{PROGRAMFILES}/Flann $ENV{PROGRAMW6432}/Flann @@ -146,8 +140,6 @@ find_library(FLANN_LIBRARY_STATIC flann_cpp_s HINTS ${PC_FLANN_LIBRARY_DIRS} - ${FLANN_ROOT} - $ENV{FLANN_ROOT} PATHS $ENV{PROGRAMFILES}/Flann $ENV{PROGRAMW6432}/Flann @@ -160,8 +152,6 @@ find_library(FLANN_LIBRARY_DEBUG_STATIC flann_cpp_s-gd flann_cpp_sd HINTS ${PC_FLANN_LIBRARY_DIRS} - ${FLANN_ROOT} - $ENV{FLANN_ROOT} PATHS $ENV{PROGRAMFILES}/Flann $ENV{PROGRAMW6432}/Flann diff --git a/cmake/Modules/FindGLEW.cmake b/cmake/Modules/FindGLEW.cmake deleted file mode 100644 index b0e1defc..00000000 --- a/cmake/Modules/FindGLEW.cmake +++ /dev/null @@ -1,69 +0,0 @@ -# Distributed under the OSI-approved BSD 3-Clause License. See accompanying -# file Copyright.txt or https://cmake.org/licensing for details. - -#.rst: -# FindGLEW -# -------- -# -# Find the OpenGL Extension Wrangler Library (GLEW) -# -# IMPORTED Targets -# ^^^^^^^^^^^^^^^^ -# -# This module defines the :prop_tgt:`IMPORTED` target ``GLEW::GLEW``, -# if GLEW has been found. -# -# Result Variables -# ^^^^^^^^^^^^^^^^ -# -# This module defines the following variables: -# -# :: -# -# GLEW_INCLUDE_DIRS - include directories for GLEW -# GLEW_LIBRARIES - libraries to link against GLEW -# GLEW_FOUND - true if GLEW has been found and can be used - -find_path(GLEW_INCLUDE_DIR GL/glew.h) - -if(NOT GLEW_LIBRARY) - find_library(GLEW_LIBRARY_RELEASE NAMES GLEW glew32 glew glew32s PATH_SUFFIXES lib64 libx32) - find_library(GLEW_LIBRARY_DEBUG NAMES GLEWd glew32d glewd PATH_SUFFIXES lib64) - - include(SelectLibraryConfigurations) - select_library_configurations(GLEW) -endif () - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(GLEW - REQUIRED_VARS GLEW_INCLUDE_DIR GLEW_LIBRARY) - -if(GLEW_FOUND) - set(GLEW_INCLUDE_DIRS ${GLEW_INCLUDE_DIR}) - - if(NOT GLEW_LIBRARIES) - set(GLEW_LIBRARIES ${GLEW_LIBRARY}) - endif() - - if (NOT TARGET GLEW::GLEW) - add_library(GLEW::GLEW UNKNOWN IMPORTED) - set_target_properties(GLEW::GLEW PROPERTIES - INTERFACE_INCLUDE_DIRECTORIES "${GLEW_INCLUDE_DIRS}") - - if(GLEW_LIBRARY_RELEASE) - set_property(TARGET GLEW::GLEW APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE) - set_target_properties(GLEW::GLEW PROPERTIES IMPORTED_LOCATION_RELEASE "${GLEW_LIBRARY_RELEASE}") - endif() - - if(GLEW_LIBRARY_DEBUG) - set_property(TARGET GLEW::GLEW APPEND PROPERTY IMPORTED_CONFIGURATIONS DEBUG) - set_target_properties(GLEW::GLEW PROPERTIES IMPORTED_LOCATION_DEBUG "${GLEW_LIBRARY_DEBUG}") - endif() - - if(NOT GLEW_LIBRARY_RELEASE AND NOT GLEW_LIBRARY_DEBUG) - set_property(TARGET GLEW::GLEW APPEND PROPERTY IMPORTED_LOCATION "${GLEW_LIBRARY}") - endif() - endif() -endif() - -mark_as_advanced(GLEW_INCLUDE_DIR) \ No newline at end of file diff --git a/cmake/Modules/FindGTestSource.cmake b/cmake/Modules/FindGTestSource.cmake index be2bfd1f..d5e14b35 100644 --- a/cmake/Modules/FindGTestSource.cmake +++ b/cmake/Modules/FindGTestSource.cmake @@ -15,15 +15,14 @@ if(APPLE) endif() find_path(GTEST_INCLUDE_DIR gtest/gtest.h - HINTS "${GTEST_ROOT}" "$ENV{GTEST_ROOT}" PATHS "$ENV{PROGRAMFILES}/gtest" "$ENV{PROGRAMW6432}/gtest" PATHS "$ENV{PROGRAMFILES}/gtest-1.7.0" "$ENV{PROGRAMW6432}/gtest-1.7.0" PATH_SUFFIXES gtest include/gtest include) find_path(GTEST_SRC_DIR src/gtest-all.cc - HINTS "${GTEST_ROOT}" "$ENV{GTEST_ROOT}" PATHS "$ENV{PROGRAMFILES}/gtest" "$ENV{PROGRAMW6432}/gtest" PATHS "$ENV{PROGRAMFILES}/gtest-1.7.0" "$ENV{PROGRAMW6432}/gtest-1.7.0" + PATH /usr/src/googletest PATH /usr/src/googletest/googletest PATH /usr/src/gtest PATH_SUFFIXES gtest src/gtest googletest/googletest) diff --git a/cmake/Modules/FindOpenMP.cmake b/cmake/Modules/FindOpenMP.cmake deleted file mode 100644 index b4f6a6a1..00000000 --- a/cmake/Modules/FindOpenMP.cmake +++ /dev/null @@ -1,617 +0,0 @@ -# Distributed under the OSI-approved BSD 3-Clause License. See accompanying -# file Copyright.txt or https://cmake.org/licensing for details. - -#[=======================================================================[.rst: - -FindOpenMP is added to PCL local Cmake modules due to bug in earlier version. -TODO: Can be removed when Cmake 3.11 is required. -See https://gitlab.kitware.com/cmake/cmake/-/issues/20364 - -FindOpenMP ----------- - -Finds Open Multi-Processing (OpenMP) support. - -This module can be used to detect OpenMP support in a compiler. If -the compiler supports OpenMP, the flags required to compile with -OpenMP support are returned in variables for the different languages. -The variables may be empty if the compiler does not need a special -flag to support OpenMP. - -Variables -^^^^^^^^^ - -The module exposes the components ``C``, ``CXX``, and ``Fortran``. -Each of these controls the various languages to search OpenMP support for. - -Depending on the enabled components the following variables will be set: - -``OpenMP_FOUND`` - Variable indicating that OpenMP flags for all requested languages have been found. - If no components are specified, this is true if OpenMP settings for all enabled languages - were detected. -``OpenMP_VERSION`` - Minimal version of the OpenMP standard detected among the requested languages, - or all enabled languages if no components were specified. - -This module will set the following variables per language in your -project, where ```` is one of C, CXX, or Fortran: - -``OpenMP__FOUND`` - Variable indicating if OpenMP support for ```` was detected. -``OpenMP__FLAGS`` - OpenMP compiler flags for ````, separated by spaces. -``OpenMP__INCLUDE_DIRS`` - Directories that must be added to the header search path for ```` - when using OpenMP. - -For linking with OpenMP code written in ````, the following -variables are provided: - -``OpenMP__LIB_NAMES`` - :ref:`;-list ` of libraries for OpenMP programs for ````. -``OpenMP__LIBRARY`` - Location of the individual libraries needed for OpenMP support in ````. -``OpenMP__LIBRARIES`` - A list of libraries needed to link with OpenMP code written in ````. - -Additionally, the module provides :prop_tgt:`IMPORTED` targets: - -``OpenMP::OpenMP_`` - Target for using OpenMP from ````. - -Specifically for Fortran, the module sets the following variables: - -``OpenMP_Fortran_HAVE_OMPLIB_HEADER`` - Boolean indicating if OpenMP is accessible through ``omp_lib.h``. -``OpenMP_Fortran_HAVE_OMPLIB_MODULE`` - Boolean indicating if OpenMP is accessible through the ``omp_lib`` Fortran module. - -The module will also try to provide the OpenMP version variables: - -``OpenMP__SPEC_DATE`` - Date of the OpenMP specification implemented by the ```` compiler. -``OpenMP__VERSION_MAJOR`` - Major version of OpenMP implemented by the ```` compiler. -``OpenMP__VERSION_MINOR`` - Minor version of OpenMP implemented by the ```` compiler. -``OpenMP__VERSION`` - OpenMP version implemented by the ```` compiler. - -The specification date is formatted as given in the OpenMP standard: -``yyyymm`` where ``yyyy`` and ``mm`` represents the year and month of -the OpenMP specification implemented by the ```` compiler. - -For some compilers, it may be necessary to add a header search path to find -the relevant OpenMP headers. This location may be language-specific. Where -this is needed, the module may attempt to find the location, but it can be -provided directly by setting the ``OpenMP__INCLUDE_DIR`` cache variable. -Note that this variable is an _input_ control to the module. Project code -should use the ``OpenMP__INCLUDE_DIRS`` _output_ variable if it needs -to know what include directories are needed. -#]=======================================================================] - -cmake_policy(PUSH) -cmake_policy(SET CMP0012 NEW) # if() recognizes numbers and booleans -cmake_policy(SET CMP0054 NEW) # if() quoted variables not dereferenced -cmake_policy(SET CMP0057 NEW) # if IN_LIST - -function(_OPENMP_FLAG_CANDIDATES LANG) - if(NOT OpenMP_${LANG}_FLAG) - unset(OpenMP_FLAG_CANDIDATES) - - set(OMP_FLAG_GNU "-fopenmp") - set(OMP_FLAG_Clang "-fopenmp=libomp" "-fopenmp=libiomp5" "-fopenmp" "-Xclang -fopenmp") - set(OMP_FLAG_AppleClang "-Xclang -fopenmp") - set(OMP_FLAG_HP "+Oopenmp") - if(WIN32) - set(OMP_FLAG_Intel "-Qopenmp") - elseif(CMAKE_${LANG}_COMPILER_ID STREQUAL "Intel" AND - "${CMAKE_${LANG}_COMPILER_VERSION}" VERSION_LESS "15.0.0.20140528") - set(OMP_FLAG_Intel "-openmp") - else() - set(OMP_FLAG_Intel "-qopenmp") - endif() - set(OMP_FLAG_MSVC "-openmp") - set(OMP_FLAG_PathScale "-openmp") - set(OMP_FLAG_NAG "-openmp") - set(OMP_FLAG_Absoft "-openmp") - set(OMP_FLAG_PGI "-mp") - set(OMP_FLAG_Flang "-fopenmp") - set(OMP_FLAG_SunPro "-xopenmp") - set(OMP_FLAG_XL "-qsmp=omp") - # Cray compiler activate OpenMP with -h omp, which is enabled by default. - set(OMP_FLAG_Cray " " "-h omp") - - # If we know the correct flags, use those - if(DEFINED OMP_FLAG_${CMAKE_${LANG}_COMPILER_ID}) - set(OpenMP_FLAG_CANDIDATES "${OMP_FLAG_${CMAKE_${LANG}_COMPILER_ID}}") - # Fall back to reasonable default tries otherwise - else() - set(OpenMP_FLAG_CANDIDATES "-openmp" "-fopenmp" "-mp" " ") - endif() - set(OpenMP_${LANG}_FLAG_CANDIDATES "${OpenMP_FLAG_CANDIDATES}" PARENT_SCOPE) - else() - set(OpenMP_${LANG}_FLAG_CANDIDATES "${OpenMP_${LANG}_FLAG}" PARENT_SCOPE) - endif() -endfunction() - -# sample openmp source code to test -set(OpenMP_C_CXX_TEST_SOURCE -" -#include -int main(void) { -#ifdef _OPENMP - omp_get_max_threads(); - return 0; -#elif defined(__HIP_DEVICE_COMPILE__) - return 0; -#else - breaks_on_purpose -#endif -} -") - -# in Fortran, an implementation may provide an omp_lib.h header -# or omp_lib module, or both (OpenMP standard, section 3.1) -# Furthermore !$ is the Fortran equivalent of #ifdef _OPENMP (OpenMP standard, 2.2.2) -# Without the conditional compilation, some compilers (e.g. PGI) might compile OpenMP code -# while not actually enabling OpenMP, building code sequentially -set(OpenMP_Fortran_TEST_SOURCE - " - program test - @OpenMP_Fortran_INCLUDE_LINE@ - !$ integer :: n - n = omp_get_num_threads() - end program test - " -) - -function(_OPENMP_WRITE_SOURCE_FILE LANG SRC_FILE_CONTENT_VAR SRC_FILE_NAME SRC_FILE_FULLPATH) - set(WORK_DIR ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindOpenMP) - if("${LANG}" STREQUAL "C") - set(SRC_FILE "${WORK_DIR}/${SRC_FILE_NAME}.c") - file(WRITE "${SRC_FILE}" "${OpenMP_C_CXX_${SRC_FILE_CONTENT_VAR}}") - elseif("${LANG}" STREQUAL "CXX") - set(SRC_FILE "${WORK_DIR}/${SRC_FILE_NAME}.cpp") - file(WRITE "${SRC_FILE}" "${OpenMP_C_CXX_${SRC_FILE_CONTENT_VAR}}") - elseif("${LANG}" STREQUAL "Fortran") - set(SRC_FILE "${WORK_DIR}/${SRC_FILE_NAME}.f90") - file(WRITE "${SRC_FILE}_in" "${OpenMP_Fortran_${SRC_FILE_CONTENT_VAR}}") - configure_file("${SRC_FILE}_in" "${SRC_FILE}" @ONLY) - endif() - set(${SRC_FILE_FULLPATH} "${SRC_FILE}" PARENT_SCOPE) -endfunction() - -include(CMakeParseImplicitLinkInfo) - -function(_OPENMP_GET_FLAGS LANG FLAG_MODE OPENMP_FLAG_VAR OPENMP_LIB_NAMES_VAR) - _OPENMP_FLAG_CANDIDATES("${LANG}") - _OPENMP_WRITE_SOURCE_FILE("${LANG}" "TEST_SOURCE" OpenMPTryFlag _OPENMP_TEST_SRC) - - unset(OpenMP_VERBOSE_COMPILE_OPTIONS) - separate_arguments(OpenMP_VERBOSE_OPTIONS NATIVE_COMMAND "${CMAKE_${LANG}_VERBOSE_FLAG}") - foreach(_VERBOSE_OPTION IN LISTS OpenMP_VERBOSE_OPTIONS) - if(NOT _VERBOSE_OPTION MATCHES "^-Wl,") - list(APPEND OpenMP_VERBOSE_COMPILE_OPTIONS ${_VERBOSE_OPTION}) - endif() - endforeach() - - foreach(OPENMP_FLAG IN LISTS OpenMP_${LANG}_FLAG_CANDIDATES) - set(OPENMP_FLAGS_TEST "${OPENMP_FLAG}") - if(OpenMP_VERBOSE_COMPILE_OPTIONS) - string(APPEND OPENMP_FLAGS_TEST " ${OpenMP_VERBOSE_COMPILE_OPTIONS}") - endif() - string(REGEX REPLACE "[-/=+]" "" OPENMP_PLAIN_FLAG "${OPENMP_FLAG}") - try_compile( OpenMP_COMPILE_RESULT_${FLAG_MODE}_${OPENMP_PLAIN_FLAG} ${CMAKE_BINARY_DIR} ${_OPENMP_TEST_SRC} - CMAKE_FLAGS "-DCOMPILE_DEFINITIONS:STRING=${OPENMP_FLAGS_TEST}" - LINK_LIBRARIES ${CMAKE_${LANG}_VERBOSE_FLAG} - OUTPUT_VARIABLE OpenMP_TRY_COMPILE_OUTPUT - ) - - if(OpenMP_COMPILE_RESULT_${FLAG_MODE}_${OPENMP_PLAIN_FLAG}) - set("${OPENMP_FLAG_VAR}" "${OPENMP_FLAG}" PARENT_SCOPE) - - if(CMAKE_${LANG}_VERBOSE_FLAG) - unset(OpenMP_${LANG}_IMPLICIT_LIBRARIES) - unset(OpenMP_${LANG}_IMPLICIT_LINK_DIRS) - unset(OpenMP_${LANG}_IMPLICIT_FWK_DIRS) - unset(OpenMP_${LANG}_LOG_VAR) - - file(APPEND ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeOutput.log - "Detecting ${LANG} OpenMP compiler ABI info compiled with the following output:\n${OpenMP_TRY_COMPILE_OUTPUT}\n\n") - - cmake_parse_implicit_link_info("${OpenMP_TRY_COMPILE_OUTPUT}" - OpenMP_${LANG}_IMPLICIT_LIBRARIES - OpenMP_${LANG}_IMPLICIT_LINK_DIRS - OpenMP_${LANG}_IMPLICIT_FWK_DIRS - OpenMP_${LANG}_LOG_VAR - "${CMAKE_${LANG}_IMPLICIT_OBJECT_REGEX}" - ) - - file(APPEND ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeOutput.log - "Parsed ${LANG} OpenMP implicit link information from above output:\n${OpenMP_${LANG}_LOG_VAR}\n\n") - - unset(_OPENMP_LIB_NAMES) - foreach(_OPENMP_IMPLICIT_LIB IN LISTS OpenMP_${LANG}_IMPLICIT_LIBRARIES) - get_filename_component(_OPENMP_IMPLICIT_LIB_DIR "${_OPENMP_IMPLICIT_LIB}" DIRECTORY) - get_filename_component(_OPENMP_IMPLICIT_LIB_NAME "${_OPENMP_IMPLICIT_LIB}" NAME) - get_filename_component(_OPENMP_IMPLICIT_LIB_PLAIN "${_OPENMP_IMPLICIT_LIB}" NAME_WE) - string(REGEX REPLACE "([][+.*?()^$])" "\\\\\\1" _OPENMP_IMPLICIT_LIB_PLAIN_ESC "${_OPENMP_IMPLICIT_LIB_PLAIN}") - string(REGEX REPLACE "([][+.*?()^$])" "\\\\\\1" _OPENMP_IMPLICIT_LIB_PATH_ESC "${_OPENMP_IMPLICIT_LIB}") - if(NOT ( "${_OPENMP_IMPLICIT_LIB}" IN_LIST CMAKE_${LANG}_IMPLICIT_LINK_LIBRARIES - OR "${CMAKE_${LANG}_STANDARD_LIBRARIES}" MATCHES "(^| )(-Wl,)?(-l)?(${_OPENMP_IMPLICIT_LIB_PLAIN_ESC}|${_OPENMP_IMPLICIT_LIB_PATH_ESC})( |$)" - OR "${CMAKE_${LANG}_LINK_EXECUTABLE}" MATCHES "(^| )(-Wl,)?(-l)?(${_OPENMP_IMPLICIT_LIB_PLAIN_ESC}|${_OPENMP_IMPLICIT_LIB_PATH_ESC})( |$)" ) ) - if(_OPENMP_IMPLICIT_LIB_DIR) - set(OpenMP_${_OPENMP_IMPLICIT_LIB_PLAIN}_LIBRARY "${_OPENMP_IMPLICIT_LIB}" CACHE FILEPATH - "Path to the ${_OPENMP_IMPLICIT_LIB_PLAIN} library for OpenMP") - else() - find_library(OpenMP_${_OPENMP_IMPLICIT_LIB_PLAIN}_LIBRARY - NAMES "${_OPENMP_IMPLICIT_LIB_NAME}" - DOC "Path to the ${_OPENMP_IMPLICIT_LIB_PLAIN} library for OpenMP" - HINTS ${OpenMP_${LANG}_IMPLICIT_LINK_DIRS} - CMAKE_FIND_ROOT_PATH_BOTH - NO_DEFAULT_PATH - ) - endif() - mark_as_advanced(OpenMP_${_OPENMP_IMPLICIT_LIB_PLAIN}_LIBRARY) - list(APPEND _OPENMP_LIB_NAMES ${_OPENMP_IMPLICIT_LIB_PLAIN}) - endif() - endforeach() - set("${OPENMP_LIB_NAMES_VAR}" "${_OPENMP_LIB_NAMES}" PARENT_SCOPE) - else() - # We do not know how to extract implicit OpenMP libraries for this compiler. - # Assume that it handles them automatically, e.g. the Intel Compiler on - # Windows should put the dependency in its object files. - set("${OPENMP_LIB_NAMES_VAR}" "" PARENT_SCOPE) - endif() - break() - elseif(CMAKE_${LANG}_COMPILER_ID STREQUAL "AppleClang" - AND CMAKE_${LANG}_COMPILER_VERSION VERSION_GREATER_EQUAL "7.0") - - # Check for separate OpenMP library on AppleClang 7+ - find_library(OpenMP_libomp_LIBRARY - NAMES omp gomp iomp5 - HINTS ${CMAKE_${LANG}_IMPLICIT_LINK_DIRECTORIES} - ) - mark_as_advanced(OpenMP_libomp_LIBRARY) - - if(OpenMP_libomp_LIBRARY) - # Try without specifying include directory first. We only want to - # explicitly add a search path if the header can't be found on the - # default header search path already. - try_compile( OpenMP_COMPILE_RESULT_${FLAG_MODE}_${OPENMP_PLAIN_FLAG} ${CMAKE_BINARY_DIR} ${_OPENMP_TEST_SRC} - CMAKE_FLAGS "-DCOMPILE_DEFINITIONS:STRING=${OPENMP_FLAGS_TEST}" - LINK_LIBRARIES ${CMAKE_${LANG}_VERBOSE_FLAG} ${OpenMP_libomp_LIBRARY} - OUTPUT_VARIABLE OpenMP_TRY_COMPILE_OUTPUT - ) - if(NOT OpenMP_COMPILE_RESULT_${FLAG_MODE}_${OPENMP_PLAIN_FLAG}) - find_path(OpenMP_${LANG}_INCLUDE_DIR omp.h) - mark_as_advanced(OpenMP_${LANG}_INCLUDE_DIR) - set(OpenMP_${LANG}_INCLUDE_DIR "${OpenMP_${LANG}_INCLUDE_DIR}" PARENT_SCOPE) - if(OpenMP_${LANG}_INCLUDE_DIR) - try_compile( OpenMP_COMPILE_RESULT_${FLAG_MODE}_${OPENMP_PLAIN_FLAG} ${CMAKE_BINARY_DIR} ${_OPENMP_TEST_SRC} - CMAKE_FLAGS "-DCOMPILE_DEFINITIONS:STRING=${OPENMP_FLAGS_TEST}" - "-DINCLUDE_DIRECTORIES:STRING=${OpenMP_${LANG}_INCLUDE_DIR}" - LINK_LIBRARIES ${CMAKE_${LANG}_VERBOSE_FLAG} ${OpenMP_libomp_LIBRARY} - OUTPUT_VARIABLE OpenMP_TRY_COMPILE_OUTPUT - ) - endif() - endif() - if(OpenMP_COMPILE_RESULT_${FLAG_MODE}_${OPENMP_PLAIN_FLAG}) - set("${OPENMP_FLAG_VAR}" "${OPENMP_FLAG}" PARENT_SCOPE) - set("${OPENMP_LIB_NAMES_VAR}" "libomp" PARENT_SCOPE) - break() - endif() - endif() - elseif(CMAKE_${LANG}_COMPILER_ID STREQUAL "Clang" AND WIN32) - # Check for separate OpenMP library for Clang on Windows - find_library(OpenMP_libomp_LIBRARY - NAMES libomp libgomp libiomp5 - HINTS ${CMAKE_${LANG}_IMPLICIT_LINK_DIRECTORIES} - ) - mark_as_advanced(OpenMP_libomp_LIBRARY) - if(OpenMP_libomp_LIBRARY) - try_compile( OpenMP_COMPILE_RESULT_${FLAG_MODE}_${OPENMP_PLAIN_FLAG} ${CMAKE_BINARY_DIR} ${_OPENMP_TEST_SRC} - CMAKE_FLAGS "-DCOMPILE_DEFINITIONS:STRING=${OPENMP_FLAGS_TEST}" - LINK_LIBRARIES ${CMAKE_${LANG}_VERBOSE_FLAG} ${OpenMP_libomp_LIBRARY} - OUTPUT_VARIABLE OpenMP_TRY_COMPILE_OUTPUT - ) - if(OpenMP_COMPILE_RESULT_${FLAG_MODE}_${OPENMP_PLAIN_FLAG}) - set("${OPENMP_FLAG_VAR}" "${OPENMP_FLAG}" PARENT_SCOPE) - set("${OPENMP_LIB_NAMES_VAR}" "libomp" PARENT_SCOPE) - break() - endif() - endif() - else() - file(APPEND ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeError.log - "Detecting ${LANG} OpenMP failed with the following output:\n${OpenMP_TRY_COMPILE_OUTPUT}\n\n") - endif() - set("${OPENMP_LIB_NAMES_VAR}" "NOTFOUND" PARENT_SCOPE) - set("${OPENMP_FLAG_VAR}" "NOTFOUND" PARENT_SCOPE) - endforeach() - - unset(OpenMP_VERBOSE_COMPILE_OPTIONS) -endfunction() - -set(OpenMP_C_CXX_CHECK_VERSION_SOURCE -" -#include -#include -const char ompver_str[] = { 'I', 'N', 'F', 'O', ':', 'O', 'p', 'e', 'n', 'M', - 'P', '-', 'd', 'a', 't', 'e', '[', - ('0' + ((_OPENMP/100000)%10)), - ('0' + ((_OPENMP/10000)%10)), - ('0' + ((_OPENMP/1000)%10)), - ('0' + ((_OPENMP/100)%10)), - ('0' + ((_OPENMP/10)%10)), - ('0' + ((_OPENMP/1)%10)), - ']', '\\0' }; -int main(void) -{ - puts(ompver_str); - return 0; -} -") - -set(OpenMP_Fortran_CHECK_VERSION_SOURCE -" - program omp_ver - @OpenMP_Fortran_INCLUDE_LINE@ - integer, parameter :: zero = ichar('0') - integer, parameter :: ompv = openmp_version - character, dimension(24), parameter :: ompver_str =& - (/ 'I', 'N', 'F', 'O', ':', 'O', 'p', 'e', 'n', 'M', 'P', '-',& - 'd', 'a', 't', 'e', '[',& - char(zero + mod(ompv/100000, 10)),& - char(zero + mod(ompv/10000, 10)),& - char(zero + mod(ompv/1000, 10)),& - char(zero + mod(ompv/100, 10)),& - char(zero + mod(ompv/10, 10)),& - char(zero + mod(ompv/1, 10)), ']' /) - print *, ompver_str - end program omp_ver -") - -function(_OPENMP_GET_SPEC_DATE LANG SPEC_DATE) - _OPENMP_WRITE_SOURCE_FILE("${LANG}" "CHECK_VERSION_SOURCE" OpenMPCheckVersion _OPENMP_TEST_SRC) - - unset(_includeDirFlags) - if(OpenMP_${LANG}_INCLUDE_DIR) - set(_includeDirFlags "-DINCLUDE_DIRECTORIES:STRING=${OpenMP_${LANG}_INCLUDE_DIR}") - endif() - - set(BIN_FILE "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindOpenMP/ompver_${LANG}.bin") - string(REGEX REPLACE "[-/=+]" "" OPENMP_PLAIN_FLAG "${OPENMP_FLAG}") - try_compile(OpenMP_SPECTEST_${LANG}_${OPENMP_PLAIN_FLAG} "${CMAKE_BINARY_DIR}" "${_OPENMP_TEST_SRC}" - CMAKE_FLAGS "-DCOMPILE_DEFINITIONS:STRING=${OpenMP_${LANG}_FLAGS}" ${_includeDirFlags} - COPY_FILE ${BIN_FILE} - OUTPUT_VARIABLE OpenMP_TRY_COMPILE_OUTPUT) - - if(${OpenMP_SPECTEST_${LANG}_${OPENMP_PLAIN_FLAG}}) - file(STRINGS ${BIN_FILE} specstr LIMIT_COUNT 1 REGEX "INFO:OpenMP-date") - set(regex_spec_date ".*INFO:OpenMP-date\\[0*([^]]*)\\].*") - if("${specstr}" MATCHES "${regex_spec_date}") - set(${SPEC_DATE} "${CMAKE_MATCH_1}" PARENT_SCOPE) - endif() - else() - file(APPEND ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeError.log - "Detecting ${LANG} OpenMP version failed with the following output:\n${OpenMP_TRY_COMPILE_OUTPUT}\n\n") - endif() -endfunction() - -macro(_OPENMP_SET_VERSION_BY_SPEC_DATE LANG) - set(OpenMP_SPEC_DATE_MAP - # Preview versions - "201611=5.0" # OpenMP 5.0 preview 1 - # Combined versions, 2.5 onwards - "201811=5.0" - "201511=4.5" - "201307=4.0" - "201107=3.1" - "200805=3.0" - "200505=2.5" - # C/C++ version 2.0 - "200203=2.0" - # Fortran version 2.0 - "200011=2.0" - # Fortran version 1.1 - "199911=1.1" - # C/C++ version 1.0 (there's no 1.1 for C/C++) - "199810=1.0" - # Fortran version 1.0 - "199710=1.0" - ) - if(MSVC) - list(APPEND OpenMP_SPEC_DATE_MAP "2019=2.0") - endif() - - if(OpenMP_${LANG}_SPEC_DATE) - string(REGEX MATCHALL "${OpenMP_${LANG}_SPEC_DATE}=([0-9]+)\\.([0-9]+)" _version_match "${OpenMP_SPEC_DATE_MAP}") - else() - set(_version_match "") - endif() - if(NOT _version_match STREQUAL "") - set(OpenMP_${LANG}_VERSION_MAJOR ${CMAKE_MATCH_1}) - set(OpenMP_${LANG}_VERSION_MINOR ${CMAKE_MATCH_2}) - set(OpenMP_${LANG}_VERSION "${OpenMP_${LANG}_VERSION_MAJOR}.${OpenMP_${LANG}_VERSION_MINOR}") - else() - unset(OpenMP_${LANG}_VERSION_MAJOR) - unset(OpenMP_${LANG}_VERSION_MINOR) - unset(OpenMP_${LANG}_VERSION) - endif() - unset(_version_match) - unset(OpenMP_SPEC_DATE_MAP) -endmacro() - -foreach(LANG IN ITEMS C CXX) - if(CMAKE_${LANG}_COMPILER_LOADED) - if(NOT DEFINED OpenMP_${LANG}_FLAGS OR "${OpenMP_${LANG}_FLAGS}" STREQUAL "NOTFOUND" - OR NOT DEFINED OpenMP_${LANG}_LIB_NAMES OR "${OpenMP_${LANG}_LIB_NAMES}" STREQUAL "NOTFOUND") - _OPENMP_GET_FLAGS("${LANG}" "${LANG}" OpenMP_${LANG}_FLAGS_WORK OpenMP_${LANG}_LIB_NAMES_WORK) - set(OpenMP_${LANG}_FLAGS "${OpenMP_${LANG}_FLAGS_WORK}" - CACHE STRING "${LANG} compiler flags for OpenMP parallelization" FORCE) - set(OpenMP_${LANG}_LIB_NAMES "${OpenMP_${LANG}_LIB_NAMES_WORK}" - CACHE STRING "${LANG} compiler libraries for OpenMP parallelization" FORCE) - mark_as_advanced(OpenMP_${LANG}_FLAGS OpenMP_${LANG}_LIB_NAMES) - endif() - endif() -endforeach() - -if(CMAKE_Fortran_COMPILER_LOADED) - if(NOT DEFINED OpenMP_Fortran_FLAGS OR "${OpenMP_Fortran_FLAGS}" STREQUAL "NOTFOUND" - OR NOT DEFINED OpenMP_Fortran_LIB_NAMES OR "${OpenMP_Fortran_LIB_NAMES}" STREQUAL "NOTFOUND" - OR NOT DEFINED OpenMP_Fortran_HAVE_OMPLIB_MODULE) - set(OpenMP_Fortran_INCLUDE_LINE "use omp_lib\n implicit none") - _OPENMP_GET_FLAGS("Fortran" "FortranHeader" OpenMP_Fortran_FLAGS_WORK OpenMP_Fortran_LIB_NAMES_WORK) - if(OpenMP_Fortran_FLAGS_WORK) - set(OpenMP_Fortran_HAVE_OMPLIB_MODULE TRUE CACHE BOOL INTERNAL "") - endif() - - set(OpenMP_Fortran_FLAGS "${OpenMP_Fortran_FLAGS_WORK}" - CACHE STRING "Fortran compiler flags for OpenMP parallelization") - set(OpenMP_Fortran_LIB_NAMES "${OpenMP_Fortran_LIB_NAMES_WORK}" - CACHE STRING "Fortran compiler libraries for OpenMP parallelization") - mark_as_advanced(OpenMP_Fortran_FLAGS OpenMP_Fortran_LIB_NAMES) - endif() - - if(NOT DEFINED OpenMP_Fortran_FLAGS OR "${OpenMP_Fortran_FLAGS}" STREQUAL "NOTFOUND" - OR NOT DEFINED OpenMP_Fortran_LIB_NAMES OR "${OpenMP_Fortran_LIB_NAMES}" STREQUAL "NOTFOUND" - OR NOT DEFINED OpenMP_Fortran_HAVE_OMPLIB_HEADER) - set(OpenMP_Fortran_INCLUDE_LINE "implicit none\n include 'omp_lib.h'") - _OPENMP_GET_FLAGS("Fortran" "FortranModule" OpenMP_Fortran_FLAGS_WORK OpenMP_Fortran_LIB_NAMES_WORK) - if(OpenMP_Fortran_FLAGS_WORK) - set(OpenMP_Fortran_HAVE_OMPLIB_HEADER TRUE CACHE BOOL INTERNAL "") - endif() - - set(OpenMP_Fortran_FLAGS "${OpenMP_Fortran_FLAGS_WORK}" - CACHE STRING "Fortran compiler flags for OpenMP parallelization") - - set(OpenMP_Fortran_LIB_NAMES "${OpenMP_Fortran_LIB_NAMES}" - CACHE STRING "Fortran compiler libraries for OpenMP parallelization") - endif() - - if(OpenMP_Fortran_HAVE_OMPLIB_MODULE) - set(OpenMP_Fortran_INCLUDE_LINE "use omp_lib\n implicit none") - else() - set(OpenMP_Fortran_INCLUDE_LINE "implicit none\n include 'omp_lib.h'") - endif() -endif() - -if(NOT OpenMP_FIND_COMPONENTS) - set(OpenMP_FINDLIST C CXX Fortran) -else() - set(OpenMP_FINDLIST ${OpenMP_FIND_COMPONENTS}) -endif() - -unset(_OpenMP_MIN_VERSION) - -include(FindPackageHandleStandardArgs) - -foreach(LANG IN LISTS OpenMP_FINDLIST) - if(CMAKE_${LANG}_COMPILER_LOADED) - if (NOT OpenMP_${LANG}_SPEC_DATE AND OpenMP_${LANG}_FLAGS) - _OPENMP_GET_SPEC_DATE("${LANG}" OpenMP_${LANG}_SPEC_DATE_INTERNAL) - set(OpenMP_${LANG}_SPEC_DATE "${OpenMP_${LANG}_SPEC_DATE_INTERNAL}" CACHE - INTERNAL "${LANG} compiler's OpenMP specification date") - endif() - _OPENMP_SET_VERSION_BY_SPEC_DATE("${LANG}") - - set(OpenMP_${LANG}_FIND_QUIETLY ${OpenMP_FIND_QUIETLY}) - set(OpenMP_${LANG}_FIND_REQUIRED ${OpenMP_FIND_REQUIRED}) - set(OpenMP_${LANG}_FIND_VERSION ${OpenMP_FIND_VERSION}) - set(OpenMP_${LANG}_FIND_VERSION_EXACT ${OpenMP_FIND_VERSION_EXACT}) - - set(_OPENMP_${LANG}_REQUIRED_VARS OpenMP_${LANG}_FLAGS) - if("${OpenMP_${LANG}_LIB_NAMES}" STREQUAL "NOTFOUND") - set(_OPENMP_${LANG}_REQUIRED_LIB_VARS OpenMP_${LANG}_LIB_NAMES) - else() - foreach(_OPENMP_IMPLICIT_LIB IN LISTS OpenMP_${LANG}_LIB_NAMES) - list(APPEND _OPENMP_${LANG}_REQUIRED_LIB_VARS OpenMP_${_OPENMP_IMPLICIT_LIB}_LIBRARY) - endforeach() - endif() - - if (CMAKE_VERSION VERSION_GREATER_EQUAL "3.17") - find_package_handle_standard_args(OpenMP_${LANG} - NAME_MISMATCHED - REQUIRED_VARS OpenMP_${LANG}_FLAGS ${_OPENMP_${LANG}_REQUIRED_LIB_VARS} - VERSION_VAR OpenMP_${LANG}_VERSION - ) - else() - find_package_handle_standard_args(OpenMP_${LANG} - REQUIRED_VARS OpenMP_${LANG}_FLAGS ${_OPENMP_${LANG}_REQUIRED_LIB_VARS} - VERSION_VAR OpenMP_${LANG}_VERSION - ) - endif() - - if(OpenMP_${LANG}_FOUND) - if(DEFINED OpenMP_${LANG}_VERSION) - if(NOT _OpenMP_MIN_VERSION OR _OpenMP_MIN_VERSION VERSION_GREATER OpenMP_${LANG}_VERSION) - set(_OpenMP_MIN_VERSION OpenMP_${LANG}_VERSION) - endif() - endif() - set(OpenMP_${LANG}_LIBRARIES "") - foreach(_OPENMP_IMPLICIT_LIB IN LISTS OpenMP_${LANG}_LIB_NAMES) - list(APPEND OpenMP_${LANG}_LIBRARIES "${OpenMP_${_OPENMP_IMPLICIT_LIB}_LIBRARY}") - endforeach() - if(OpenMP_${LANG}_INCLUDE_DIR) - set(OpenMP_${LANG}_INCLUDE_DIRS ${OpenMP_${LANG}_INCLUDE_DIR}) - else() - set(OpenMP_${LANG}_INCLUDE_DIRS "") - endif() - - if(NOT TARGET OpenMP::OpenMP_${LANG}) - add_library(OpenMP::OpenMP_${LANG} INTERFACE IMPORTED) - endif() - if(OpenMP_${LANG}_FLAGS) - separate_arguments(_OpenMP_${LANG}_OPTIONS NATIVE_COMMAND "${OpenMP_${LANG}_FLAGS}") - set_property(TARGET OpenMP::OpenMP_${LANG} PROPERTY - INTERFACE_COMPILE_OPTIONS "$<$:${_OpenMP_${LANG}_OPTIONS}>") - unset(_OpenMP_${LANG}_OPTIONS) - endif() - if(OpenMP_${LANG}_INCLUDE_DIRS) - set_property(TARGET OpenMP::OpenMP_${LANG} PROPERTY - INTERFACE_INCLUDE_DIRECTORIES "$") - endif() - if(OpenMP_${LANG}_LIBRARIES) - set_property(TARGET OpenMP::OpenMP_${LANG} PROPERTY - INTERFACE_LINK_LIBRARIES "${OpenMP_${LANG}_LIBRARIES}") - endif() - endif() - endif() -endforeach() - -unset(_OpenMP_REQ_VARS) -foreach(LANG IN ITEMS C CXX Fortran) - if((NOT OpenMP_FIND_COMPONENTS AND CMAKE_${LANG}_COMPILER_LOADED) OR LANG IN_LIST OpenMP_FIND_COMPONENTS) - list(APPEND _OpenMP_REQ_VARS "OpenMP_${LANG}_FOUND") - endif() -endforeach() - -find_package_handle_standard_args(OpenMP - REQUIRED_VARS ${_OpenMP_REQ_VARS} - VERSION_VAR ${_OpenMP_MIN_VERSION} - HANDLE_COMPONENTS) - -set(OPENMP_FOUND ${OpenMP_FOUND}) - -if(CMAKE_Fortran_COMPILER_LOADED AND OpenMP_Fortran_FOUND) - if(NOT DEFINED OpenMP_Fortran_HAVE_OMPLIB_MODULE) - set(OpenMP_Fortran_HAVE_OMPLIB_MODULE FALSE CACHE BOOL INTERNAL "") - endif() - if(NOT DEFINED OpenMP_Fortran_HAVE_OMPLIB_HEADER) - set(OpenMP_Fortran_HAVE_OMPLIB_HEADER FALSE CACHE BOOL INTERNAL "") - endif() -endif() - -if(NOT ( CMAKE_C_COMPILER_LOADED OR CMAKE_CXX_COMPILER_LOADED OR CMAKE_Fortran_COMPILER_LOADED )) - message(SEND_ERROR "FindOpenMP requires the C, CXX or Fortran languages to be enabled") -endif() - -unset(OpenMP_C_CXX_TEST_SOURCE) -unset(OpenMP_Fortran_TEST_SOURCE) -unset(OpenMP_C_CXX_CHECK_VERSION_SOURCE) -unset(OpenMP_Fortran_CHECK_VERSION_SOURCE) -unset(OpenMP_Fortran_INCLUDE_LINE) - -cmake_policy(POP) diff --git a/cmake/Modules/FindOpenNI.cmake b/cmake/Modules/FindOpenNI.cmake index e86ab40b..5f5ab953 100644 --- a/cmake/Modules/FindOpenNI.cmake +++ b/cmake/Modules/FindOpenNI.cmake @@ -27,8 +27,6 @@ find_path(OPENNI_INCLUDE_DIR XnStatus.h /usr/include/openni /usr/include/ni /opt/local/include/ni - "${OPENNI_ROOT}" - "$ENV{OPENNI_ROOT}" PATHS "$ENV{OPEN_NI_INSTALL_PATH${OPENNI_SUFFIX}}/Include" PATH_SUFFIXES openni include Include) @@ -38,8 +36,6 @@ find_library(OPENNI_LIBRARY HINTS ${PC_OPENNI_LIBDIR} ${PC_OPENNI_LIBRARY_DIRS} /usr/lib - "${OPENNI_ROOT}" - "$ENV{OPENNI_ROOT}" PATHS "$ENV{OPEN_NI_LIB${OPENNI_SUFFIX}}" PATH_SUFFIXES lib Lib Lib64) diff --git a/cmake/Modules/FindQhull.cmake b/cmake/Modules/FindQhull.cmake index 5368c1dc..bd68796c 100755 --- a/cmake/Modules/FindQhull.cmake +++ b/cmake/Modules/FindQhull.cmake @@ -83,7 +83,7 @@ endif() find_file(QHULL_HEADER NAMES libqhull_r.h - HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}" "${QHULL_INCLUDE_DIR}" + HINTS "${QHULL_INCLUDE_DIR}" PATHS "$ENV{PROGRAMFILES}/QHull" "$ENV{PROGRAMW6432}/QHull" PATH_SUFFIXES qhull_r src/libqhull_r libqhull_r include) @@ -103,25 +103,21 @@ endif() find_library(QHULL_LIBRARY_SHARED NAMES qhull_r qhull - HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}" PATHS "$ENV{PROGRAMFILES}/QHull" "$ENV{PROGRAMW6432}/QHull" PATH_SUFFIXES project build bin lib) find_library(QHULL_LIBRARY_DEBUG NAMES qhull_rd qhull_d - HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}" PATHS "$ENV{PROGRAMFILES}/QHull" "$ENV{PROGRAMW6432}/QHull" PATH_SUFFIXES project build bin lib debug/lib) find_library(QHULL_LIBRARY_STATIC NAMES qhullstatic_r - HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}" PATHS "$ENV{PROGRAMFILES}/QHull" "$ENV{PROGRAMW6432}/QHull" PATH_SUFFIXES project build bin lib) find_library(QHULL_LIBRARY_DEBUG_STATIC NAMES qhullstatic_rd - HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}" PATHS "$ENV{PROGRAMFILES}/QHull" "$ENV{PROGRAMW6432}/QHull" PATH_SUFFIXES project build bin lib debug/lib) diff --git a/cmake/Modules/FindSphinx.cmake b/cmake/Modules/FindSphinx.cmake index 61f5521c..6c5571aa 100644 --- a/cmake/Modules/FindSphinx.cmake +++ b/cmake/Modules/FindSphinx.cmake @@ -8,10 +8,9 @@ find_package(PkgConfig QUIET) pkg_check_modules(PC_SPHINX sphinx-build) -find_package(PythonInterp) - -if(PYTHONINTERP_FOUND) - get_filename_component(PYTHON_DIR "${PYTHON_EXECUTABLE}" PATH) +find_package(Python) +if(Python_Interpreter_FOUND) + get_filename_component(PYTHON_DIR "${Python_EXECUTABLE}" PATH) endif() find_program(SPHINX_EXECUTABLE NAMES sphinx-build diff --git a/cmake/Modules/NSIS.template.in b/cmake/Modules/NSIS.template.in index e344c8d8..a1a1034e 100644 --- a/cmake/Modules/NSIS.template.in +++ b/cmake/Modules/NSIS.template.in @@ -386,7 +386,7 @@ Function un.RemoveFromPath FunctionEnd ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; -; Uninstall sutff +; Uninstall stuff ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ########################################### diff --git a/cmake/pcl_find_boost.cmake b/cmake/pcl_find_boost.cmake index 770607f8..5d5c7859 100644 --- a/cmake/pcl_find_boost.cmake +++ b/cmake/pcl_find_boost.cmake @@ -13,21 +13,20 @@ else() endif() endif() -set(Boost_ADDITIONAL_VERSIONS - "1.84.0" "1.84" "1.83.0" "1.83" "1.82.0" "1.82" "1.81.0" "1.81" "1.80.0" "1.80" - "1.79.0" "1.79" "1.78.0" "1.78" "1.77.0" "1.77" "1.76.0" "1.76" "1.75.0" "1.75" - "1.74.0" "1.74" "1.73.0" "1.73" "1.72.0" "1.72" "1.71.0" "1.71" "1.70.0" "1.70" - "1.69.0" "1.69" "1.68.0" "1.68" "1.67.0" "1.67" "1.66.0" "1.66" "1.65.1" "1.65.0" "1.65") - -# Optional boost modules -find_package(Boost 1.65.0 QUIET COMPONENTS serialization mpi) -if(Boost_SERIALIZATION_FOUND) - set(BOOST_SERIALIZATION_FOUND TRUE) +if(CMAKE_CXX_STANDARD MATCHES "14") + # Optional boost modules + set(BOOST_OPTIONAL_MODULES serialization mpi) + # Required boost modules + set(BOOST_REQUIRED_MODULES filesystem iostreams system) +else() + # Optional boost modules + set(BOOST_OPTIONAL_MODULES filesystem serialization mpi) + # Required boost modules + set(BOOST_REQUIRED_MODULES iostreams system) endif() -# Required boost modules -set(BOOST_REQUIRED_MODULES filesystem iostreams system) -find_package(Boost 1.65.0 REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES}) +find_package(Boost 1.71.0 QUIET COMPONENTS ${BOOST_OPTIONAL_MODULES} CONFIG) +find_package(Boost 1.71.0 REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES} CONFIG) if(Boost_FOUND) set(BOOST_FOUND TRUE) diff --git a/cmake/pcl_find_cuda.cmake b/cmake/pcl_find_cuda.cmake index 21aeac2e..03d0a40f 100644 --- a/cmake/pcl_find_cuda.cmake +++ b/cmake/pcl_find_cuda.cmake @@ -4,13 +4,28 @@ if(MSVC) set(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE OFF CACHE BOOL "CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE") endif() -set(CUDA_FIND_QUIETLY TRUE) -find_package(CUDA 9.0) +include(CheckLanguage) +check_language(CUDA) +if(CMAKE_CUDA_COMPILER) + enable_language(CUDA) + + if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.17) + find_package(CUDAToolkit QUIET) + set(CUDA_TOOLKIT_INCLUDE ${CUDAToolkit_INCLUDE_DIRS}) + else() + set(CUDA_FIND_QUIETLY TRUE) + find_package(CUDA 9.0) + endif() + + set(CUDA_FOUND TRUE) + set(CUDA_VERSION_STRING ${CMAKE_CUDA_COMPILER_VERSION}) +else() + message(STATUS "No CUDA compiler found") +endif() if(CUDA_FOUND) message(STATUS "Found CUDA Toolkit v${CUDA_VERSION_STRING}") - enable_language(CUDA) set(HAVE_CUDA TRUE) if (CMAKE_CUDA_COMPILER_ID STREQUAL "NVIDIA") @@ -45,19 +60,14 @@ if(CUDA_FOUND) cmake_policy(SET CMP0104 NEW) set(CMAKE_CUDA_ARCHITECTURES ${CUDA_ARCH_BIN}) message(STATUS "CMAKE_CUDA_ARCHITECTURES: ${CMAKE_CUDA_ARCHITECTURES}") - - #Add empty project as its not required with newer CMake - add_library(pcl_cuda INTERFACE) else() # Generate SASS set(CMAKE_CUDA_ARCHITECTURES ${CUDA_ARCH_BIN}) # Generate PTX for last architecture list(GET CUDA_ARCH_BIN -1 ver) set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode arch=compute_${ver},code=compute_${ver}") - message(STATUS "CMAKE_CUDA_FLAGS: ${CMAKE_CUDA_FLAGS}") - - add_library(pcl_cuda INTERFACE) - target_include_directories(pcl_cuda INTERFACE ${CUDA_TOOLKIT_INCLUDE}) - + message(STATUS "CMAKE_CUDA_FLAGS: ${CMAKE_CUDA_FLAGS}") endif () +else() + message(STATUS "CUDA was not found.") endif() diff --git a/cmake/pcl_options.cmake b/cmake/pcl_options.cmake index e4ca9778..1c9781e0 100644 --- a/cmake/pcl_options.cmake +++ b/cmake/pcl_options.cmake @@ -45,8 +45,21 @@ set(PCL_QHULL_REQUIRED_TYPE "DONTCARE" CACHE STRING "Select build type to use ST set_property(CACHE PCL_QHULL_REQUIRED_TYPE PROPERTY STRINGS DONTCARE SHARED STATIC) mark_as_advanced(PCL_QHULL_REQUIRED_TYPE) +option(PCL_PREFER_BOOST_FILESYSTEM "Prefer boost::filesystem over std::filesystem (if compiled as C++17 or higher, std::filesystem is chosen by default)" OFF) +mark_as_advanced(PCL_PREFER_BOOST_FILESYSTEM) + +set(PCL_XYZ_POINT_TYPES "(pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZL)(pcl::PointXYZRGBA)(pcl::PointXYZRGB)(pcl::PointXYZRGBL)(pcl::PointXYZLAB)(pcl::PointXYZHSV)(pcl::InterestPoint)(pcl::PointNormal)(pcl::PointXYZRGBNormal)(pcl::PointXYZINormal)(pcl::PointXYZLNormal)(pcl::PointWithRange)(pcl::PointWithViewpoint)(pcl::PointWithScale)(pcl::PointSurfel)(pcl::PointDEM)" CACHE STRING "Point types with xyz information for which PCL classes will be instantiated. Alternative to PCL_ONLY_CORE_POINT_TYPES. You can remove unneeded types to reduce compile time and library size.") +mark_as_advanced(PCL_XYZ_POINT_TYPES) + +set(PCL_NORMAL_POINT_TYPES "(pcl::Normal)(pcl::PointNormal)(pcl::PointXYZRGBNormal)(pcl::PointXYZINormal)(pcl::PointXYZLNormal)(pcl::PointSurfel)" CACHE STRING "Point types with normal information for which PCL classes will be instantiated. Alternative to PCL_ONLY_CORE_POINT_TYPES. You can remove unneeded types to reduce compile time and library size.") +mark_as_advanced(PCL_NORMAL_POINT_TYPES) + # Precompile for a minimal set of point types instead of all. +if(CMAKE_COMPILER_IS_MSVC OR CMAKE_COMPILER_IS_MINGW) +option(PCL_ONLY_CORE_POINT_TYPES "Compile explicitly only for a small subset of point types (e.g., pcl::PointXYZ instead of PCL_XYZ_POINT_TYPES)." ON) +else() option(PCL_ONLY_CORE_POINT_TYPES "Compile explicitly only for a small subset of point types (e.g., pcl::PointXYZ instead of PCL_XYZ_POINT_TYPES)." OFF) +endif() mark_as_advanced(PCL_ONLY_CORE_POINT_TYPES) # Precompile for a minimal set of point types instead of all. @@ -88,8 +101,6 @@ mark_as_advanced(CMAKE_MSVC_CODE_LINK_OPTIMIZATION) # Project folders set_property(GLOBAL PROPERTY USE_FOLDERS ON) -option(BUILD_tools "Useful PCL-based command line tools" ON) - option(WITH_DOCS "Build doxygen documentation" OFF) # set index size @@ -111,3 +122,11 @@ option(PCL_DISABLE_GPU_TESTS "Disable running GPU tests. If disabled, tests will # Set whether visualizations tests should be run # (Used to prevent visualizations tests from executing in CI where visualization is unavailable) option(PCL_DISABLE_VISUALIZATION_TESTS "Disable running visualizations tests. If disabled, tests will still be built." OFF) + +# This leads to smaller libraries, possibly faster code, and fixes some bugs. See https://gcc.gnu.org/wiki/Visibility +option(PCL_SYMBOL_VISIBILITY_HIDDEN "Hide all binary symbols by default, export only those explicitly marked (gcc and clang only). Experimental!" OFF) +mark_as_advanced(PCL_SYMBOL_VISIBILITY_HIDDEN) +if(PCL_SYMBOL_VISIBILITY_HIDDEN) + set(CMAKE_CXX_VISIBILITY_PRESET hidden) + set(CMAKE_VISIBILITY_INLINES_HIDDEN ON) +endif() diff --git a/cmake/pcl_pclconfig.cmake b/cmake/pcl_pclconfig.cmake index f0656e6e..f9941b14 100644 --- a/cmake/pcl_pclconfig.cmake +++ b/cmake/pcl_pclconfig.cmake @@ -85,13 +85,13 @@ foreach(_ss ${PCL_SUBSYSTEMS_MODULES}) endforeach() #Boost modules -set(PCLCONFIG_AVAILABLE_BOOST_MODULES "system filesystem iostreams") +set(PCLCONFIG_AVAILABLE_BOOST_MODULES "system iostreams") +if(Boost_FILESYSTEM_FOUND) + string(APPEND PCLCONFIG_AVAILABLE_BOOST_MODULES " filesystem") +endif() if(Boost_SERIALIZATION_FOUND) string(APPEND PCLCONFIG_AVAILABLE_BOOST_MODULES " serialization") endif() -if(Boost_CHRONO_FOUND) - string(APPEND PCLCONFIG_AVAILABLE_BOOST_MODULES " chrono") -endif() configure_file("${PCL_SOURCE_DIR}/PCLConfig.cmake.in" "${PCL_BINARY_DIR}/PCLConfig.cmake" @ONLY) @@ -101,4 +101,4 @@ install(FILES "${PCL_BINARY_DIR}/PCLConfig.cmake" "${PCL_BINARY_DIR}/PCLConfigVersion.cmake" COMPONENT pclconfig - DESTINATION ${PCLCONFIG_INSTALL_DIR}) \ No newline at end of file + DESTINATION ${PCLCONFIG_INSTALL_DIR}) diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake index 2da076c2..be9da33c 100644 --- a/cmake/pcl_targets.cmake +++ b/cmake/pcl_targets.cmake @@ -118,9 +118,6 @@ macro(PCL_SUBSYS_DEPEND _var) if(NOT _status) set(${_var} FALSE) PCL_SET_SUBSYS_STATUS(${_name} FALSE "Requires ${_dep}.") - else() - PCL_GET_SUBSYS_INCLUDE_DIR(_include_dir ${_dep}) - include_directories(${PROJECT_SOURCE_DIR}/${_include_dir}/include) endif() endforeach() endif() @@ -134,12 +131,6 @@ macro(PCL_SUBSYS_DEPEND _var) endif() endforeach() endif() - if(ARGS_OPT_DEPS) - foreach(_dep ${ARGS_OPT_DEPS}) - PCL_GET_SUBSYS_INCLUDE_DIR(_include_dir ${_dep}) - include_directories(${PROJECT_SOURCE_DIR}/${_include_dir}/include) - endforeach() - endif() endif() endmacro() @@ -181,7 +172,7 @@ endmacro() function(PCL_ADD_LIBRARY _name) set(options) set(oneValueArgs COMPONENT) - set(multiValueArgs SOURCES) + set(multiValueArgs SOURCES INCLUDES) cmake_parse_arguments(ARGS "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) if(ARGS_UNPARSED_ARGUMENTS) @@ -192,32 +183,53 @@ function(PCL_ADD_LIBRARY _name) message(FATAL_ERROR "PCL_ADD_LIBRARY requires parameter COMPONENT.") endif() - add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES}) - PCL_ADD_VERSION_INFO(${_name}) - target_compile_features(${_name} PUBLIC ${PCL_CXX_COMPILE_FEATURES}) + if(NOT ARGS_SOURCES) + if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.19) + add_library(${_name} INTERFACE ${ARGS_INCLUDES}) - target_link_libraries(${_name} Threads::Threads) - if(TARGET OpenMP::OpenMP_CXX) - target_link_libraries(${_name} OpenMP::OpenMP_CXX) - endif() + set_target_properties(${_name} PROPERTIES FOLDER "Libraries") + else() + add_library(${_name} INTERFACE) + endif() + + target_include_directories(${_name} INTERFACE + $ + $ + ) + else() + add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES}) + PCL_ADD_VERSION_INFO(${_name}) + target_compile_features(${_name} PUBLIC ${PCL_CXX_COMPILE_FEATURES}) + + target_include_directories(${_name} PUBLIC + $ + $ + ) + + target_link_libraries(${_name} Threads::Threads) + if(TARGET OpenMP::OpenMP_CXX) + target_link_libraries(${_name} OpenMP::OpenMP_CXX) + endif() - if((UNIX AND NOT ANDROID) OR MINGW) - target_link_libraries(${_name} m ${ATOMIC_LIBRARY}) - endif() + if((UNIX AND NOT ANDROID) OR MINGW) + target_link_libraries(${_name} m ${ATOMIC_LIBRARY}) + endif() - if(MINGW) - target_link_libraries(${_name} gomp) - endif() + if(MINGW) + target_link_libraries(${_name} gomp) + endif() - if(MSVC) - target_link_libraries(${_name} delayimp.lib) # because delay load is enabled for openmp.dll - endif() + if(MSVC) + target_link_libraries(${_name} delayimp.lib) # because delay load is enabled for openmp.dll + endif() + + set_target_properties(${_name} PROPERTIES + VERSION ${PCL_VERSION} + SOVERSION ${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR} + DEFINE_SYMBOL "PCLAPI_EXPORTS") - set_target_properties(${_name} PROPERTIES - VERSION ${PCL_VERSION} - SOVERSION ${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR} - DEFINE_SYMBOL "PCLAPI_EXPORTS") - set_target_properties(${_name} PROPERTIES FOLDER "Libraries") + set_target_properties(${_name} PROPERTIES FOLDER "Libraries") + endif() install(TARGETS ${_name} RUNTIME DESTINATION ${BIN_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT} @@ -250,25 +262,39 @@ function(PCL_CUDA_ADD_LIBRARY _name) endif() REMOVE_VTK_DEFINITIONS() + if(NOT ARGS_SOURCES) + add_library(${_name} INTERFACE) + + target_include_directories(${_name} INTERFACE + $ + $ + ) - add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES}) - - PCL_ADD_VERSION_INFO(${_name}) - - target_compile_options(${_name} PRIVATE $<$: ${GEN_CODE} --expt-relaxed-constexpr>) - - target_include_directories(${_name} PRIVATE ${CUDA_TOOLKIT_INCLUDE}) - - if(MSVC) - target_link_libraries(${_name} delayimp.lib) # because delay load is enabled for openmp.dll + else() + add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES}) + + PCL_ADD_VERSION_INFO(${_name}) + + target_compile_options(${_name} PRIVATE $<$: ${GEN_CODE} --expt-relaxed-constexpr>) + + target_include_directories(${_name} PUBLIC + $ + $ + ) + + target_include_directories(${_name} PRIVATE ${CUDA_TOOLKIT_INCLUDE}) + + if(MSVC) + target_link_libraries(${_name} delayimp.lib) # because delay load is enabled for openmp.dll + endif() + + set_target_properties(${_name} PROPERTIES + VERSION ${PCL_VERSION} + SOVERSION ${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR} + DEFINE_SYMBOL "PCLAPI_EXPORTS") + set_target_properties(${_name} PROPERTIES FOLDER "Libraries") endif() - set_target_properties(${_name} PROPERTIES - VERSION ${PCL_VERSION} - SOVERSION ${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR} - DEFINE_SYMBOL "PCLAPI_EXPORTS") - set_target_properties(${_name} PROPERTIES FOLDER "Libraries") - install(TARGETS ${_name} RUNTIME DESTINATION ${BIN_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT} LIBRARY DESTINATION ${LIB_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT} @@ -400,16 +426,10 @@ macro(PCL_ADD_TEST _name _exename) #Only applies to MSVC if(MSVC) - #Requires CMAKE version 3.13.0 - if(CMAKE_VERSION VERSION_LESS "3.13.0" AND (NOT ArgumentWarningShown)) - message(WARNING "Arguments for unit test projects are not added - this requires at least CMake 3.13. Can be added manually in \"Project settings -> Debugging -> Command arguments\"") - SET (ArgumentWarningShown TRUE PARENT_SCOPE) - else() - #Only add if there are arguments to test - if(ARGS_ARGUMENTS) - string (REPLACE ";" " " ARGS_ARGUMENTS_STR "${ARGS_ARGUMENTS}") - set_target_properties(${_exename} PROPERTIES VS_DEBUGGER_COMMAND_ARGUMENTS ${ARGS_ARGUMENTS_STR}) - endif() + #Only add if there are arguments to test + if(ARGS_ARGUMENTS) + string (REPLACE ";" " " ARGS_ARGUMENTS_STR "${ARGS_ARGUMENTS}") + set_target_properties(${_exename} PROPERTIES VS_DEBUGGER_COMMAND_ARGUMENTS ${ARGS_ARGUMENTS_STR}) endif() endif() @@ -450,15 +470,10 @@ function(PCL_ADD_BENCHMARK _name) if(MSVC) #Requires CMAKE version 3.13.0 get_target_property(BenchmarkArgumentWarningShown run_benchmarks PCL_BENCHMARK_ARGUMENTS_WARNING_SHOWN) - if(CMAKE_VERSION VERSION_LESS "3.13.0" AND (NOT BenchmarkArgumentWarningShown)) - message(WARNING "Arguments for benchmark projects are not added - this requires at least CMake 3.13. Can be added manually in \"Project settings -> Debugging -> Command arguments\"") - set_target_properties(run_benchmarks PROPERTIES PCL_BENCHMARK_ARGUMENTS_WARNING_SHOWN TRUE) - else() - #Only add if there are arguments to test - if(ARGS_ARGUMENTS) - string (REPLACE ";" " " ARGS_ARGUMENTS_STR "${ARGS_ARGUMENTS}") - set_target_properties(benchmark_${_name} PROPERTIES VS_DEBUGGER_COMMAND_ARGUMENTS ${ARGS_ARGUMENTS_STR}) - endif() + #Only add if there are arguments to test + if(ARGS_ARGUMENTS) + string (REPLACE ";" " " ARGS_ARGUMENTS_STR "${ARGS_ARGUMENTS}") + set_target_properties(benchmark_${_name} PROPERTIES VS_DEBUGGER_COMMAND_ARGUMENTS ${ARGS_ARGUMENTS_STR}) endif() endif() diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt index fe0ad8fa..0a27abc2 100644 --- a/common/CMakeLists.txt +++ b/common/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME common) set(SUBSYS_DESC "Point cloud common library") set(SUBSYS_DEPS) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS eigen3 boost) @@ -60,7 +59,6 @@ set(incs include/pcl/types.h include/pcl/point_cloud.h include/pcl/point_struct_traits.h - include/pcl/point_traits.h include/pcl/type_traits.h include/pcl/point_types_conversion.h include/pcl/point_representation.h @@ -80,11 +78,9 @@ set(incs include/pcl/PointIndices.h include/pcl/register_point_struct.h include/pcl/conversions.h - include/pcl/make_shared.h ) set(common_incs - include/pcl/common/boost.h include/pcl/common/angles.h include/pcl/common/bivariate_polynomial.h include/pcl/common/centroid.h @@ -98,6 +94,7 @@ set(common_incs include/pcl/common/file_io.h include/pcl/common/intersections.h include/pcl/common/norms.h + include/pcl/common/pcl_filesystem.h include/pcl/common/piecewise_linear_function.h include/pcl/common/polynomial_calculations.h include/pcl/common/poses_from_matches.h @@ -174,11 +171,6 @@ set(kissfft_srcs set(LIB_NAME "pcl_${SUBSYS_NAME}") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${kissfft_srcs} ${incs} ${common_incs} ${impl_incs} ${tools_incs} ${kissfft_incs} ${common_incs_impl} ${range_image_incs} ${range_image_incs_impl}) -target_include_directories(${LIB_NAME} PUBLIC - $ - $ -) - target_link_libraries(${LIB_NAME} Boost::boost Eigen3::Eigen) if(MSVC AND NOT (MSVC_VERSION LESS 1915)) diff --git a/common/include/pcl/PCLPointField.h b/common/include/pcl/PCLPointField.h index 67acf07b..f4f12e3e 100644 --- a/common/include/pcl/PCLPointField.h +++ b/common/include/pcl/PCLPointField.h @@ -45,12 +45,15 @@ namespace pcl s << " " << v.offset << std::endl; s << "datatype: "; switch(v.datatype) { + case ::pcl::PCLPointField::PointFieldTypes::BOOL: s << " BOOL" << std::endl; break; case ::pcl::PCLPointField::PointFieldTypes::INT8: s << " INT8" << std::endl; break; case ::pcl::PCLPointField::PointFieldTypes::UINT8: s << " UINT8" << std::endl; break; case ::pcl::PCLPointField::PointFieldTypes::INT16: s << " INT16" << std::endl; break; case ::pcl::PCLPointField::PointFieldTypes::UINT16: s << " UINT16" << std::endl; break; case ::pcl::PCLPointField::PointFieldTypes::INT32: s << " INT32" << std::endl; break; case ::pcl::PCLPointField::PointFieldTypes::UINT32: s << " UINT32" << std::endl; break; + case ::pcl::PCLPointField::PointFieldTypes::INT64: s << " INT64" << std::endl; break; + case ::pcl::PCLPointField::PointFieldTypes::UINT64: s << " UINT64" << std::endl; break; case ::pcl::PCLPointField::PointFieldTypes::FLOAT32: s << " FLOAT32" << std::endl; break; case ::pcl::PCLPointField::PointFieldTypes::FLOAT64: s << " FLOAT64" << std::endl; break; default: s << " " << static_cast(v.datatype) << std::endl; diff --git a/common/include/pcl/common/boost.h b/common/include/pcl/common/boost.h deleted file mode 100644 index 068e4899..00000000 --- a/common/include/pcl/common/boost.h +++ /dev/null @@ -1,53 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2011, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - */ - -#pragma once - -#ifdef __GNUC__ -#pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.") - -#ifndef Q_MOC_RUN -// Marking all Boost headers as system headers to remove warnings -#include -#include -#include -#include -#include -#endif diff --git a/common/include/pcl/common/colors.h b/common/include/pcl/common/colors.h index 7c1fc883..136fe777 100644 --- a/common/include/pcl/common/colors.h +++ b/common/include/pcl/common/colors.h @@ -98,7 +98,7 @@ namespace pcl * www.srgb.com, www.color.org/srgb.html */ template - PCL_EXPORTS inline std::array + inline std::array RGB2sRGB_LUT() noexcept { static_assert(std::is_floating_point::value, "LUT value must be a floating point"); @@ -144,7 +144,7 @@ namespace pcl * Reference: Billmeyer and Saltzman’s Principles of Color Technology */ template - PCL_EXPORTS inline const std::array& + inline const std::array& XYZ2LAB_LUT() noexcept { static_assert(std::is_floating_point::value, "LUT value must be a floating point"); diff --git a/common/include/pcl/common/common.h b/common/include/pcl/common/common.h index af32634c..857cca89 100644 --- a/common/include/pcl/common/common.h +++ b/common/include/pcl/common/common.h @@ -180,7 +180,7 @@ namespace pcl getMaxDistance (const pcl::PointCloud &cloud, const Indices &indices, const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt); - /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud + /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud. This is the axis aligned bounding box (AABB). * \param[in] cloud the point cloud data message * \param[out] min_pt the resultant minimum bounds * \param[out] max_pt the resultant maximum bounds @@ -189,7 +189,7 @@ namespace pcl template inline void getMinMax3D (const pcl::PointCloud &cloud, PointT &min_pt, PointT &max_pt); - /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud + /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud. This is the axis aligned bounding box (AABB). * \param[in] cloud the point cloud data message * \param[out] min_pt the resultant minimum bounds * \param[out] max_pt the resultant maximum bounds @@ -199,7 +199,7 @@ namespace pcl getMinMax3D (const pcl::PointCloud &cloud, Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt); - /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud + /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud. This is the axis aligned bounding box (AABB). * \param[in] cloud the point cloud data message * \param[in] indices the vector of point indices to use from \a cloud * \param[out] min_pt the resultant minimum bounds @@ -210,7 +210,7 @@ namespace pcl getMinMax3D (const pcl::PointCloud &cloud, const Indices &indices, Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt); - /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud + /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud. This is the axis aligned bounding box (AABB). * \param[in] cloud the point cloud data message * \param[in] indices the vector of point indices to use from \a cloud * \param[out] min_pt the resultant minimum bounds diff --git a/common/include/pcl/common/impl/centroid.hpp b/common/include/pcl/common/impl/centroid.hpp index 36d4317a..bc0885be 100644 --- a/common/include/pcl/common/impl/centroid.hpp +++ b/common/include/pcl/common/impl/centroid.hpp @@ -690,13 +690,13 @@ computeCentroidAndOBB (const pcl::PointCloud &cloud, //obb_rotational_matrix.col(1)==middle_axis //obb_rotational_matrix.col(2)==minor_axis - //Trasforming the point cloud in the (Centroid, ma-mi-mi_axis) reference + //Transforming the point cloud in the (Centroid, ma-mi-mi_axis) reference //with homogeneous matrix //[R^t , -R^t*Centroid ] //[0 , 1 ] Eigen::Matrix transform = Eigen::Matrix::Identity(); - transform.topLeftCorner(3, 3) = obb_rotational_matrix.transpose(); - transform.topRightCorner(3, 1) =-transform.topLeftCorner(3, 3)*centroid; + transform.template topLeftCorner<3, 3>() = obb_rotational_matrix.transpose(); + transform.template topRightCorner<3, 1>() =-transform.template topLeftCorner<3, 3>()*centroid; //when Scalar==double on a Windows 10 machine and MSVS: //if you substitute the following Scalars with floats you get a 20% worse processing time, if with 2 PointT 55% worse @@ -824,13 +824,13 @@ computeCentroidAndOBB (const pcl::PointCloud &cloud, //obb_rotational_matrix.col(1)==middle_axis //obb_rotational_matrix.col(2)==minor_axis - //Trasforming the point cloud in the (Centroid, ma-mi-mi_axis) reference + //Transforming the point cloud in the (Centroid, ma-mi-mi_axis) reference //with homogeneous matrix //[R^t , -R^t*Centroid ] //[0 , 1 ] Eigen::Matrix transform = Eigen::Matrix::Identity(); - transform.topLeftCorner(3, 3) = obb_rotational_matrix.transpose(); - transform.topRightCorner(3, 1) =-transform.topLeftCorner(3, 3)*centroid; + transform.template topLeftCorner<3, 3>() = obb_rotational_matrix.transpose(); + transform.template topRightCorner<3, 1>() =-transform.template topLeftCorner<3, 3>()*centroid; //when Scalar==double on a Windows 10 machine and MSVS: //if you substitute the following Scalars with floats you get a 20% worse processing time, if with 2 PointT 55% worse diff --git a/common/include/pcl/common/impl/eigen.hpp b/common/include/pcl/common/impl/eigen.hpp index 031a8ee0..8f628f1d 100644 --- a/common/include/pcl/common/impl/eigen.hpp +++ b/common/include/pcl/common/impl/eigen.hpp @@ -308,10 +308,21 @@ eigen33 (const Matrix& mat, typename Matrix::Scalar& eigenvalue, Vector& eigenve computeRoots (scaledMat, eigenvalues); eigenvalue = eigenvalues (0) * scale; - - scaledMat.diagonal ().array () -= eigenvalues (0); - - eigenvector = detail::getLargest3x3Eigenvector (scaledMat).vector; + if ( (eigenvalues (1) - eigenvalues (0)) > Eigen::NumTraits < Scalar > ::epsilon ()) { + // usual case: first and second are not equal (so first and third are also not equal). + // second and third could be equal, but that does not matter here + scaledMat.diagonal ().array () -= eigenvalues (0); + eigenvector = detail::getLargest3x3Eigenvector (scaledMat).vector; + } + else if ( (eigenvalues (2) - eigenvalues (0)) > Eigen::NumTraits < Scalar > ::epsilon ()) { + // first and second equal: choose any unit vector that is orthogonal to third eigenvector + scaledMat.diagonal ().array () -= eigenvalues (2); + eigenvector = detail::getLargest3x3Eigenvector (scaledMat).vector.unitOrthogonal (); + } + else { + // all three equal: just use an arbitrary unit vector + eigenvector << Scalar (1.0), Scalar (0.0), Scalar (0.0); + } } diff --git a/common/include/pcl/common/impl/file_io.hpp b/common/include/pcl/common/impl/file_io.hpp index 1c1fe9ec..1719e80d 100644 --- a/common/include/pcl/common/impl/file_io.hpp +++ b/common/include/pcl/common/impl/file_io.hpp @@ -39,7 +39,8 @@ #ifndef PCL_COMMON_FILE_IO_IMPL_HPP_ #define PCL_COMMON_FILE_IO_IMPL_HPP_ -#include +#include + #include #include @@ -53,12 +54,12 @@ namespace pcl void getAllPcdFilesInDirectory(const std::string& directory, std::vector& file_names) { - boost::filesystem::path p(directory); - if(boost::filesystem::is_directory(p)) + pcl_fs::path p(directory); + if(pcl_fs::is_directory(p)) { - for(const auto& entry : boost::make_iterator_range(boost::filesystem::directory_iterator(p), {})) + for(const auto& entry : boost::make_iterator_range(pcl_fs::directory_iterator(p), {})) { - if (boost::filesystem::is_regular_file(entry)) + if (pcl_fs::is_regular_file(entry)) { if (entry.path().extension() == ".pcd") file_names.emplace_back(entry.path().filename().string()); diff --git a/common/include/pcl/common/impl/generate.hpp b/common/include/pcl/common/impl/generate.hpp index ea137ae3..17b5eafe 100644 --- a/common/include/pcl/common/impl/generate.hpp +++ b/common/include/pcl/common/impl/generate.hpp @@ -276,9 +276,7 @@ CloudGenerator::fill (int width, int height, pcl::Poin if (!cloud.empty ()) PCL_WARN ("[pcl::common::CloudGenerator] Cloud data will be erased with new data\n!"); - cloud.width = width; - cloud.height = height; - cloud.resize (cloud.width * cloud.height); + cloud.resize (width, height); cloud.is_dense = true; for (auto &point : cloud) diff --git a/common/include/pcl/common/impl/projection_matrix.hpp b/common/include/pcl/common/impl/projection_matrix.hpp index b5e2deb9..3bbd6e56 100644 --- a/common/include/pcl/common/impl/projection_matrix.hpp +++ b/common/include/pcl/common/impl/projection_matrix.hpp @@ -103,18 +103,18 @@ estimateProjectionMatrix ( while (pointIt) { - unsigned yIdx = pointIt.getCurrentPointIndex () / cloud->width; - unsigned xIdx = pointIt.getCurrentPointIndex () % cloud->width; + Scalar yIdx = pointIt.getCurrentPointIndex () / cloud->width; + Scalar xIdx = pointIt.getCurrentPointIndex () % cloud->width; const PointT& point = *pointIt; if (std::isfinite (point.x)) { - Scalar xx = point.x * point.x; - Scalar xy = point.x * point.y; - Scalar xz = point.x * point.z; - Scalar yy = point.y * point.y; - Scalar yz = point.y * point.z; - Scalar zz = point.z * point.z; + Scalar xx = static_cast(point.x) * static_cast(point.x); + Scalar xy = static_cast(point.x) * static_cast(point.y); + Scalar xz = static_cast(point.x) * static_cast(point.z); + Scalar yy = static_cast(point.y) * static_cast(point.y); + Scalar yz = static_cast(point.y) * static_cast(point.z); + Scalar zz = static_cast(point.z) * static_cast(point.z); Scalar xx_yy = xIdx * xIdx + yIdx * yIdx; A.coeffRef (0) += xx; diff --git a/common/include/pcl/common/impl/transforms.hpp b/common/include/pcl/common/impl/transforms.hpp index 6c884d16..c255161b 100644 --- a/common/include/pcl/common/impl/transforms.hpp +++ b/common/include/pcl/common/impl/transforms.hpp @@ -507,7 +507,7 @@ getPrincipalTransformation (const pcl::PointCloud &cloud, double rel1 = eigen_vals.coeff (0) / eigen_vals.coeff (1); double rel2 = eigen_vals.coeff (1) / eigen_vals.coeff (2); - transform.translation () = centroid.head (3); + transform.translation () = centroid.template head<3> (); transform.linear () = eigen_vects; return (std::min (rel1, rel2)); diff --git a/common/include/pcl/common/intersections.h b/common/include/pcl/common/intersections.h index 28a3f80e..687a69d0 100644 --- a/common/include/pcl/common/intersections.h +++ b/common/include/pcl/common/intersections.h @@ -81,18 +81,18 @@ namespace pcl * \note Described in: "Intersection of Two Planes, John Krumm, Microsoft Research, Redmond, WA, USA" * \param[in] plane_a coefficients of plane A and plane B in the form ax + by + cz + d = 0 * \param[in] plane_b coefficients of line where line.tail<3>() = direction vector and - * line.head<3>() the point on the line clossest to (0, 0, 0) + * line.head<3>() the point on the line closest to (0, 0, 0) * \param[out] line the intersected line to be filled * \param[in] angular_tolerance tolerance in radians * \return true if succeeded/planes aren't parallel */ - PCL_EXPORTS template bool + template bool planeWithPlaneIntersection (const Eigen::Matrix &plane_a, const Eigen::Matrix &plane_b, Eigen::Matrix &line, double angular_tolerance = 0.1); - PCL_EXPORTS inline bool + inline bool planeWithPlaneIntersection (const Eigen::Vector4f &plane_a, const Eigen::Vector4f &plane_b, Eigen::VectorXf &line, @@ -101,7 +101,7 @@ namespace pcl return (planeWithPlaneIntersection (plane_a, plane_b, line, angular_tolerance)); } - PCL_EXPORTS inline bool + inline bool planeWithPlaneIntersection (const Eigen::Vector4d &plane_a, const Eigen::Vector4d &plane_b, Eigen::VectorXd &line, @@ -121,7 +121,7 @@ namespace pcl * \param[out] intersection_point the three coordinates x, y, z of the intersection point * \return true if succeeded/planes aren't parallel */ - PCL_EXPORTS template bool + template bool threePlanesIntersection (const Eigen::Matrix &plane_a, const Eigen::Matrix &plane_b, const Eigen::Matrix &plane_c, @@ -129,7 +129,7 @@ namespace pcl double determinant_tolerance = 1e-6); - PCL_EXPORTS inline bool + inline bool threePlanesIntersection (const Eigen::Vector4f &plane_a, const Eigen::Vector4f &plane_b, const Eigen::Vector4f &plane_c, @@ -140,7 +140,7 @@ namespace pcl intersection_point, determinant_tolerance)); } - PCL_EXPORTS inline bool + inline bool threePlanesIntersection (const Eigen::Vector4d &plane_a, const Eigen::Vector4d &plane_b, const Eigen::Vector4d &plane_c, diff --git a/common/include/pcl/common/io.h b/common/include/pcl/common/io.h index 984b7306..8cbb94e2 100644 --- a/common/include/pcl/common/io.h +++ b/common/include/pcl/common/io.h @@ -277,7 +277,7 @@ namespace pcl * \ingroup common */ template - PCL_EXPORTS bool + bool concatenate (const pcl::PointCloud &cloud1, const pcl::PointCloud &cloud2, pcl::PointCloud &cloud_out) @@ -295,7 +295,7 @@ namespace pcl * \return true if successful, false otherwise * \ingroup common */ - PCL_EXPORTS inline bool + inline bool concatenate (const pcl::PCLPointCloud2 &cloud1, const pcl::PCLPointCloud2 &cloud2, pcl::PCLPointCloud2 &cloud_out) @@ -310,7 +310,7 @@ namespace pcl * \return true if successful, false otherwise * \ingroup common */ - PCL_EXPORTS inline bool + inline bool concatenate (const pcl::PolygonMesh &mesh1, const pcl::PolygonMesh &mesh2, pcl::PolygonMesh &mesh_out) diff --git a/registration/include/pcl/registration/boost.h b/common/include/pcl/common/pcl_filesystem.h similarity index 81% rename from registration/include/pcl/registration/boost.h rename to common/include/pcl/common/pcl_filesystem.h index 6a6f17d1..eb6c4140 100644 --- a/registration/include/pcl/registration/boost.h +++ b/common/include/pcl/common/pcl_filesystem.h @@ -2,7 +2,7 @@ * Software License Agreement (BSD License) * * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. + * Copyright (C) 2024 Kino * * All rights reserved. * @@ -34,17 +34,18 @@ * POSSIBILITY OF SUCH DAMAGE. * * $Id$ - * */ #pragma once -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.") -#if defined __GNUC__ -#pragma GCC system_header -#endif -//#include -#include -#include -#include -#include +#include // for PCL_PREFER_BOOST_FILESYSTEM + +#if (__cplusplus >= 201703L) && !defined(PCL_PREFER_BOOST_FILESYSTEM) +#define PCL_USING_STD_FILESYSTEM +#include +namespace pcl_fs = std::filesystem; +#else +#define PCL_USING_BOOST_FILESYSTEM +#include +namespace pcl_fs = boost::filesystem; +#endif diff --git a/common/include/pcl/console/print.h b/common/include/pcl/console/print.h index 0e84427b..ccf218ef 100644 --- a/common/include/pcl/console/print.h +++ b/common/include/pcl/console/print.h @@ -45,7 +45,9 @@ // Use e.g. like this: // PCL_INFO_STREAM("Info: this is a point: " << pcl::PointXYZ(1.0, 2.0, 3.0) << std::endl); // PCL_ERROR_STREAM("Error: an Eigen vector: " << std::endl << Eigen::Vector3f(1.0, 2.0, 3.0) << std::endl); +// NOLINTBEGIN(bugprone-macro-parentheses) #define PCL_LOG_STREAM(LEVEL, STREAM, CSTR, ATTR, FG, ARGS) if(pcl::console::isVerbosityLevelEnabled(pcl::console::LEVEL)) { fflush(stdout); pcl::console::change_text_color(CSTR, pcl::console::ATTR, pcl::console::FG); STREAM << ARGS; pcl::console::reset_text_color(CSTR); } +// NOLINTEND(bugprone-macro-parentheses) #define PCL_ALWAYS_STREAM(ARGS) PCL_LOG_STREAM(L_ALWAYS, std::cout, stdout, TT_RESET, TT_WHITE, ARGS) #define PCL_ERROR_STREAM(ARGS) PCL_LOG_STREAM(L_ERROR, std::cerr, stderr, TT_BRIGHT, TT_RED, ARGS) #define PCL_WARN_STREAM(ARGS) PCL_LOG_STREAM(L_WARN, std::cerr, stderr, TT_BRIGHT, TT_YELLOW, ARGS) @@ -60,6 +62,7 @@ #define PCL_INFO(...) pcl::console::print (pcl::console::L_INFO, __VA_ARGS__) #define PCL_DEBUG(...) pcl::console::print (pcl::console::L_DEBUG, __VA_ARGS__) #define PCL_VERBOSE(...) pcl::console::print (pcl::console::L_VERBOSE, __VA_ARGS__) +#define PCL_HIGH(...) pcl::console::print_highlight (__VA_ARGS__) #define PCL_ASSERT_ERROR_PRINT_CHECK(pred, msg) \ do \ diff --git a/common/include/pcl/conversions.h b/common/include/pcl/conversions.h index 631b7443..9e1972d4 100644 --- a/common/include/pcl/conversions.h +++ b/common/include/pcl/conversions.h @@ -53,6 +53,7 @@ #include #include +#include // for accumulate namespace pcl { @@ -103,7 +104,7 @@ namespace pcl } } // Disable thrown exception per #595: http://dev.pointclouds.org/issues/595 - PCL_WARN ("Failed to find match for field '%s'.\n", pcl::traits::name::value); + PCL_WARN ("Failed to find exact match for field '%s'.\n", pcl::traits::name::value); //throw pcl::InvalidConversionException (ss.str ()); } @@ -117,6 +118,71 @@ namespace pcl return (a.serialized_offset < b.serialized_offset); } + // Helps converting PCLPointCloud2 to templated point cloud. Casts fields if datatype is different. + template + struct FieldCaster + { + FieldCaster (const std::vector& fields, const pcl::PCLPointCloud2& msg, const std::uint8_t* msg_data, std::uint8_t* cloud_data) + : fields_ (fields), msg_(msg), msg_data_(msg_data), cloud_data_(cloud_data) + {} + + template void + operator () () + { + // first check whether any field matches exactly. Then there is nothing to do because the contents are memcpy-ed elsewhere + for (const auto& field : fields_) { + if (FieldMatches()(field)) { + return; + } + } + for (const auto& field : fields_) + { + // The following check is similar to FieldMatches, but it tests for different datatypes + if ((field.name == pcl::traits::name::value) && + (field.datatype != pcl::traits::datatype::value) && + ((field.count == pcl::traits::datatype::size) || + (field.count == 0 && pcl::traits::datatype::size == 1))) { +#define PCL_CAST_POINT_FIELD(TYPE) case ::pcl::traits::asEnum_v: \ + PCL_WARN("Will try to cast field '%s' (original type is " #TYPE "). You may loose precision during casting. Make sure that this is acceptable or choose a different point type.\n", pcl::traits::name::value); \ + for (std::size_t row = 0; row < msg_.height; ++row) { \ + const std::uint8_t* row_data = msg_data_ + row * msg_.row_step; \ + for (std::size_t col = 0; col < msg_.width; ++col) { \ + const std::uint8_t* msg_data = row_data + col * msg_.point_step; \ + for(std::uint32_t i=0; i::size; ++i) { \ + *(reinterpret_cast::decomposed::type*>(cloud_data + pcl::traits::offset::value) + i) = *(reinterpret_cast(msg_data + field.offset) + i); \ + } \ + cloud_data += sizeof (PointT); \ + } \ + } \ + break; + // end of PCL_CAST_POINT_FIELD definition + + std::uint8_t* cloud_data = cloud_data_; + switch(field.datatype) { + PCL_CAST_POINT_FIELD(bool) + PCL_CAST_POINT_FIELD(std::int8_t) + PCL_CAST_POINT_FIELD(std::uint8_t) + PCL_CAST_POINT_FIELD(std::int16_t) + PCL_CAST_POINT_FIELD(std::uint16_t) + PCL_CAST_POINT_FIELD(std::int32_t) + PCL_CAST_POINT_FIELD(std::uint32_t) + PCL_CAST_POINT_FIELD(std::int64_t) + PCL_CAST_POINT_FIELD(std::uint64_t) + PCL_CAST_POINT_FIELD(float) + PCL_CAST_POINT_FIELD(double) + default: std::cout << "Unknown datatype: " << field.datatype << std::endl; + } + return; + } +#undef PCL_CAST_POINT_FIELD + } + } + + const std::vector& fields_; + const pcl::PCLPointCloud2& msg_; + const std::uint8_t* msg_data_; + std::uint8_t* cloud_data_; + }; } //namespace detail template void @@ -175,7 +241,6 @@ namespace pcl // check if there is data to copy if (msg.width * msg.height == 0) { - PCL_WARN("[pcl::fromPCLPointCloud2] No data to copy.\n"); return; } @@ -222,6 +287,9 @@ namespace pcl } } } + // if any fields in msg and cloud have different datatypes but the same name, we cast them: + detail::FieldCaster caster (msg.fields, msg, msg_data, reinterpret_cast(cloud.data())); + for_each_type< typename traits::fieldList::type > (caster); } /** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud object using a field_map. @@ -256,12 +324,52 @@ namespace pcl fromPCLPointCloud2 (msg, cloud, field_map); } + namespace detail { + /** \brief Used together with `pcl::for_each_type`, copies all point fields from `cloud_data` (respecting each field offset) to `msg_data` (tightly packed). + */ + template + struct FieldCopier { + FieldCopier(std::uint8_t*& msg_data, const std::uint8_t*& cloud_data) : msg_data_ (msg_data), cloud_data_ (cloud_data) {}; + + template void operator() () { + memcpy(msg_data_, cloud_data_ + pcl::traits::offset::value, sizeof(typename pcl::traits::datatype::type)); + msg_data_ += sizeof(typename pcl::traits::datatype::type); + } + + std::uint8_t*& msg_data_; + const std::uint8_t*& cloud_data_; + }; + + /** \brief Used together with `pcl::for_each_type`, creates list of all fields, and list of size of each field. + */ + template + struct FieldAdderAdvanced + { + FieldAdderAdvanced (std::vector& fields, std::vector& field_sizes) : fields_ (fields), field_sizes_ (field_sizes) {}; + + template void operator() () + { + pcl::PCLPointField f; + f.name = pcl::traits::name::value; + f.offset = pcl::traits::offset::value; + f.datatype = pcl::traits::datatype::value; + f.count = pcl::traits::datatype::size; + fields_.push_back (f); + field_sizes_.push_back (sizeof(typename pcl::traits::datatype::type)); // If field is an array, then this is the size of all array elements + } + + std::vector& fields_; + std::vector& field_sizes_; + }; + } // namespace detail + /** \brief Convert a pcl::PointCloud object to a PCLPointCloud2 binary data blob. * \param[in] cloud the input pcl::PointCloud * \param[out] msg the resultant PCLPointCloud2 binary blob + * \param[in] padding Many point types have padding to ensure alignment and SIMD compatibility. Setting this to true will copy the padding to the `PCLPointCloud2` (the default in older PCL versions). Setting this to false will make the data blob in `PCLPointCloud2` smaller, while still keeping all information (useful e.g. when sending msg over network or storing it). The amount of padding depends on the point type, and can in some cases be up to 50 percent. */ template void - toPCLPointCloud2 (const pcl::PointCloud& cloud, pcl::PCLPointCloud2& msg) + toPCLPointCloud2 (const pcl::PointCloud& cloud, pcl::PCLPointCloud2& msg, bool padding) { // Ease the user's burden on specifying width/height for unorganized datasets if (cloud.width == 0 && cloud.height == 0) @@ -275,26 +383,55 @@ namespace pcl msg.height = cloud.height; msg.width = cloud.width; } - - // Fill point cloud binary data (padding and all) - std::size_t data_size = sizeof (PointT) * cloud.size (); - msg.data.resize (data_size); - if (data_size) - { - memcpy(msg.data.data(), cloud.data(), data_size); - } - // Fill fields metadata msg.fields.clear (); - for_each_type::type> (detail::FieldAdder(msg.fields)); + std::vector field_sizes; + for_each_type::type>(pcl::detail::FieldAdderAdvanced(msg.fields, field_sizes)); + // Check if padding should be kept, or if the point type does not contain padding (then the single memcpy is faster) + if (padding || std::accumulate(field_sizes.begin(), field_sizes.end(), static_cast(0)) == sizeof (PointT)) { + // Fill point cloud binary data (padding and all) + std::size_t data_size = sizeof (PointT) * cloud.size (); + msg.data.resize (data_size); + if (data_size) + { + memcpy(msg.data.data(), cloud.data(), data_size); + } + + msg.point_step = sizeof (PointT); + msg.row_step = (sizeof (PointT) * msg.width); + } else { + std::size_t point_size = 0; + for(std::size_t i=0; i(&cloud[0]); + const std::uint8_t* end = cloud_data + sizeof (PointT) * cloud.size (); + pcl::detail::FieldCopier copier(msg_data, cloud_data); // copier takes msg_data and cloud_data as references, so the two are shared + for (; cloud_data::type > (copier); + } + msg.point_step = point_size; + msg.row_step = point_size * msg.width; + } msg.header = cloud.header; - msg.point_step = sizeof (PointT); - msg.row_step = (sizeof (PointT) * msg.width); msg.is_dense = cloud.is_dense; /// @todo msg.is_bigendian = ?; } + /** \brief Convert a pcl::PointCloud object to a PCLPointCloud2 binary data blob. + * \param[in] cloud the input pcl::PointCloud + * \param[out] msg the resultant PCLPointCloud2 binary blob + */ + template void + toPCLPointCloud2 (const pcl::PointCloud& cloud, pcl::PCLPointCloud2& msg) + { + toPCLPointCloud2 (cloud, msg, true); // true is the default in older PCL version + } + /** \brief Copy the RGB fields of a PointCloud into pcl::PCLImage format * \param[in] cloud the point cloud message * \param[out] msg the resultant pcl::PCLImage diff --git a/common/include/pcl/exceptions.h b/common/include/pcl/exceptions.h index 3814839c..5adfccf7 100644 --- a/common/include/pcl/exceptions.h +++ b/common/include/pcl/exceptions.h @@ -40,18 +40,21 @@ #include #include #include +#include // for PCL_EXPORTS /** PCL_THROW_EXCEPTION a helper macro to be used for throwing exceptions. * This is an example on how to use: * PCL_THROW_EXCEPTION(IOException, * "encountered an error while opening " << filename << " PCD file"); */ +// NOLINTBEGIN(bugprone-macro-parentheses) #define PCL_THROW_EXCEPTION(ExceptionName, message) \ { \ std::ostringstream s; \ s << message; \ throw ExceptionName(s.str(), __FILE__, BOOST_CURRENT_FUNCTION, __LINE__); \ } +// NOLINTEND(bugprone-macro-parentheses) namespace pcl { @@ -60,7 +63,7 @@ namespace pcl * \brief A base class for all pcl exceptions which inherits from std::runtime_error * \author Eitan Marder-Eppstein, Suat Gedikli, Nizar Sallem */ - class PCLException : public std::runtime_error + class PCL_EXPORTS PCLException : public std::runtime_error { public: @@ -132,7 +135,7 @@ namespace pcl /** \class InvalidConversionException * \brief An exception that is thrown when a PCLPointCloud2 message cannot be converted into a PCL type */ - class InvalidConversionException : public PCLException + class PCL_EXPORTS InvalidConversionException : public PCLException { public: @@ -146,7 +149,7 @@ namespace pcl /** \class IsNotDenseException * \brief An exception that is thrown when a PointCloud is not dense but is attempted to be used as dense */ - class IsNotDenseException : public PCLException + class PCL_EXPORTS IsNotDenseException : public PCLException { public: @@ -161,7 +164,7 @@ namespace pcl * \brief An exception that is thrown when a sample consensus model doesn't * have the correct number of samples defined in model_types.h */ - class InvalidSACModelTypeException : public PCLException + class PCL_EXPORTS InvalidSACModelTypeException : public PCLException { public: @@ -175,7 +178,7 @@ namespace pcl /** \class IOException * \brief An exception that is thrown during an IO error (typical read/write errors) */ - class IOException : public PCLException + class PCL_EXPORTS IOException : public PCLException { public: @@ -190,7 +193,7 @@ namespace pcl * \brief An exception thrown when init can not be performed should be used in all the * PCLBase class inheritants. */ - class InitFailedException : public PCLException + class PCL_EXPORTS InitFailedException : public PCLException { public: InitFailedException (const std::string& error_description = "", @@ -204,7 +207,7 @@ namespace pcl * \brief An exception that is thrown when an organized point cloud is needed * but not provided. */ - class UnorganizedPointCloudException : public PCLException + class PCL_EXPORTS UnorganizedPointCloudException : public PCLException { public: @@ -218,7 +221,7 @@ namespace pcl /** \class KernelWidthTooSmallException * \brief An exception that is thrown when the kernel size is too small */ - class KernelWidthTooSmallException : public PCLException + class PCL_EXPORTS KernelWidthTooSmallException : public PCLException { public: @@ -229,7 +232,7 @@ namespace pcl : pcl::PCLException (error_description, file_name, function_name, line_number) { } } ; - class UnhandledPointTypeException : public PCLException + class PCL_EXPORTS UnhandledPointTypeException : public PCLException { public: UnhandledPointTypeException (const std::string& error_description, @@ -239,7 +242,7 @@ namespace pcl : pcl::PCLException (error_description, file_name, function_name, line_number) { } }; - class ComputeFailedException : public PCLException + class PCL_EXPORTS ComputeFailedException : public PCLException { public: ComputeFailedException (const std::string& error_description, @@ -252,7 +255,7 @@ namespace pcl /** \class BadArgumentException * \brief An exception that is thrown when the arguments number or type is wrong/unhandled. */ - class BadArgumentException : public PCLException + class PCL_EXPORTS BadArgumentException : public PCLException { public: BadArgumentException (const std::string& error_description, diff --git a/common/include/pcl/impl/instantiate.hpp b/common/include/pcl/impl/instantiate.hpp index ea73a0c3..9eca81a0 100644 --- a/common/include/pcl/impl/instantiate.hpp +++ b/common/include/pcl/impl/instantiate.hpp @@ -95,7 +95,7 @@ // // ((x)(y)(z))((1)(2)(3))((dracula)(radu)) // -#ifdef _MSC_VER +#if defined(_MSC_VER) && !defined(__clang__) #define PCL_INSTANTIATE_PRODUCT_IMPL(r, product) \ BOOST_PP_CAT(PCL_INSTANTIATE_, BOOST_PP_SEQ_HEAD(product)) \ BOOST_PP_EXPAND(BOOST_PP_SEQ_TO_TUPLE(BOOST_PP_SEQ_TAIL(product))) diff --git a/common/include/pcl/impl/point_types.hpp b/common/include/pcl/impl/point_types.hpp index cb08b4de..88ca63a4 100644 --- a/common/include/pcl/impl/point_types.hpp +++ b/common/include/pcl/impl/point_types.hpp @@ -39,6 +39,7 @@ #pragma once #include // for PCL_MAKE_ALIGNED_OPERATOR_NEW +#include // for PCL_XYZ_POINT_TYPES, PCL_NORMAL_POINT_TYPES #include // for PCL_EXPORTS #include // for PCLPointField #include // implementee @@ -118,42 +119,12 @@ (pcl::PointXYZRGBNormal) \ (pcl::PointSurfel) \ -// Define all point types that include XYZ data -#define PCL_XYZ_POINT_TYPES \ - (pcl::PointXYZ) \ - (pcl::PointXYZI) \ - (pcl::PointXYZL) \ - (pcl::PointXYZRGBA) \ - (pcl::PointXYZRGB) \ - (pcl::PointXYZRGBL) \ - (pcl::PointXYZLAB) \ - (pcl::PointXYZHSV) \ - (pcl::InterestPoint) \ - (pcl::PointNormal) \ - (pcl::PointXYZRGBNormal) \ - (pcl::PointXYZINormal) \ - (pcl::PointXYZLNormal) \ - (pcl::PointWithRange) \ - (pcl::PointWithViewpoint) \ - (pcl::PointWithScale) \ - (pcl::PointSurfel) \ - (pcl::PointDEM) - // Define all point types with XYZ and label #define PCL_XYZL_POINT_TYPES \ (pcl::PointXYZL) \ (pcl::PointXYZRGBL) \ (pcl::PointXYZLNormal) -// Define all point types that include normal[3] data -#define PCL_NORMAL_POINT_TYPES \ - (pcl::Normal) \ - (pcl::PointNormal) \ - (pcl::PointXYZRGBNormal) \ - (pcl::PointXYZINormal) \ - (pcl::PointXYZLNormal) \ - (pcl::PointSurfel) - // Define all point types that represent features #define PCL_FEATURE_POINT_TYPES \ (pcl::PFHSignature125) \ @@ -691,8 +662,8 @@ namespace pcl inline constexpr PointXYZLAB() : PointXYZLAB{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f} {} inline constexpr PointXYZLAB (float _x, float _y, float _z, - float _L, float _a, float _b) : - _PointXYZLAB{ {{_x, _y, _z, 1.0f}}, {{_L, _a, _b}} } {} + float _l, float _a, float _b) : + _PointXYZLAB{ {{_x, _y, _z, 1.0f}}, {{_l, _a, _b}} } {} friend std::ostream& operator << (std::ostream& os, const PointXYZLAB& p); PCL_MAKE_ALIGNED_OPERATOR_NEW diff --git a/common/include/pcl/make_shared.h b/common/include/pcl/make_shared.h deleted file mode 100644 index 983a63c9..00000000 --- a/common/include/pcl/make_shared.h +++ /dev/null @@ -1,42 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2019-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#pragma once - -PCL_DEPRECATED_HEADER(1, 15, "Use instead.") - -#include - diff --git a/common/include/pcl/memory.h b/common/include/pcl/memory.h index d42e47aa..98d1d9b4 100644 --- a/common/include/pcl/memory.h +++ b/common/include/pcl/memory.h @@ -44,6 +44,7 @@ */ #include // for has_custom_allocator +#include // for PCL_USES_EIGEN_HANDMADE_ALIGNED_MALLOC #include // for EIGEN_MAKE_ALIGNED_OPERATOR_NEW @@ -51,6 +52,28 @@ #include // for std::enable_if_t, std::false_type, std::true_type #include // for std::forward +#if !defined(PCL_SILENCE_MALLOC_WARNING) && !defined(__NVCC__) +#if PCL_USES_EIGEN_HANDMADE_ALIGNED_MALLOC +// EIGEN_DEFAULT_ALIGN_BYTES and EIGEN_MALLOC_ALREADY_ALIGNED will be set after including Eigen/Core +// this condition is the same as in the function aligned_malloc in Memory.h in the Eigen code +#if (defined(EIGEN_DEFAULT_ALIGN_BYTES) && EIGEN_DEFAULT_ALIGN_BYTES==0) || (defined(EIGEN_MALLOC_ALREADY_ALIGNED) && EIGEN_MALLOC_ALREADY_ALIGNED) +#if defined(_MSC_VER) +#error "Potential runtime error due to aligned malloc mismatch! You likely have to compile your code with AVX enabled or define EIGEN_MAX_ALIGN_BYTES=32 (to silence this message at your own risk, define PCL_SILENCE_MALLOC_WARNING=1)" +#else // defined(_MSC_VER) +#warning "Potential runtime error due to aligned malloc mismatch! You likely have to compile your code with AVX enabled or define EIGEN_MAX_ALIGN_BYTES=32 (to silence this message at your own risk, define PCL_SILENCE_MALLOC_WARNING=1)" +#endif // defined(_MSC_VER) +#endif +#else // PCL_USES_EIGEN_HANDMADE_ALIGNED_MALLOC +#if (defined(EIGEN_DEFAULT_ALIGN_BYTES) && EIGEN_DEFAULT_ALIGN_BYTES!=0) && (defined(EIGEN_MALLOC_ALREADY_ALIGNED) && !EIGEN_MALLOC_ALREADY_ALIGNED) +#if defined(_MSC_VER) +#error "Potential runtime error due to aligned malloc mismatch! PCL was likely compiled without AVX support but you enabled AVX for your code (to silence this message at your own risk, define PCL_SILENCE_MALLOC_WARNING=1)" +#else // defined(_MSC_VER) +#warning "Potential runtime error due to aligned malloc mismatch! PCL was likely compiled without AVX support but you enabled AVX for your code (to silence this message at your own risk, define PCL_SILENCE_MALLOC_WARNING=1)" +#endif // defined(_MSC_VER) +#endif +#endif // PCL_USES_EIGEN_HANDMADE_ALIGNED_MALLOC +#endif // !defined(PCL_SILENCE_MALLOC_WARNING) + /** * \brief Macro to signal a class requires a custom allocator * diff --git a/common/include/pcl/pcl_exports.h b/common/include/pcl/pcl_exports.h index ef71bdda..f386303b 100644 --- a/common/include/pcl/pcl_exports.h +++ b/common/include/pcl/pcl_exports.h @@ -34,6 +34,8 @@ #pragma once +#include // for PCL_SYMBOL_VISIBILITY_HIDDEN + // This header is created to include to NVCC compiled sources. // Header 'pcl_macros' is not suitable since it includes , // which can't be eaten by nvcc (it's too weak) @@ -45,5 +47,9 @@ #define PCL_EXPORTS #endif #else - #define PCL_EXPORTS + #ifdef PCL_SYMBOL_VISIBILITY_HIDDEN + #define PCL_EXPORTS __attribute__ ((visibility ("default"))) + #else + #define PCL_EXPORTS + #endif #endif diff --git a/common/include/pcl/pcl_macros.h b/common/include/pcl/pcl_macros.h index da487b5e..d76d5c3c 100644 --- a/common/include/pcl/pcl_macros.h +++ b/common/include/pcl/pcl_macros.h @@ -82,7 +82,7 @@ // MSVC < 2019 have issues: // * can't short-circuiting logic in macros // * don't define standard macros -// => this leads to annyoing C4067 warnings (see https://developercommunity.visualstudio.com/content/problem/327796/-has-cpp-attribute-emits-warning-is-wrong-highligh.html) +// => this leads to annoying C4067 warnings (see https://developercommunity.visualstudio.com/content/problem/327796/-has-cpp-attribute-emits-warning-is-wrong-highligh.html) #if defined(_MSC_VER) // nvcc on msvc can't work with [[deprecated]] #if !defined(__CUDACC__) @@ -116,11 +116,13 @@ #define _PCL_DEPRECATED_HEADER_IMPL(Message) #endif +// NOLINTBEGIN(bugprone-macro-parentheses) /** * \brief A handy way to inform the user of the removal deadline */ #define _PCL_PREPARE_REMOVAL_MESSAGE(Major, Minor, Msg) \ Msg " (It will be removed in PCL " BOOST_PP_STRINGIZE(Major.Minor) ")" +// NOLINTEND(bugprone-macro-parentheses) /** * \brief Tests for Minor < PCL_MINOR_VERSION @@ -214,8 +216,7 @@ #define NOMINMAX #endif - #define __PRETTY_FUNCTION__ __FUNCTION__ - #define __func__ __FUNCTION__ + #define __PRETTY_FUNCTION__ __FUNCSIG__ #endif #endif // defined _WIN32 @@ -294,18 +295,18 @@ pcl_round (float number) #endif #define FIXED(s) \ - std::fixed << s << std::resetiosflags(std::ios_base::fixed) + std::fixed << (s) << std::resetiosflags(std::ios_base::fixed) #ifndef ERASE_STRUCT -#define ERASE_STRUCT(var) memset(&var, 0, sizeof(var)) +#define ERASE_STRUCT(var) memset(&(var), 0, sizeof(var)) #endif #ifndef ERASE_ARRAY -#define ERASE_ARRAY(var, size) memset(var, 0, size*sizeof(*var)) +#define ERASE_ARRAY(var, size) memset(var, 0, (size)*sizeof(*(var))) #endif #ifndef SET_ARRAY -#define SET_ARRAY(var, value, size) { for (decltype(size) i = 0; i < size; ++i) var[i]=value; } +#define SET_ARRAY(var, value, size) { for (decltype(size) i = 0; i < (size); ++i) (var)[i]=value; } #endif #ifndef PCL_EXTERN_C @@ -323,7 +324,11 @@ pcl_round (float number) #define PCL_EXPORTS #endif #else - #define PCL_EXPORTS + #ifdef PCL_SYMBOL_VISIBILITY_HIDDEN + #define PCL_EXPORTS __attribute__ ((visibility ("default"))) + #else + #define PCL_EXPORTS + #endif #endif #if defined WIN32 || defined _WIN32 diff --git a/common/include/pcl/point_cloud.h b/common/include/pcl/point_cloud.h index a5607bff..f7b63ba7 100644 --- a/common/include/pcl/point_cloud.h +++ b/common/include/pcl/point_cloud.h @@ -169,7 +169,7 @@ namespace pcl * \author Patrick Mihelich, Radu B. Rusu */ template - class PCL_EXPORTS PointCloud + class PointCloud { public: /** \brief Default constructor. Sets \ref is_dense to true, \ref width @@ -921,5 +921,3 @@ namespace pcl return (s); } } - -#define PCL_INSTANTIATE_PointCloud(T) template class PCL_EXPORTS pcl::PointCloud; diff --git a/common/include/pcl/range_image/impl/range_image.hpp b/common/include/pcl/range_image/impl/range_image.hpp index 01e396e2..7a985b56 100644 --- a/common/include/pcl/range_image/impl/range_image.hpp +++ b/common/include/pcl/range_image/impl/range_image.hpp @@ -194,7 +194,7 @@ RangeImage::createFromPointCloudWithKnownSize (const PointCloudType& point_cloud image_offset_y_ = (std::max) (0, center_pixel_y-pixel_radius_y); points.clear (); - points.resize (width*height, unobserved_point); + points.resize (static_cast(width)*static_cast(height), unobserved_point); int top=height, right=-1, bottom=-1, left=width; doZBuffer (point_cloud, noise_level, min_range, top, right, bottom, left); @@ -470,7 +470,7 @@ RangeImage::isValid (int index) const bool RangeImage::isObserved (int x, int y) const { - return !(!isInImage (x,y) || (std::isinf (getPoint (x,y).range) && getPoint (x,y).range < 0.0f)); + return (isInImage (x,y) && (!std::isinf (getPoint (x,y).range) || getPoint (x,y).range >= 0.0f)); } ///////////////////////////////////////////////////////////////////////// diff --git a/common/include/pcl/range_image/range_image.h b/common/include/pcl/range_image/range_image.h index 051979fe..6392b723 100644 --- a/common/include/pcl/range_image/range_image.h +++ b/common/include/pcl/range_image/range_image.h @@ -71,7 +71,7 @@ namespace pcl /** Constructor */ PCL_EXPORTS RangeImage (); /** Destructor */ - PCL_EXPORTS virtual ~RangeImage () = default; + PCL_EXPORTS virtual ~RangeImage (); // =====STATIC VARIABLES===== /** The maximum number of openmp threads that can be used in this class */ @@ -782,10 +782,10 @@ namespace pcl // =====STATIC PROTECTED===== - static const int lookup_table_size; - static std::vector asin_lookup_table; - static std::vector atan_lookup_table; - static std::vector cos_lookup_table; + PCL_EXPORTS static const int lookup_table_size; + PCL_EXPORTS static std::vector asin_lookup_table; + PCL_EXPORTS static std::vector atan_lookup_table; + PCL_EXPORTS static std::vector cos_lookup_table; /** Create lookup tables for trigonometric functions */ static void createLookupTables (); diff --git a/common/include/pcl/range_image/range_image_planar.h b/common/include/pcl/range_image/range_image_planar.h index 85afe388..4abdf741 100644 --- a/common/include/pcl/range_image/range_image_planar.h +++ b/common/include/pcl/range_image/range_image_planar.h @@ -133,7 +133,7 @@ namespace pcl * \param sensor_pose the pose of the virtual depth camera * \param coordinate_frame the used coordinate frame of the point cloud * \param noise_level what is the typical noise of the sensor - is used for averaging in the z-buffer - * \param min_range minimum range to consifder points + * \param min_range minimum range to consider points */ template void createFromPointCloudWithFixedSize (const PointCloudType& point_cloud, diff --git a/common/src/PCLPointCloud2.cpp b/common/src/PCLPointCloud2.cpp index f5a47a2a..06727604 100644 --- a/common/src/PCLPointCloud2.cpp +++ b/common/src/PCLPointCloud2.cpp @@ -137,6 +137,7 @@ pcl::PCLPointCloud2::concatenate (pcl::PCLPointCloud2 &cloud1, const pcl::PCLPoi cloud1.is_dense = cloud1.is_dense && cloud2.is_dense; cloud1.height = 1; cloud1.width = size1 + size2; + cloud1.row_step = cloud1.width * cloud1.point_step; // changed width if (simple_layout) { @@ -145,13 +146,13 @@ pcl::PCLPointCloud2::concatenate (pcl::PCLPointCloud2 &cloud1, const pcl::PCLPoi } const auto data1_size = cloud1.data.size (); cloud1.data.resize(data1_size + cloud2.data.size ()); - for (uindex_t cp = 0; cp < size2; ++cp) + for (std::size_t cp = 0; cp < size2; ++cp) { for (const auto& field_data: valid_fields) { const auto& i = field_data.idx1; const auto& j = field_data.idx2; - const auto& size = field_data.size; + const std::size_t size = field_data.size; // Leave the data for the skip fields untouched in cloud1 // Copy only the required data from cloud2 to the correct location for cloud1 memcpy (reinterpret_cast (&cloud1.data[data1_size + cp * cloud1.point_step + cloud1.fields[i].offset]), diff --git a/common/src/gaussian.cpp b/common/src/gaussian.cpp index 2b6a6671..7702de38 100644 --- a/common/src/gaussian.cpp +++ b/common/src/gaussian.cpp @@ -145,9 +145,7 @@ pcl::GaussianKernel::convolveRows (const pcl::PointCloud& input, { if (output.height < input.height || output.width < input.width) { - output.width = input.width; - output.height = input.height; - output.resize (input.height * input.width); + output.resize (static_cast(input.width), static_cast(input.height)); // Casting is necessary to resolve ambiguous call to resize } unaliased_input = &input; } @@ -189,9 +187,7 @@ pcl::GaussianKernel::convolveCols (const pcl::PointCloud& input, { if (output.height < input.height || output.width < input.width) { - output.width = input.width; - output.height = input.height; - output.resize (input.height * input.width); + output.resize (static_cast(input.width), static_cast(input.height)); // Casting is necessary to resolve ambiguous call to resize } unaliased_input = &input; } diff --git a/common/src/io.cpp b/common/src/io.cpp index 85d6f27d..0be99ddb 100644 --- a/common/src/io.cpp +++ b/common/src/io.cpp @@ -102,6 +102,8 @@ pcl::concatenateFields (const pcl::PCLPointCloud2 &cloud1, //by offset so that we can compute sizes correctly. There is no //guarantee that the fields are in the correct order when they come in std::vector cloud1_fields_sorted; + cloud1_fields_sorted.reserve(cloud1.fields.size()); + for (const auto &field : cloud1.fields) cloud1_fields_sorted.push_back (&field); @@ -149,7 +151,7 @@ pcl::concatenateFields (const pcl::PCLPointCloud2 &cloud1, //the total size of extra data should be the size of data per point //multiplied by the total number of points in the cloud - std::uint32_t cloud1_unique_data_size = cloud1_unique_point_step * cloud1.width * cloud1.height; + const std::size_t cloud1_unique_data_size = static_cast(cloud1_unique_point_step) * cloud1.width * cloud1.height; // Point step must increase with the length of each matching field cloud_out.point_step = cloud2.point_step + cloud1_unique_point_step; @@ -175,8 +177,9 @@ pcl::concatenateFields (const pcl::PCLPointCloud2 &cloud1, } // Iterate over each point and perform the appropriate memcpys - int point_offset = 0; - for (uindex_t cp = 0; cp < cloud_out.width * cloud_out.height; ++cp) + std::size_t point_offset = 0; + const std::size_t npts = static_cast(cloud_out.width) * static_cast(cloud_out.height); + for (std::size_t cp = 0; cp < npts; ++cp) { memcpy (&cloud_out.data[point_offset], &cloud2.data[cp * cloud2.point_step], cloud2.point_step); int field_offset = cloud2.point_step; @@ -229,7 +232,7 @@ pcl::getPointCloudAsEigen (const pcl::PCLPointCloud2 &in, Eigen::MatrixXf &out) return (false); } - std::size_t npts = in.width * in.height; + std::size_t npts = static_cast(in.width) * static_cast(in.height); out = Eigen::MatrixXf::Ones (4, npts); Eigen::Array4i xyz_offset (in.fields[x_idx].offset, in.fields[y_idx].offset, in.fields[z_idx].offset, 0); @@ -311,11 +314,11 @@ pcl::copyPointCloud ( cloud_out.row_step = cloud_in.point_step * static_cast (indices.size ()); cloud_out.is_dense = cloud_in.is_dense; - cloud_out.data.resize (cloud_out.width * cloud_out.height * cloud_out.point_step); + cloud_out.data.resize (static_cast(cloud_out.width) * static_cast(cloud_out.height) * static_cast(cloud_out.point_step)); // Iterate over each point for (std::size_t i = 0; i < indices.size (); ++i) - memcpy (&cloud_out.data[i * cloud_out.point_step], &cloud_in.data[indices[i] * cloud_in.point_step], cloud_in.point_step); + memcpy (&cloud_out.data[i * cloud_out.point_step], &cloud_in.data[static_cast(indices[i]) * cloud_in.point_step], cloud_in.point_step); } ////////////////////////////////////////////////////////////////////////// @@ -334,11 +337,11 @@ pcl::copyPointCloud ( cloud_out.row_step = cloud_in.point_step * static_cast (indices.size ()); cloud_out.is_dense = cloud_in.is_dense; - cloud_out.data.resize (cloud_out.width * cloud_out.height * cloud_out.point_step); + cloud_out.data.resize (static_cast(cloud_out.width) * cloud_out.height * cloud_out.point_step); // Iterate over each point for (std::size_t i = 0; i < indices.size (); ++i) - memcpy (&cloud_out.data[i * cloud_out.point_step], &cloud_in.data[indices[i] * cloud_in.point_step], cloud_in.point_step); + memcpy (&cloud_out.data[i * cloud_out.point_step], &cloud_in.data[static_cast(indices[i]) * cloud_in.point_step], cloud_in.point_step); } //////////////////////////////////////////////////////////////////////////////// diff --git a/common/src/pcl_base.cpp b/common/src/pcl_base.cpp index b53d0a87..5a482c2d 100644 --- a/common/src/pcl_base.cpp +++ b/common/src/pcl_base.cpp @@ -114,12 +114,12 @@ pcl::PCLBase::initCompute () } // If we have a set of fake indices, but they do not match the number of points in the cloud, update them - if (fake_indices_ && indices_->size () != (input_->width * input_->height)) + if (fake_indices_ && indices_->size () != (static_cast(input_->width) * static_cast(input_->height))) { const auto indices_size = indices_->size (); try { - indices_->resize (input_->width * input_->height); + indices_->resize (static_cast(input_->width) * static_cast(input_->height)); } catch (const std::bad_alloc&) { diff --git a/common/src/print.cpp b/common/src/print.cpp index 5e99d8fb..0441649c 100644 --- a/common/src/print.cpp +++ b/common/src/print.cpp @@ -52,7 +52,7 @@ # define COMMON_LVB_REVERSE_VIDEO 0 #endif -WORD +WORD convertAttributesColor (int attribute, int fg, int bg=0) { static WORD wAttributes[7] = { 0, // TT_RESET @@ -129,7 +129,7 @@ pcl::console::change_text_color (FILE *stream, int attribute, int fg, int bg) #else char command[40]; // Command is the control command to the terminal - sprintf (command, "%c[%d;%d;%dm", 0x1B, attribute, fg + 30, bg + 40); + snprintf (command, sizeof(command), "%c[%d;%d;%dm", 0x1B, attribute, fg + 30, bg + 40); fprintf (stream, "%s", command); #endif } @@ -146,7 +146,7 @@ pcl::console::change_text_color (FILE *stream, int attribute, int fg) #else char command[17]; // Command is the control command to the terminal - sprintf (command, "%c[%d;%dm", 0x1B, attribute, fg + 30); + snprintf (command, sizeof(command), "%c[%d;%dm", 0x1B, attribute, fg + 30); fprintf (stream, "%s", command); #endif } @@ -163,7 +163,7 @@ pcl::console::reset_text_color (FILE *stream) #else char command[13]; // Command is the control command to the terminal - sprintf (command, "%c[0;m", 0x1B); + snprintf (command, sizeof(command), "%c[0;m", 0x1B); fprintf (stream, "%s", command); #endif } @@ -178,7 +178,7 @@ pcl::console::print_color (FILE *stream, int attr, int fg, const char *format, . va_start (ap, format); vfprintf (stream, format, ap); va_end (ap); - + reset_text_color (stream); } @@ -186,7 +186,7 @@ pcl::console::print_color (FILE *stream, int attr, int fg, const char *format, . void pcl::console::print_info (const char *format, ...) { - if (!isVerbosityLevelEnabled (L_INFO)) return; + if (!isVerbosityLevelEnabled (L_INFO)) return; reset_text_color (stdout); @@ -258,7 +258,7 @@ pcl::console::print_error (const char *format, ...) va_start (ap, format); vfprintf (stderr, format, ap); va_end (ap); - + reset_text_color (stderr); } @@ -274,7 +274,7 @@ pcl::console::print_error (FILE *stream, const char *format, ...) va_start (ap, format); vfprintf (stream, format, ap); va_end (ap); - + reset_text_color (stream); } @@ -290,7 +290,7 @@ pcl::console::print_warn (const char *format, ...) va_start (ap, format); vfprintf (stderr, format, ap); va_end (ap); - + reset_text_color (stderr); } @@ -306,7 +306,7 @@ pcl::console::print_warn (FILE *stream, const char *format, ...) va_start (ap, format); vfprintf (stream, format, ap); va_end (ap); - + reset_text_color (stream); } @@ -322,7 +322,7 @@ pcl::console::print_value (const char *format, ...) va_start (ap, format); vfprintf (stdout, format, ap); va_end (ap); - + reset_text_color (stdout); } @@ -338,7 +338,7 @@ pcl::console::print_value (FILE *stream, const char *format, ...) va_start (ap, format); vfprintf (stream, format, ap); va_end (ap); - + reset_text_color (stream); } @@ -354,7 +354,7 @@ pcl::console::print_debug (const char *format, ...) va_start (ap, format); vfprintf (stdout, format, ap); va_end (ap); - + reset_text_color (stdout); } @@ -370,7 +370,7 @@ pcl::console::print_debug (FILE *stream, const char *format, ...) va_start (ap, format); vfprintf (stream, format, ap); va_end (ap); - + reset_text_color (stream); } @@ -381,7 +381,7 @@ namespace pcl { static bool s_NeedVerbosityInit = true; #ifdef VERBOSITY_LEVEL_ALWAYS - static VERBOSITY_LEVEL s_VerbosityLevel = pcl::console::L_ALWAYS; + static VERBOSITY_LEVEL s_VerbosityLevel = pcl::console::L_ALWAYS; #elif defined VERBOSITY_LEVEL_ERROR static VERBOSITY_LEVEL s_VerbosityLevel = pcl::console::L_ERROR; #elif defined VERBOSITY_LEVEL_WARN @@ -389,9 +389,9 @@ namespace pcl #elif defined VERBOSITY_LEVEL_DEBUG static VERBOSITY_LEVEL s_VerbosityLevel = pcl::console::L_DEBUG; #elif defined VERBOSITY_LEVEL_VERBOSE - static VERBOSITY_LEVEL s_VerbosityLevel = pcl::console::L_VERBOSE; -#else - static VERBOSITY_LEVEL s_VerbosityLevel = pcl::console::L_INFO; + static VERBOSITY_LEVEL s_VerbosityLevel = pcl::console::L_VERBOSE; +#else + static VERBOSITY_LEVEL s_VerbosityLevel = pcl::console::L_INFO; #endif } } @@ -416,15 +416,15 @@ bool pcl::console::isVerbosityLevelEnabled (pcl::console::VERBOSITY_LEVEL level) { if (s_NeedVerbosityInit) pcl::console::initVerbosityLevel (); - return level <= s_VerbosityLevel; + return level <= s_VerbosityLevel; } //////////////////////////////////////////////////////////////////////////////// -bool +bool pcl::console::initVerbosityLevel () { #ifdef VERBOSITY_LEVEL_ALWAYS - s_VerbosityLevel = pcl::console::L_ALWAYS; + s_VerbosityLevel = pcl::console::L_ALWAYS; #elif defined VERBOSITY_LEVEL_ERROR s_VerbosityLevel = pcl::console::L_ERROR; #elif defined VERBOSITY_LEVEL_WARN @@ -432,8 +432,8 @@ pcl::console::initVerbosityLevel () #elif defined VERBOSITY_LEVEL_DEBUG s_VerbosityLevel = pcl::console::L_DEBUG; #elif defined VERBOSITY_LEVEL_VERBOSE - s_VerbosityLevel = pcl::console::L_VERBOSE; -#else + s_VerbosityLevel = pcl::console::L_VERBOSE; +#else s_VerbosityLevel = pcl::console::L_INFO; // Default value #endif @@ -457,7 +457,7 @@ pcl::console::initVerbosityLevel () } //////////////////////////////////////////////////////////////////////////////// -void +void pcl::console::print (pcl::console::VERBOSITY_LEVEL level, FILE *stream, const char *format, ...) { if (!isVerbosityLevelEnabled (level)) return; @@ -484,12 +484,12 @@ pcl::console::print (pcl::console::VERBOSITY_LEVEL level, FILE *stream, const ch va_start (ap, format); vfprintf (stream, format, ap); va_end (ap); - + reset_text_color (stream); } //////////////////////////////////////////////////////////////////////////////// -void +void pcl::console::print (pcl::console::VERBOSITY_LEVEL level, const char *format, ...) { if (!isVerbosityLevelEnabled (level)) return; @@ -511,13 +511,13 @@ pcl::console::print (pcl::console::VERBOSITY_LEVEL level, const char *format, .. default: break; } - + va_list ap; va_start (ap, format); vfprintf (stream, format, ap); va_end (ap); - + reset_text_color (stream); } diff --git a/common/src/range_image.cpp b/common/src/range_image.cpp index 91ba59bf..2ae3c432 100644 --- a/common/src/range_image.cpp +++ b/common/src/range_image.cpp @@ -113,6 +113,8 @@ RangeImage::RangeImage () : unobserved_point.range = -std::numeric_limits::infinity (); } +RangeImage::~RangeImage () = default; + ///////////////////////////////////////////////////////////////////////// void RangeImage::reset () @@ -238,7 +240,7 @@ RangeImage::cropImage (int borderSize, int top, int right, int bottom, int left) width = right-left+1; height = bottom-top+1; image_offset_x_ = left+oldRangeImage.image_offset_x_; image_offset_y_ = top+oldRangeImage.image_offset_y_; - points.resize (width*height); + points.resize (static_cast(width)*static_cast(height)); //std::cout << oldRangeImage.width<<"x"< "<(width)*static_cast(height)]; float* integral_image_ptr = integral_image; - valid_points_num_image = new int[width*height]; + valid_points_num_image = new int[static_cast(width)*static_cast(height)]; int* valid_points_num_image_ptr = valid_points_num_image; for (int y = 0; y < static_cast (height); ++y) { @@ -350,7 +352,7 @@ RangeImage::getHalfImage (RangeImage& half_image) const half_image.height = height/2; half_image.is_dense = is_dense; half_image.clear (); - half_image.resize (half_image.width*half_image.height); + half_image.resize (half_image.width, half_image.height); int src_start_x = 2*half_image.image_offset_x_ - image_offset_x_, src_start_y = 2*half_image.image_offset_y_ - image_offset_y_; @@ -394,7 +396,7 @@ RangeImage::getSubImage (int sub_image_image_offset_x, int sub_image_image_offse sub_image.height = sub_image_height; sub_image.is_dense = is_dense; sub_image.clear (); - sub_image.resize (sub_image.width*sub_image.height); + sub_image.resize (sub_image.width, sub_image.height); int src_start_x = combine_pixels*sub_image.image_offset_x_ - image_offset_x_, src_start_y = combine_pixels*sub_image.image_offset_y_ - image_offset_y_; diff --git a/common/src/range_image_planar.cpp b/common/src/range_image_planar.cpp index 20628801..0d513d4b 100644 --- a/common/src/range_image_planar.cpp +++ b/common/src/range_image_planar.cpp @@ -69,7 +69,7 @@ namespace pcl focal_length_x_reciprocal_ = focal_length_y_reciprocal_ = 1.0f / focal_length_x_; center_x_ = static_cast (di_width) / static_cast (2 * skip); center_y_ = static_cast (di_height) / static_cast (2 * skip); - points.resize (width*height); + points.resize (static_cast(width)*static_cast(height)); //std::cout << PVARN (*this); @@ -130,7 +130,7 @@ namespace pcl focal_length_y_reciprocal_ = 1.0f / focal_length_y_; center_x_ = static_cast (di_center_x) / static_cast (skip); center_y_ = static_cast (di_center_y) / static_cast (skip); - points.resize (width * height); + points.resize (static_cast(width) * static_cast(height)); for (int y=0; y < static_cast (height); ++y) { @@ -176,7 +176,7 @@ namespace pcl focal_length_y_reciprocal_ = 1.0f / focal_length_y_; center_x_ = static_cast (di_center_x) / static_cast (skip); center_y_ = static_cast (di_center_y) / static_cast (skip); - points.resize (width * height); + points.resize (static_cast(width) * static_cast(height)); for (int y = 0; y < static_cast (height); ++y) { diff --git a/cuda/CMakeLists.txt b/cuda/CMakeLists.txt index c327f95e..ed1c888f 100644 --- a/cuda/CMakeLists.txt +++ b/cuda/CMakeLists.txt @@ -2,7 +2,7 @@ set(SUBSYS_NAME cuda) set(SUBSYS_DESC "Point cloud CUDA libraries") set(SUBSYS_DEPS) -option(BUILD_CUDA "Build the CUDA-related subsystems" ${DEFAULT}) +option(BUILD_CUDA "Build the CUDA-related subsystems" OFF) if(NOT (BUILD_CUDA AND CUDA_FOUND)) return() diff --git a/cuda/apps/CMakeLists.txt b/cuda/apps/CMakeLists.txt index a8190839..f15ad276 100644 --- a/cuda/apps/CMakeLists.txt +++ b/cuda/apps/CMakeLists.txt @@ -10,7 +10,6 @@ if(NOT VTK_FOUND) else() set(DEFAULT TRUE) set(REASON) - include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") endif() PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") diff --git a/cuda/apps/src/kinect_planes_cuda.cpp b/cuda/apps/src/kinect_planes_cuda.cpp index c61c0336..33157b53 100644 --- a/cuda/apps/src/kinect_planes_cuda.cpp +++ b/cuda/apps/src/kinect_planes_cuda.cpp @@ -49,6 +49,7 @@ #include #include #include +#include #include #include #include @@ -61,8 +62,6 @@ #include #include -#include - #include #include #include @@ -273,7 +272,7 @@ class MultiRansac //bool repeat = false; //std::string path = "./pcl_logo.pcd"; - //if (path.empty() || !boost::filesystem::exists (path)) + //if (path.empty() || !pcl_fs::exists (path)) //{ // std::cerr << "did not find file" << std::endl; //} diff --git a/cuda/common/CMakeLists.txt b/cuda/common/CMakeLists.txt index 2c4c119a..2524242b 100644 --- a/cuda/common/CMakeLists.txt +++ b/cuda/common/CMakeLists.txt @@ -3,7 +3,6 @@ set(SUBSYS_PATH cuda/common) set(SUBSYS_DESC "Point cloud CUDA common library") set(SUBSYS_DEPS) -set(build TRUE) PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON) mark_as_advanced("BUILD_${SUBSYS_NAME}") PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) @@ -28,8 +27,8 @@ set(common_incs include/pcl/cuda/common/point_type_rgb.h ) -include_directories(./include) set(LIB_NAME "pcl_${SUBSYS_NAME}") +PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME}) set(EXT_DEPS CUDA) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC "${SUBSYS_DESC}" PCL_DEPS "${SUBSYS_DEPS}" EXT_DEPS "" HEADER_ONLY) diff --git a/cuda/features/CMakeLists.txt b/cuda/features/CMakeLists.txt index 7d271029..cc1bdfe2 100644 --- a/cuda/features/CMakeLists.txt +++ b/cuda/features/CMakeLists.txt @@ -5,7 +5,6 @@ set(SUBSYS_DEPS cuda_common io common) # ---[ Point Cloud Library - pcl/cuda/io -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) mark_as_advanced("BUILD_${SUBSYS_NAME}") PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) @@ -24,9 +23,8 @@ set(incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs}) -target_link_libraries(${LIB_NAME} pcl_common) +target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_cuda_common) set(EXT_DEPS "") #set(EXT_DEPS CUDA) diff --git a/cuda/io/CMakeLists.txt b/cuda/io/CMakeLists.txt index fcf78689..da893951 100644 --- a/cuda/io/CMakeLists.txt +++ b/cuda/io/CMakeLists.txt @@ -6,7 +6,6 @@ set(SUBSYS_EXT_DEPS openni) # ---[ Point Cloud Library - pcl/cuda/io -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF) mark_as_advanced("BUILD_${SUBSYS_NAME}") PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS ${SUBSYS_EXT_DEPS}) @@ -35,9 +34,8 @@ set(incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs}) -target_link_libraries(${LIB_NAME} pcl_common) +target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_cuda_common) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${SUBSYS_EXT_DEPS}) diff --git a/cuda/sample_consensus/CMakeLists.txt b/cuda/sample_consensus/CMakeLists.txt index 42cdc30c..59455e42 100644 --- a/cuda/sample_consensus/CMakeLists.txt +++ b/cuda/sample_consensus/CMakeLists.txt @@ -5,7 +5,6 @@ set(SUBSYS_DEPS cuda_common io common) # ---[ Point Cloud Library - pcl/cuda/io -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) mark_as_advanced("BUILD_${SUBSYS_NAME}") PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) @@ -33,7 +32,6 @@ set(incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs}) target_link_libraries("${LIB_NAME}" pcl_cuda_features) diff --git a/cuda/segmentation/CMakeLists.txt b/cuda/segmentation/CMakeLists.txt index 38a17aa4..d32560f8 100644 --- a/cuda/segmentation/CMakeLists.txt +++ b/cuda/segmentation/CMakeLists.txt @@ -5,7 +5,6 @@ set(SUBSYS_DEPS cuda_common io common) # ---[ Point Cloud Library - pcl/cuda/io -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) mark_as_advanced("BUILD_${SUBSYS_NAME}") PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) @@ -25,9 +24,8 @@ set(srcs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs}) -target_link_libraries(${LIB_NAME} pcl_common) +target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_cuda_common) set(EXT_DEPS "") #set(EXT_DEPS CUDA) diff --git a/doc/advanced/content/index.rst b/doc/advanced/content/index.rst index 93d4a1a1..d8945545 100644 --- a/doc/advanced/content/index.rst +++ b/doc/advanced/content/index.rst @@ -98,7 +98,7 @@ development that everyone should follow: Committing changes to the git master ------------------------------------ -In order to oversee the commit messages more easier and that the changelist looks homogenous please keep the following format: +In order to oversee the commit messages more easier and that the changelist looks homogeneous please keep the following format: "* X in @@ (#)" diff --git a/doc/tutorials/content/compiling_pcl_windows.rst b/doc/tutorials/content/compiling_pcl_windows.rst index 7a7624b2..e93ef5bf 100644 --- a/doc/tutorials/content/compiling_pcl_windows.rst +++ b/doc/tutorials/content/compiling_pcl_windows.rst @@ -132,7 +132,7 @@ CMake window. Let's check also the `Advanced` checkbox to show some advanced CMa variable value, we can either browse the CMake variables to look for it, or we can use the `Search:` field to type the variable name. .. image:: images/windows/cmake_grouped_advanced.png - :alt: CMake groupped and advanced variables + :alt: CMake grouped and advanced variables :align: center Let's check whether CMake did actually find the needed third party dependencies or not : @@ -332,3 +332,6 @@ Using PCL We finally managed to compile the Point Cloud Library (PCL) as binaries for Windows. You can start using them in your project by following the :ref:`using_pcl_pcl_config` tutorial. + +.. note:: + You may get errors when your program is linked if you use specific point types that are not used so often (so for example `pcl::PointXYZ` and `pcl::PointXYZI` are usually not affected). Of course, the first thing you should check is whether you correctly link to all PCL libraries (`target_link_libraries( ${PCL_LIBRARIES})` in CMake). The next thing you can try is adding `#define PCL_NO_PRECOMPILE` before including any PCL headers. The background is that on Windows, PCL is always compiled with `PCL_ONLY_CORE_POINT_TYPES` enabled, otherwise some PCL modules (e.g. pcl_features) would fail to build due to limitations of the Windows linker. The effect is that the templated classes are only instantiated for some commonly used point types, not for all. For further explanations, see the :ref:`adding_custom_ptype` tutorial. diff --git a/doc/tutorials/content/iterative_closest_point.rst b/doc/tutorials/content/iterative_closest_point.rst index 80782c9b..024b685d 100644 --- a/doc/tutorials/content/iterative_closest_point.rst +++ b/doc/tutorials/content/iterative_closest_point.rst @@ -107,7 +107,7 @@ You will see something similar to:: 1 [20.000000%]. [pcl::IterativeClosestPoint::computeTransformation] Convergence reached. Number of iterations: 1 out of 0. Transformation difference: 0.700001 - has converged:1 score: 1.95122e-14 + ICP has converged, score: 1.95122e-14 1 4.47035e-08 -3.25963e-09 0.7 2.98023e-08 1 -1.08499e-07 -2.98023e-08 1.30385e-08 -1.67638e-08 1 1.86265e-08 diff --git a/doc/tutorials/content/normal_distributions_transform.rst b/doc/tutorials/content/normal_distributions_transform.rst index cf85d9ec..5363612b 100644 --- a/doc/tutorials/content/normal_distributions_transform.rst +++ b/doc/tutorials/content/normal_distributions_transform.rst @@ -110,4 +110,4 @@ You should see results similar those below as well as a visualization of the ali Loaded 112586 data points from room_scan1.pcd Loaded 112624 data points from room_scan2.pcd Filtered cloud contains 12433 data points from room_scan2.pcd - Normal Distributions Transform has converged:1 score: 0.638694 + Normal Distributions Transform has converged, score: 0.638694 diff --git a/doc/tutorials/content/pcl_vcpkg_windows.rst b/doc/tutorials/content/pcl_vcpkg_windows.rst index f97ebd74..33d40cbe 100644 --- a/doc/tutorials/content/pcl_vcpkg_windows.rst +++ b/doc/tutorials/content/pcl_vcpkg_windows.rst @@ -88,7 +88,7 @@ will install PCL with default options as well as default triplet type (ie. x86). .. note:: If there are new features or bugfixes that are not yet part of a release, - you can try to use --head, which downloads the master of PCL. + you can try to use `--head`, which downloads the master of PCL. You can see the available PCL version and options in VCPKG `here `_. @@ -100,6 +100,9 @@ And all features: ./vcpkg install pcl[*] +.. note:: + If you want to use anything from the PCL visualization module (like the `PCLVisualizer` for example), you need to explicitly request this from vcpkg by `./vcpkg install pcl[visualization]` or `./vcpkg install pcl[*]` (it is disabled by default). + If you want to install with a different triplet type, the easiest way is: ./vcpkg install pcl --triplet triplet_type @@ -136,6 +139,9 @@ Find PCL using CMake To use PCL in CMake project, take a look at Kunal Tyagi's minimal example `in this repository `_ +.. note:: + You may get errors when your program is linked if you use specific point types that are not used so often (so for example `pcl::PointXYZ` and `pcl::PointXYZI` are usually not affected). Of course, the first thing you should check is whether you correctly link to all PCL libraries (`target_link_libraries( ${PCL_LIBRARIES})` in CMake). The next thing you can try is adding `#define PCL_NO_PRECOMPILE` before including any PCL headers. The background is that on Windows, PCL is always compiled with `PCL_ONLY_CORE_POINT_TYPES` enabled, otherwise some PCL modules (e.g. pcl_features) would fail to build due to limitations of the Windows linker. The effect is that the templated classes are only instantiated for some commonly used point types, not for all. For further explanations, see the :ref:`adding_custom_ptype` tutorial. + Install PCL dependencies for contributions ========================================== diff --git a/doc/tutorials/content/sources/bspline_fitting/bspline_fitting.cpp b/doc/tutorials/content/sources/bspline_fitting/bspline_fitting.cpp index 2bcb0a17..4119d93b 100644 --- a/doc/tutorials/content/sources/bspline_fitting/bspline_fitting.cpp +++ b/doc/tutorials/content/sources/bspline_fitting/bspline_fitting.cpp @@ -25,7 +25,7 @@ main (int argc, char *argv[]) if (argc < 3) { printf ("\nUsage: pcl_example_nurbs_fitting_surface pcd-in-file 3dm-out-file\n\n"); - exit (0); + exit (EXIT_FAILURE); } pcd_file = argv[1]; file_3dm = argv[2]; diff --git a/doc/tutorials/content/sources/ensenso_cameras/ensenso_cloud_images_viewer.cpp b/doc/tutorials/content/sources/ensenso_cameras/ensenso_cloud_images_viewer.cpp index 6d4d10a6..1904f620 100644 --- a/doc/tutorials/content/sources/ensenso_cameras/ensenso_cloud_images_viewer.cpp +++ b/doc/tutorials/content/sources/ensenso_cameras/ensenso_cloud_images_viewer.cpp @@ -27,7 +27,7 @@ typedef pcl::PointXYZ PointT; /** @brief Convenience typedef */ typedef pcl::PointCloud PointCloudT; -/** @brief Convenience typdef for the Ensenso grabber callback */ +/** @brief Convenience typedef for the Ensenso grabber callback */ typedef std::pair PairOfImages; typedef pcl::shared_ptr PairOfImagesPtr; diff --git a/doc/tutorials/content/sources/iccv2011/src/build_all_object_models.cpp b/doc/tutorials/content/sources/iccv2011/src/build_all_object_models.cpp index b9f2b423..562e2edb 100644 --- a/doc/tutorials/content/sources/iccv2011/src/build_all_object_models.cpp +++ b/doc/tutorials/content/sources/iccv2011/src/build_all_object_models.cpp @@ -3,23 +3,23 @@ #include #include #include +#include #include #include #include -#include + #include // for split, is_any_of -namespace bf = boost::filesystem; inline void -getModelsInDirectory (bf::path & dir, std::string & rel_path_so_far, std::vector & relative_paths) +getModelsInDirectory (pcl_fs::path & dir, std::string & rel_path_so_far, std::vector & relative_paths) { - for (const auto& dir_entry : bf::directory_iterator(dir)) + for (const auto& dir_entry : pcl_fs::directory_iterator(dir)) { //check if its a directory, then get models in it - if (bf::is_directory (dir_entry)) + if (pcl_fs::is_directory (dir_entry)) { std::string so_far = rel_path_so_far + dir_entry.path ().filename ().string () + "/"; - bf::path curr_path = dir_entry.path (); + pcl_fs::path curr_path = dir_entry.path (); getModelsInDirectory (curr_path, so_far, relative_paths); } else @@ -189,7 +189,7 @@ main (int argc, char ** argv) std::string directory (argv[1]); //Find all raw* files in input_directory - bf::path dir_path = directory; + pcl_fs::path dir_path = directory; std::vector < std::string > files; std::string start = ""; getModelsInDirectory (dir_path, start, files); diff --git a/doc/tutorials/content/sources/iros2011/src/build_all_object_models.cpp b/doc/tutorials/content/sources/iros2011/src/build_all_object_models.cpp index b9f2b423..562e2edb 100644 --- a/doc/tutorials/content/sources/iros2011/src/build_all_object_models.cpp +++ b/doc/tutorials/content/sources/iros2011/src/build_all_object_models.cpp @@ -3,23 +3,23 @@ #include #include #include +#include #include #include #include -#include + #include // for split, is_any_of -namespace bf = boost::filesystem; inline void -getModelsInDirectory (bf::path & dir, std::string & rel_path_so_far, std::vector & relative_paths) +getModelsInDirectory (pcl_fs::path & dir, std::string & rel_path_so_far, std::vector & relative_paths) { - for (const auto& dir_entry : bf::directory_iterator(dir)) + for (const auto& dir_entry : pcl_fs::directory_iterator(dir)) { //check if its a directory, then get models in it - if (bf::is_directory (dir_entry)) + if (pcl_fs::is_directory (dir_entry)) { std::string so_far = rel_path_so_far + dir_entry.path ().filename ().string () + "/"; - bf::path curr_path = dir_entry.path (); + pcl_fs::path curr_path = dir_entry.path (); getModelsInDirectory (curr_path, so_far, relative_paths); } else @@ -189,7 +189,7 @@ main (int argc, char ** argv) std::string directory (argv[1]); //Find all raw* files in input_directory - bf::path dir_path = directory; + pcl_fs::path dir_path = directory; std::vector < std::string > files; std::string start = ""; getModelsInDirectory (dir_path, start, files); diff --git a/doc/tutorials/content/sources/iterative_closest_point/iterative_closest_point.cpp b/doc/tutorials/content/sources/iterative_closest_point/iterative_closest_point.cpp index d45ab78c..202b3538 100644 --- a/doc/tutorials/content/sources/iterative_closest_point/iterative_closest_point.cpp +++ b/doc/tutorials/content/sources/iterative_closest_point/iterative_closest_point.cpp @@ -40,7 +40,7 @@ int pcl::PointCloud Final; icp.align(Final); - std::cout << "has converged:" << icp.hasConverged() << " score: " << + std::cout << "ICP has " << (icp.hasConverged()?"converged":"not converged") << ", score: " << icp.getFitnessScore() << std::endl; std::cout << icp.getFinalTransformation() << std::endl; diff --git a/doc/tutorials/content/sources/normal_distributions_transform/normal_distributions_transform.cpp b/doc/tutorials/content/sources/normal_distributions_transform/normal_distributions_transform.cpp index b5a525d2..732eb408 100644 --- a/doc/tutorials/content/sources/normal_distributions_transform/normal_distributions_transform.cpp +++ b/doc/tutorials/content/sources/normal_distributions_transform/normal_distributions_transform.cpp @@ -69,8 +69,8 @@ main () pcl::PointCloud::Ptr output_cloud (new pcl::PointCloud); ndt.align (*output_cloud, init_guess); - std::cout << "Normal Distributions Transform has converged:" << ndt.hasConverged () - << " score: " << ndt.getFitnessScore () << std::endl; + std::cout << "Normal Distributions Transform has " << (ndt.hasConverged ()?"converged":"not converged") + << ", score: " << ndt.getFitnessScore () << std::endl; // Transforming unfiltered, input cloud using found transform. pcl::transformPointCloud (*input_cloud, *output_cloud, ndt.getFinalTransformation ()); diff --git a/doc/tutorials/content/sources/vfh_recognition/build_tree.cpp b/doc/tutorials/content/sources/vfh_recognition/build_tree.cpp index 5ecb2325..01babb17 100644 --- a/doc/tutorials/content/sources/vfh_recognition/build_tree.cpp +++ b/doc/tutorials/content/sources/vfh_recognition/build_tree.cpp @@ -1,8 +1,9 @@ #include #include +#include #include #include -#include + #include #include #include @@ -15,7 +16,7 @@ typedef std::pair > vfh_model; * \param vfh the resultant VFH model */ bool -loadHist (const boost::filesystem::path &path, vfh_model &vfh) +loadHist (const pcl_fs::path &path, vfh_model &vfh) { int vfh_idx; // Load the file as a PCD @@ -63,22 +64,22 @@ loadHist (const boost::filesystem::path &path, vfh_model &vfh) * \param models the resultant vector of histogram models */ void -loadFeatureModels (const boost::filesystem::path &base_dir, const std::string &extension, +loadFeatureModels (const pcl_fs::path &base_dir, const std::string &extension, std::vector &models) { - if (!boost::filesystem::exists (base_dir) && !boost::filesystem::is_directory (base_dir)) + if (!pcl_fs::exists (base_dir) && !pcl_fs::is_directory (base_dir)) return; - for (boost::filesystem::directory_iterator it (base_dir); it != boost::filesystem::directory_iterator (); ++it) + for (pcl_fs::directory_iterator it (base_dir); it != pcl_fs::directory_iterator (); ++it) { - if (boost::filesystem::is_directory (it->status ())) + if (pcl_fs::is_directory (it->status ())) { std::stringstream ss; ss << it->path (); pcl::console::print_highlight ("Loading %s (%lu models loaded so far).\n", ss.str ().c_str (), (unsigned long)models.size ()); loadFeatureModels (it->path (), extension, models); } - if (boost::filesystem::is_regular_file (it->status ()) && it->path ().extension ().string () == extension) + if (pcl_fs::is_regular_file (it->status ()) && it->path ().extension ().string () == extension) { vfh_model m; if (loadHist (base_dir / it->path ().filename (), m)) diff --git a/doc/tutorials/content/sources/vfh_recognition/nearest_neighbors.cpp b/doc/tutorials/content/sources/vfh_recognition/nearest_neighbors.cpp index e377394b..b168d4f4 100644 --- a/doc/tutorials/content/sources/vfh_recognition/nearest_neighbors.cpp +++ b/doc/tutorials/content/sources/vfh_recognition/nearest_neighbors.cpp @@ -3,6 +3,7 @@ #include #include // for compute3DCentroid #include +#include #include #include #include @@ -10,7 +11,7 @@ #include #include #include -#include + #include // for replace_last typedef std::pair > vfh_model; @@ -19,7 +20,7 @@ typedef std::pair > vfh_model; * \param vfh the resultant VFH model */ bool -loadHist (const boost::filesystem::path &path, vfh_model &vfh) +loadHist (const pcl_fs::path &path, vfh_model &vfh) { int vfh_idx; // Load the file as a PCD @@ -152,7 +153,7 @@ main (int argc, char** argv) flann::Matrix k_distances; flann::Matrix data; // Check if the data has already been saved to disk - if (!boost::filesystem::exists ("training_data.h5") || !boost::filesystem::exists ("training_data.list")) + if (!pcl_fs::exists ("training_data.h5") || !pcl_fs::exists ("training_data.list")) { pcl::console::print_error ("Could not find training data models files %s and %s!\n", training_data_h5_file_name.c_str (), training_data_list_file_name.c_str ()); @@ -167,7 +168,7 @@ main (int argc, char** argv) } // Check if the tree index has already been saved to disk - if (!boost::filesystem::exists (kdtree_idx_file_name)) + if (!pcl_fs::exists (kdtree_idx_file_name)) { pcl::console::print_error ("Could not find kd-tree index in file %s!", kdtree_idx_file_name.c_str ()); return (-1); diff --git a/doc/tutorials/content/vfh_recognition.rst b/doc/tutorials/content/vfh_recognition.rst index 41b9b626..095fe6ec 100644 --- a/doc/tutorials/content/vfh_recognition.rst +++ b/doc/tutorials/content/vfh_recognition.rst @@ -110,21 +110,21 @@ Once all VFH features have been loaded, we convert them to FLANN format, using: .. literalinclude:: sources/vfh_recognition/build_tree.cpp :language: cpp - :lines: 113-118 + :lines: 114-119 Since we're lazy, and we want to use this data (and not reload it again by crawling the directory structure in the testing phase), we dump the data to disk: .. literalinclude:: sources/vfh_recognition/build_tree.cpp :language: cpp - :lines: 120-126 + :lines: 121-127 Finally, we create the KdTree, and save its structure to disk: .. literalinclude:: sources/vfh_recognition/build_tree.cpp :language: cpp - :lines: 129-133 + :lines: 130-134 Here we will use a ``LinearIndex``, which does a brute-force search using a @@ -164,7 +164,7 @@ In lines: .. literalinclude:: sources/vfh_recognition/nearest_neighbors.cpp :language: cpp - :lines: 132-143 + :lines: 134-145 we load the first given user histogram (and ignore the rest). Then we proceed @@ -177,7 +177,7 @@ In lines: .. literalinclude:: sources/vfh_recognition/nearest_neighbors.cpp :language: cpp - :lines: 162-163 + :lines: 164-165 we load the training data from disk, together with the list of file names that @@ -185,7 +185,7 @@ we previously stored in ``build_tree.cpp``. Then, we read the kd-tree and rebuil .. literalinclude:: sources/vfh_recognition/nearest_neighbors.cpp :language: cpp - :lines: 176-177 + :lines: 178-179 Here we need to make sure that we use the **exact** distance metric @@ -194,53 +194,53 @@ the tree. The most important part of the code comes here: .. literalinclude:: sources/vfh_recognition/nearest_neighbors.cpp :language: cpp - :lines: 178 + :lines: 180 Inside ``nearestKSearch``, we first convert the query point to FLANN format: .. literalinclude:: sources/vfh_recognition/nearest_neighbors.cpp :language: cpp - :lines: 75-76 + :lines: 77-78 Followed by obtaining the resultant nearest neighbor indices and distances for the query in: .. literalinclude:: sources/vfh_recognition/nearest_neighbors.cpp :language: cpp - :lines: 77-80 + :lines: 79-82 Lines: .. literalinclude:: sources/vfh_recognition/nearest_neighbors.cpp :language: cpp - :lines: 177-191 + :lines: 179-193 create a ``PCLVisualizer`` object, and sets up a set of different viewports (e.g., splits the screen into different chunks), which will be enabled in: .. literalinclude:: sources/vfh_recognition/nearest_neighbors.cpp :language: cpp - :lines: 211 + :lines: 213 Using the file names representing the models that we previously obtained in ``loadFileList``, we proceed at loading the model file names using: .. literalinclude:: sources/vfh_recognition/nearest_neighbors.cpp :language: cpp - :lines: 219-226 + :lines: 221-228 For visualization purposes, we demean the point cloud by computing its centroid and then subtracting it: .. literalinclude:: sources/vfh_recognition/nearest_neighbors.cpp :language: cpp - :lines: 238-243 + :lines: 240-245 Finally we check if the distance obtained by ``nearestKSearch`` is larger than the user given threshold, and if it is, we display a red line over the cloud that is being rendered in the viewport: .. literalinclude:: sources/vfh_recognition/nearest_neighbors.cpp :language: cpp - :lines: 252-258 + :lines: 254-260 Compiling and running the code diff --git a/doc/tutorials/content/walkthrough.rst b/doc/tutorials/content/walkthrough.rst index 971d9a8f..706be8f7 100644 --- a/doc/tutorials/content/walkthrough.rst +++ b/doc/tutorials/content/walkthrough.rst @@ -249,7 +249,7 @@ Kd-tree A theoretical primer explaining how Kd-trees work can be found in the `Kd-tree tutorial `_. - The *kdtree* library provides the kd-tree data-structure, using `FLANN `_, that allows for fast `nearest neighbor searches `_. + The *kdtree* library provides the kd-tree data-structure, using `FLANN `_, that allows for fast `nearest neighbor searches `_. A `Kd-tree `_ (k-dimensional tree) is a space-partitioning data structure that stores a set of k-dimensional points in a tree structure that enables efficient range searches and nearest neighbor searches. Nearest neighbor searches are a core operation when working with point cloud data and can be used to find correspondences between groups of points or feature descriptors or to define the local neighborhood around a point or points. @@ -261,7 +261,7 @@ Kd-tree **Documentation:** https://pointclouds.org/documentation/group__kdtree.html -**Tutorials:** http://pointclouds.org/documentation/tutorials/#kdtree-tutorial +**Tutorials:** https://pcl.readthedocs.io/projects/tutorials/en/master/kdtree_search.html **Interacts with:** Common_ @@ -291,7 +291,7 @@ Octree The *octree* library provides efficient methods for creating a hierarchical tree data structure from point cloud data. This enables spatial partitioning, downsampling and search operations on the point data set. Each octree node has either eight children or no children. The root node describes a cubic bounding box which encapsulates all points. At every tree level, this space becomes subdivided by a factor of 2 which results in an increased voxel resolution. - The *octree* implementation provides efficient nearest neighbor search routines, such as "Neighbors within Voxel Search”, “K Nearest Neighbor Search” and “Neighbors within Radius Search”. It automatically adjusts its dimension to the point data set. A set of leaf node classes provide additional functionality, such as spacial "occupancy" and "point density per voxel" checks. Functions for serialization and deserialization enable to efficiently encode the octree structure into a binary format. Furthermore, a memory pool implementation reduces expensive memory allocation and deallocation operations in scenarios where octrees needs to be created at high rate. + The *octree* implementation provides efficient nearest neighbor search routines, such as "Neighbors within Voxel Search”, “K Nearest Neighbor Search” and “Neighbors within Radius Search”. It automatically adjusts its dimension to the point data set. A set of leaf node classes provide additional functionality, such as spatial "occupancy" and "point density per voxel" checks. Functions for serialization and deserialization enable to efficiently encode the octree structure into a binary format. Furthermore, a memory pool implementation reduces expensive memory allocation and deallocation operations in scenarios where octrees needs to be created at high rate. The following figure illustrates the voxel bounding boxes of an octree nodes at lowest tree level. The octree voxels are surrounding every 3D point from the Stanford bunny's surface. The red dots represent the point data. This image is created with the `octree_viewer`_. diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index d89aa99b..54f7c1f8 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -2,9 +2,7 @@ set(SUBSYS_NAME examples) set(SUBSYS_DESC "PCL examples") set(SUBSYS_DEPS common io features search kdtree octree filters keypoints segmentation sample_consensus outofcore stereo geometry surface) -set(DEFAULT FALSE) -set(REASON "Code examples are disabled by default.") -PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON}) +PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} OFF) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) if(NOT build) @@ -14,7 +12,6 @@ endif() # this variable will filled with all targets added with pcl_add_example set(PCL_EXAMPLES_ALL_TARGETS) -include_directories(${PCL_INCLUDE_DIRS}) # This looks for all examples/XXX/CMakeLists.txt file (GLOB examples_sbudirs */CMakeLists.txt) # Extract only relevant XXX and append it to PCL_EXAMPLES_SUBDIRS @@ -41,4 +38,3 @@ else() endif() add_custom_target(${SUBSYS_TARGET_NAME} DEPENDS ${PCL_EXAMPLES_ALL_TARGETS}) set_target_properties(${SUBSYS_TARGET_NAME} PROPERTIES FOLDER "Examples") - diff --git a/examples/common/example_organized_point_cloud.cpp b/examples/common/example_organized_point_cloud.cpp index 5f17d156..fa37267a 100644 --- a/examples/common/example_organized_point_cloud.cpp +++ b/examples/common/example_organized_point_cloud.cpp @@ -53,10 +53,8 @@ main () CloudType::Ptr cloud (new CloudType); // Make the cloud a 10x10 grid - cloud->height = 10; - cloud->width = 10; cloud->is_dense = true; - cloud->resize(cloud->height * cloud->width); + cloud->resize(10, 10); // Output the (0,0) point std::cout << (*cloud)(0,0) << std::endl; diff --git a/examples/features/example_difference_of_normals.cpp b/examples/features/example_difference_of_normals.cpp index d98d68cf..90e830c1 100644 --- a/examples/features/example_difference_of_normals.cpp +++ b/examples/features/example_difference_of_normals.cpp @@ -46,8 +46,9 @@ int main (int argc, char *argv[]) bool approx = false; constexpr double decimation = 100; - if(argc < 2){ + if(argc < 3){ std::cerr << "Expected 2 arguments: inputfile outputfile" << std::endl; + return 0; } ///The file to read from. diff --git a/examples/geometry/CMakeLists.txt b/examples/geometry/CMakeLists.txt index 271296c6..4f369660 100644 --- a/examples/geometry/CMakeLists.txt +++ b/examples/geometry/CMakeLists.txt @@ -3,4 +3,4 @@ if(NOT BUILD_geometry) endif() PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS geometry) -PCL_ADD_EXAMPLE(pcl_example_half_edge_mesh FILES example_half_edge_mesh.cpp LINK_WITH pcl_common) +PCL_ADD_EXAMPLE(pcl_example_half_edge_mesh FILES example_half_edge_mesh.cpp LINK_WITH pcl_common pcl_geometry) diff --git a/examples/segmentation/example_cpc_segmentation.cpp b/examples/segmentation/example_cpc_segmentation.cpp index bbb357f6..c65e2c3a 100644 --- a/examples/segmentation/example_cpc_segmentation.cpp +++ b/examples/segmentation/example_cpc_segmentation.cpp @@ -369,7 +369,7 @@ CPCSegmentation Parameters: \n\ std::multimapsupervoxel_adjacency; super.getSupervoxelAdjacency (supervoxel_adjacency); - /// Get the cloud of supervoxel centroid with normals and the colored cloud with supervoxel coloring (this is used for visulization) + /// Get the cloud of supervoxel centroid with normals and the colored cloud with supervoxel coloring (this is used for visualization) pcl::PointCloud::Ptr sv_centroid_normal_cloud = pcl::SupervoxelClustering::makeSupervoxelNormalCloud (supervoxel_clusters); /// Set parameters for LCCP preprocessing and CPC (CPC inherits from LCCP, thus it includes LCCP's functionality) diff --git a/examples/segmentation/example_lccp_segmentation.cpp b/examples/segmentation/example_lccp_segmentation.cpp index 09a811e5..e7e7df35 100644 --- a/examples/segmentation/example_lccp_segmentation.cpp +++ b/examples/segmentation/example_lccp_segmentation.cpp @@ -296,7 +296,7 @@ LCCPSegmentation Parameters: \n\ std::multimap supervoxel_adjacency; super.getSupervoxelAdjacency (supervoxel_adjacency); - /// Get the cloud of supervoxel centroid with normals and the colored cloud with supervoxel coloring (this is used for visulization) + /// Get the cloud of supervoxel centroid with normals and the colored cloud with supervoxel coloring (this is used for visualization) pcl::PointCloud::Ptr sv_centroid_normal_cloud = pcl::SupervoxelClustering::makeSupervoxelNormalCloud (supervoxel_clusters); /// The Main Step: Perform LCCPSegmentation diff --git a/examples/segmentation/example_supervoxels.cpp b/examples/segmentation/example_supervoxels.cpp index 11d8ec14..536c8d08 100644 --- a/examples/segmentation/example_supervoxels.cpp +++ b/examples/segmentation/example_supervoxels.cpp @@ -194,7 +194,7 @@ main (int argc, char ** argv) return (1); } - cloud->points.reserve (depth_dims[0] * depth_dims[1]); + cloud->reserve (static_cast(depth_dims[0]) * static_cast(depth_dims[1])); cloud->width = depth_dims[0]; cloud->height = depth_dims[1]; cloud->is_dense = false; diff --git a/features/CMakeLists.txt b/features/CMakeLists.txt index b5f902ae..f0a565eb 100644 --- a/features/CMakeLists.txt +++ b/features/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME features) set(SUBSYS_DESC "Point cloud features library") set(SUBSYS_DEPS common search kdtree octree filters 2d) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP) @@ -12,11 +11,7 @@ if(NOT build) return() endif() -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") - set(incs - "include/pcl/${SUBSYS_NAME}/boost.h" - "include/pcl/${SUBSYS_NAME}/eigen.h" "include/pcl/${SUBSYS_NAME}/board.h" "include/pcl/${SUBSYS_NAME}/flare.h" "include/pcl/${SUBSYS_NAME}/brisk_2d.h" @@ -171,7 +166,7 @@ endif() set(LIB_NAME "pcl_${SUBSYS_NAME}") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) -target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree pcl_filters) +target_link_libraries("${LIB_NAME}" pcl_common pcl_2d pcl_search pcl_kdtree pcl_octree pcl_filters) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) # Install headers PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs}) diff --git a/features/include/pcl/features/boost.h b/features/include/pcl/features/boost.h deleted file mode 100644 index 4f49824a..00000000 --- a/features/include/pcl/features/boost.h +++ /dev/null @@ -1,46 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: lmeds.h 1370 2011-06-19 01:06:01Z jspricke $ - * - */ - -#pragma once - -#if defined __GNUC__ -# pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.") -#include diff --git a/features/include/pcl/features/eigen.h b/features/include/pcl/features/eigen.h deleted file mode 100644 index 56387488..00000000 --- a/features/include/pcl/features/eigen.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: lmeds.h 1370 2011-06-19 01:06:01Z jspricke $ - * - */ - -#pragma once - -#if defined __GNUC__ -# pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed eigen headers directly.") -#include -#include diff --git a/features/include/pcl/features/esf.h b/features/include/pcl/features/esf.h index 503d110c..221a9444 100644 --- a/features/include/pcl/features/esf.h +++ b/features/include/pcl/features/esf.h @@ -42,7 +42,7 @@ #include #define GRIDSIZE 64 -#define GRIDSIZE_H GRIDSIZE/2 +#define GRIDSIZE_H (GRIDSIZE/2) #include namespace pcl diff --git a/features/include/pcl/features/impl/brisk_2d.hpp b/features/include/pcl/features/impl/brisk_2d.hpp index 8d22f39b..cb06ac9f 100644 --- a/features/include/pcl/features/impl/brisk_2d.hpp +++ b/features/include/pcl/features/impl/brisk_2d.hpp @@ -107,7 +107,7 @@ BRISK2DEstimation::generateKernel ( points_ += number; // set up the patterns - pattern_points_ = new BriskPatternPoint[points_*scales_*n_rot_]; + pattern_points_ = new BriskPatternPoint[static_cast(points_)*static_cast(scales_)*static_cast(n_rot_)]; BriskPatternPoint* pattern_iterator = pattern_points_; // define the scale discretization: @@ -223,7 +223,7 @@ BRISK2DEstimation::smoothedIntensity const float yf = brisk_point.y + key_y; const int x = static_cast(xf); const int y = static_cast(yf); - const int& imagecols = image_width; + const std::ptrdiff_t imagecols = image_width; // get the sigma: const float sigma_half = brisk_point.sigma; @@ -271,7 +271,7 @@ BRISK2DEstimation::smoothedIntensity const int scaling2 = static_cast (static_cast(scaling) * area / 1024.0f); // the integral image is larger: - const int integralcols = imagecols + 1; + const std::ptrdiff_t integralcols = image_width + 1; // calculate borders const float x_1 = xf - sigma_half; @@ -450,7 +450,7 @@ BRISK2DEstimation::compute ( const auto height = static_cast(input_cloud_->height); // destination for intensity data; will be forwarded to BRISK - std::vector image_data (width*height); + std::vector image_data (static_cast(width)*static_cast(height)); for (std::size_t i = 0; i < image_data.size (); ++i) image_data[i] = static_cast (intensity_ ((*input_cloud_)[i])); @@ -512,7 +512,7 @@ BRISK2DEstimation::compute ( // first, calculate the integral image over the whole image: // current integral image - std::vector integral ((width+1)*(height+1), 0); // the integral image + std::vector integral (static_cast(width+1)*static_cast(height+1), 0); // the integral image for (index_t row_index = 1; row_index < height; ++row_index) { diff --git a/features/include/pcl/features/impl/cppf.hpp b/features/include/pcl/features/impl/cppf.hpp index 975bb98c..94f9c3a6 100755 --- a/features/include/pcl/features/impl/cppf.hpp +++ b/features/include/pcl/features/impl/cppf.hpp @@ -42,6 +42,7 @@ #define PCL_FEATURES_IMPL_CPPF_H_ #include +#include // for KdTree ////////////////////////////////////////////////////////////////////////////////////////////// template diff --git a/features/include/pcl/features/impl/cvfh.hpp b/features/include/pcl/features/impl/cvfh.hpp index d5df1e65..55173305 100644 --- a/features/include/pcl/features/impl/cvfh.hpp +++ b/features/include/pcl/features/impl/cvfh.hpp @@ -44,6 +44,7 @@ #include #include #include +#include // for KdTree ////////////////////////////////////////////////////////////////////////////////////////////// template void @@ -96,6 +97,8 @@ pcl::CVFHEstimation::extractEuclideanClustersSmoot static_cast(normals.size())); return; } + // If tree gives sorted results, we can skip the first one because it is the query point itself + const std::size_t nn_start_idx = tree->getSortedResults () ? 1 : 0; // Create a bool vector of processed point indices, and initialize it to false std::vector processed (cloud.size (), false); @@ -124,8 +127,7 @@ pcl::CVFHEstimation::extractEuclideanClustersSmoot continue; } - // skip index 0, since nn_indices[0] == idx, worth it? - for (std::size_t j = 1; j < nn_indices.size (); ++j) + for (std::size_t j = nn_start_idx; j < nn_indices.size (); ++j) { if (processed[nn_indices[j]]) // Has this point been processed before ? continue; diff --git a/features/include/pcl/features/impl/esf.hpp b/features/include/pcl/features/impl/esf.hpp index f36826f5..d8695be3 100644 --- a/features/include/pcl/features/impl/esf.hpp +++ b/features/include/pcl/features/impl/esf.hpp @@ -53,7 +53,7 @@ pcl::ESFEstimation::computeESF ( PointCloudIn &pc, std::vector &hist) { const int binsize = 64; - unsigned int sample_size = 20000; + const std::size_t sample_size = 20000; // @TODO: Replace with c++ stdlib uniform_random_generator srand (static_cast (time (nullptr))); const auto maxindex = pc.size (); @@ -269,7 +269,7 @@ pcl::ESFEstimation::computeESF ( //float weights[10] = {1, 1, 1, 1, 1, 1, 1, 1 , 1 , 1}; float weights[10] = {0.5f, 0.5f, 0.5f, 0.5f, 0.5f, 1.0f, 1.0f, 2.0f, 2.0f, 2.0f}; - hist.reserve (binsize * 10); + hist.reserve (static_cast(binsize) * 10); for (const float &i : h_a3_in) hist.push_back (i * weights[0]); for (const float &i : h_a3_out) diff --git a/features/include/pcl/features/impl/flare.hpp b/features/include/pcl/features/impl/flare.hpp index 2f8d3c95..e00f242f 100644 --- a/features/include/pcl/features/impl/flare.hpp +++ b/features/include/pcl/features/impl/flare.hpp @@ -41,6 +41,8 @@ #include #include +#include // for KdTree +#include // for OrganizedNeighbor ////////////////////////////////////////////////////////////////////////////////////////////// template bool diff --git a/features/include/pcl/features/impl/integral_image2D.hpp b/features/include/pcl/features/impl/integral_image2D.hpp index 88902cf6..a8ffd0e5 100644 --- a/features/include/pcl/features/impl/integral_image2D.hpp +++ b/features/include/pcl/features/impl/integral_image2D.hpp @@ -59,10 +59,11 @@ IntegralImage2D::setInput (const DataType * data, unsigned { width_ = width; height_ = height; - first_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); - finite_values_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); + const std::size_t ii_size = static_cast(width_ + 1) * static_cast(height_ + 1); + first_order_integral_image_.resize (ii_size); + finite_values_integral_image_.resize (ii_size); if (compute_second_order_integral_images_) - second_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); + second_order_integral_image_.resize (ii_size); } computeIntegralImages (data, row_stride, element_stride); } @@ -230,10 +231,11 @@ IntegralImage2D::setInput (const DataType * data, unsigned width,un { width_ = width; height_ = height; - first_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); - finite_values_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); + const std::size_t ii_size = static_cast(width_ + 1) * static_cast(height_ + 1); + first_order_integral_image_.resize (ii_size); + finite_values_integral_image_.resize (ii_size); if (compute_second_order_integral_images_) - second_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); + second_order_integral_image_.resize (ii_size); } computeIntegralImages (data, row_stride, element_stride); } diff --git a/features/include/pcl/features/impl/integral_image_normal.hpp b/features/include/pcl/features/impl/integral_image_normal.hpp index f76765a1..612a6df8 100644 --- a/features/include/pcl/features/impl/integral_image_normal.hpp +++ b/features/include/pcl/features/impl/integral_image_normal.hpp @@ -36,6 +36,7 @@ * */ #pragma once +#include // for eigen33 #include #include @@ -491,7 +492,6 @@ pcl::IntegralImageNormalEstimation::computePointNormalMirro Eigen::Vector3f center; typename IntegralImage2D::SecondOrderType so_elements; typename IntegralImage2D::ElementType tmp_center; - typename IntegralImage2D::SecondOrderType tmp_so_elements; center[0] = 0; center[1] = 0; diff --git a/features/include/pcl/features/impl/intensity_gradient.hpp b/features/include/pcl/features/impl/intensity_gradient.hpp index a16b6719..fcb8c85f 100644 --- a/features/include/pcl/features/impl/intensity_gradient.hpp +++ b/features/include/pcl/features/impl/intensity_gradient.hpp @@ -43,6 +43,7 @@ #include #include // for pcl::isFinite +#include // for eigen33 ////////////////////////////////////////////////////////////////////////////////////////////// @@ -148,6 +149,13 @@ pcl::IntensityGradientEstimation nn_dists (k_); output.is_dense = true; +#ifdef _OPENMP + if (threads_ == 0) { + threads_ = omp_get_num_procs(); + PCL_DEBUG ("[pcl::IntensityGradientEstimation::computeFeature] Setting number of threads to %u.\n", threads_); + } +#endif // _OPENMP + // If the data is dense, we don't need to check for NaN if (surface_->is_dense) { diff --git a/features/include/pcl/features/impl/our_cvfh.hpp b/features/include/pcl/features/impl/our_cvfh.hpp index 34caf74c..15fab154 100644 --- a/features/include/pcl/features/impl/our_cvfh.hpp +++ b/features/include/pcl/features/impl/our_cvfh.hpp @@ -47,6 +47,7 @@ #include // for copyPointCloud #include // for getMaxDistance #include +#include // for KdTree ////////////////////////////////////////////////////////////////////////////////////////////// template void @@ -97,6 +98,8 @@ pcl::OURCVFHEstimation::extractEuclideanClustersSm static_cast(normals.size())); return; } + // If tree gives sorted results, we can skip the first one because it is the query point itself + const std::size_t nn_start_idx = tree->getSortedResults () ? 1 : 0; // Create a bool vector of processed point indices, and initialize it to false std::vector processed (cloud.size (), false); @@ -124,7 +127,7 @@ pcl::OURCVFHEstimation::extractEuclideanClustersSm continue; } - for (std::size_t j = 1; j < nn_indices.size (); ++j) // nn_indices[0] should be sq_idx + for (std::size_t j = nn_start_idx; j < nn_indices.size (); ++j) { if (processed[nn_indices[j]]) // Has this point been processed before ? continue; @@ -621,7 +624,6 @@ pcl::OURCVFHEstimation::computeFeature (PointCloud { pcl::PointIndices pi; - pcl::PointIndices pi_cvfh; pcl::PointIndices pi_filtered; clusters_.push_back (pi); diff --git a/features/include/pcl/features/impl/pfh.hpp b/features/include/pcl/features/impl/pfh.hpp index f1828dde..28007834 100644 --- a/features/include/pcl/features/impl/pfh.hpp +++ b/features/include/pcl/features/impl/pfh.hpp @@ -171,7 +171,7 @@ pcl::PFHEstimation::computeFeature (PointCloudOut std::queue > empty; std::swap (key_list_, empty); - pfh_histogram_.setZero (nr_subdiv_ * nr_subdiv_ * nr_subdiv_); + pfh_histogram_.setZero (static_cast(nr_subdiv_) * nr_subdiv_ * nr_subdiv_); // Allocate enough space to hold the results // \note This resize is irrelevant for a radiusSearch (). diff --git a/features/include/pcl/features/impl/pfhrgb.hpp b/features/include/pcl/features/impl/pfhrgb.hpp index 18bb5baf..e14787e9 100644 --- a/features/include/pcl/features/impl/pfhrgb.hpp +++ b/features/include/pcl/features/impl/pfhrgb.hpp @@ -135,7 +135,7 @@ template void pcl::PFHRGBEstimation::computeFeature (PointCloudOut &output) { /// nr_subdiv^3 for RGB and nr_subdiv^3 for the angular features - pfhrgb_histogram_.setZero (2 * nr_subdiv_ * nr_subdiv_ * nr_subdiv_); + pfhrgb_histogram_.setZero (static_cast(2) * nr_subdiv_ * nr_subdiv_ * nr_subdiv_); pfhrgb_tuple_.setZero (7); // Allocate enough space to hold the results diff --git a/features/include/pcl/features/impl/ppf.hpp b/features/include/pcl/features/impl/ppf.hpp index 8cdb914a..7fb8818a 100644 --- a/features/include/pcl/features/impl/ppf.hpp +++ b/features/include/pcl/features/impl/ppf.hpp @@ -43,6 +43,7 @@ #include #include #include // for computePairFeatures +#include // for KdTree ////////////////////////////////////////////////////////////////////////////////////////////// template diff --git a/features/include/pcl/features/impl/ppfrgb.hpp b/features/include/pcl/features/impl/ppfrgb.hpp index 87f74548..193d54d6 100644 --- a/features/include/pcl/features/impl/ppfrgb.hpp +++ b/features/include/pcl/features/impl/ppfrgb.hpp @@ -40,6 +40,7 @@ #include #include +#include // for KdTree ////////////////////////////////////////////////////////////////////////////////////////////// template diff --git a/features/include/pcl/features/impl/principal_curvatures.hpp b/features/include/pcl/features/impl/principal_curvatures.hpp index ba32ee2a..8c0561c4 100644 --- a/features/include/pcl/features/impl/principal_curvatures.hpp +++ b/features/include/pcl/features/impl/principal_curvatures.hpp @@ -43,7 +43,24 @@ #include #include // for pcl::isFinite +#include // for eigen33 +/////////////////////////////////////////////////////////////////////////////////////////// +template void +pcl::PrincipalCurvaturesEstimation::setNumberOfThreads (unsigned int nr_threads) +{ +#ifdef _OPENMP + if (nr_threads == 0) + threads_ = omp_get_num_procs(); + else + threads_ = nr_threads; + PCL_DEBUG ("[pcl::PrincipalCurvaturesEstimation::setNumberOfThreads] Setting number of threads to %u.\n", threads_); +#else + threads_ = 1; + if (nr_threads != 1) + PCL_WARN ("[pcl::PrincipalCurvaturesEstimation::setNumberOfThreads] Parallelization is requested, but OpenMP is not available! Continuing without parallelization.\n"); +#endif // _OPENMP +} ////////////////////////////////////////////////////////////////////////////////////////////// template void @@ -51,62 +68,60 @@ pcl::PrincipalCurvaturesEstimation::computePointPr const pcl::PointCloud &normals, int p_idx, const pcl::Indices &indices, float &pcx, float &pcy, float &pcz, float &pc1, float &pc2) { - EIGEN_ALIGN16 Eigen::Matrix3f I = Eigen::Matrix3f::Identity (); - Eigen::Vector3f n_idx (normals[p_idx].normal[0], normals[p_idx].normal[1], normals[p_idx].normal[2]); - EIGEN_ALIGN16 Eigen::Matrix3f M = I - n_idx * n_idx.transpose (); // projection matrix (into tangent plane) + const auto n_idx = normals[p_idx].getNormalVector3fMap(); + EIGEN_ALIGN16 const Eigen::Matrix3f I = Eigen::Matrix3f::Identity (); + EIGEN_ALIGN16 const Eigen::Matrix3f M = I - n_idx * n_idx.transpose (); // projection matrix (into tangent plane) // Project normals into the tangent plane - Eigen::Vector3f normal; - projected_normals_.resize (indices.size ()); - xyz_centroid_.setZero (); + std::vector > projected_normals (indices.size()); + Eigen::Vector3f xyz_centroid = Eigen::Vector3f::Zero(); for (std::size_t idx = 0; idx < indices.size(); ++idx) { - normal[0] = normals[indices[idx]].normal[0]; - normal[1] = normals[indices[idx]].normal[1]; - normal[2] = normals[indices[idx]].normal[2]; - - projected_normals_[idx] = M * normal; - xyz_centroid_ += projected_normals_[idx]; + const auto normal = normals[indices[idx]].getNormalVector3fMap(); + projected_normals[idx] = M * normal; + xyz_centroid += projected_normals[idx]; } // Estimate the XYZ centroid - xyz_centroid_ /= static_cast (indices.size ()); + xyz_centroid /= static_cast (indices.size ()); // Initialize to 0 - covariance_matrix_.setZero (); + EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix = Eigen::Matrix3f::Zero(); // For each point in the cloud for (std::size_t idx = 0; idx < indices.size (); ++idx) { - demean_ = projected_normals_[idx] - xyz_centroid_; + const Eigen::Vector3f demean = projected_normals[idx] - xyz_centroid; - double demean_xy = demean_[0] * demean_[1]; - double demean_xz = demean_[0] * demean_[2]; - double demean_yz = demean_[1] * demean_[2]; + const double demean_xy = demean[0] * demean[1]; + const double demean_xz = demean[0] * demean[2]; + const double demean_yz = demean[1] * demean[2]; - covariance_matrix_(0, 0) += demean_[0] * demean_[0]; - covariance_matrix_(0, 1) += static_cast (demean_xy); - covariance_matrix_(0, 2) += static_cast (demean_xz); + covariance_matrix(0, 0) += demean[0] * demean[0]; + covariance_matrix(0, 1) += static_cast (demean_xy); + covariance_matrix(0, 2) += static_cast (demean_xz); - covariance_matrix_(1, 0) += static_cast (demean_xy); - covariance_matrix_(1, 1) += demean_[1] * demean_[1]; - covariance_matrix_(1, 2) += static_cast (demean_yz); + covariance_matrix(1, 0) += static_cast (demean_xy); + covariance_matrix(1, 1) += demean[1] * demean[1]; + covariance_matrix(1, 2) += static_cast (demean_yz); - covariance_matrix_(2, 0) += static_cast (demean_xz); - covariance_matrix_(2, 1) += static_cast (demean_yz); - covariance_matrix_(2, 2) += demean_[2] * demean_[2]; + covariance_matrix(2, 0) += static_cast (demean_xz); + covariance_matrix(2, 1) += static_cast (demean_yz); + covariance_matrix(2, 2) += demean[2] * demean[2]; } // Extract the eigenvalues and eigenvectors - pcl::eigen33 (covariance_matrix_, eigenvalues_); - pcl::computeCorrespondingEigenVector (covariance_matrix_, eigenvalues_ [2], eigenvector_); - - pcx = eigenvector_ [0]; - pcy = eigenvector_ [1]; - pcz = eigenvector_ [2]; - float indices_size = 1.0f / static_cast (indices.size ()); - pc1 = eigenvalues_ [2] * indices_size; - pc2 = eigenvalues_ [1] * indices_size; + Eigen::Vector3f eigenvalues; + Eigen::Vector3f eigenvector; + pcl::eigen33 (covariance_matrix, eigenvalues); + pcl::computeCorrespondingEigenVector (covariance_matrix, eigenvalues [2], eigenvector); + + pcx = eigenvector [0]; + pcy = eigenvector [1]; + pcz = eigenvector [2]; + const float indices_size = 1.0f / static_cast (indices.size ()); + pc1 = eigenvalues [2] * indices_size; + pc2 = eigenvalues [1] * indices_size; } @@ -123,8 +138,14 @@ pcl::PrincipalCurvaturesEstimation::computeFeature // Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense if (input_->is_dense) { +#pragma omp parallel for \ + default(none) \ + shared(output) \ + firstprivate(nn_indices, nn_dists) \ + num_threads(threads_) \ + schedule(dynamic, chunk_size_) // Iterating over the entire index vector - for (std::size_t idx = 0; idx < indices_->size (); ++idx) + for (std::ptrdiff_t idx = 0; idx < static_cast (indices_->size ()); ++idx) { if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0) { @@ -142,8 +163,14 @@ pcl::PrincipalCurvaturesEstimation::computeFeature } else { +#pragma omp parallel for \ + default(none) \ + shared(output) \ + firstprivate(nn_indices, nn_dists) \ + num_threads(threads_) \ + schedule(dynamic, chunk_size_) // Iterating over the entire index vector - for (std::size_t idx = 0; idx < indices_->size (); ++idx) + for (std::ptrdiff_t idx = 0; idx < static_cast (indices_->size ()); ++idx) { if (!isFinite ((*input_)[(*indices_)[idx]]) || this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0) diff --git a/features/include/pcl/features/impl/range_image_border_extractor.hpp b/features/include/pcl/features/impl/range_image_border_extractor.hpp index 092dbd3c..6ca506ec 100644 --- a/features/include/pcl/features/impl/range_image_border_extractor.hpp +++ b/features/include/pcl/features/impl/range_image_border_extractor.hpp @@ -334,7 +334,7 @@ bool RangeImageBorderExtractor::calculateMainPrincipalCurvature(int x, int y, in bool& beam_valid = beams_valid[beam_idx++]; if (step==1) { - beam_valid = !(x2==x && y2==y); + beam_valid = (x2!=x || y2!=y); } else if (!beam_valid) diff --git a/features/include/pcl/features/impl/rops_estimation.hpp b/features/include/pcl/features/impl/rops_estimation.hpp index 51015363..f454f75c 100644 --- a/features/include/pcl/features/impl/rops_estimation.hpp +++ b/features/include/pcl/features/impl/rops_estimation.hpp @@ -283,9 +283,9 @@ pcl::ROPSEstimation ::computeLRF (const PointInT& point, co } if (std::abs (total_area) < std::numeric_limits ::epsilon ()) - total_area = 1.0f / total_area; - else total_area = 1.0f; + else + total_area = 1.0f / total_area; Eigen::Matrix3f overall_scatter_matrix; overall_scatter_matrix.setZero (); diff --git a/features/include/pcl/features/impl/shot_lrf_omp.hpp b/features/include/pcl/features/impl/shot_lrf_omp.hpp index a28123b3..cde3a58d 100644 --- a/features/include/pcl/features/impl/shot_lrf_omp.hpp +++ b/features/include/pcl/features/impl/shot_lrf_omp.hpp @@ -84,9 +84,6 @@ pcl::SHOTLocalReferenceFrameEstimationOMP::computeFeature ( //output_rf.confidence = getLocalRF ((*indices_)[i], rf); //if (output_rf.confidence == std::numeric_limits::max ()) - pcl::Indices n_indices; - std::vector n_sqr_distances; - this->searchForNeighbors ((*indices_)[i], search_parameter_, n_indices, n_sqr_distances); if (getLocalRF ((*indices_)[i], rf) == std::numeric_limits::max ()) { output.is_dense = false; diff --git a/features/include/pcl/features/moment_of_inertia_estimation.h b/features/include/pcl/features/moment_of_inertia_estimation.h index 9d96d407..9fa7669d 100644 --- a/features/include/pcl/features/moment_of_inertia_estimation.h +++ b/features/include/pcl/features/moment_of_inertia_estimation.h @@ -352,7 +352,7 @@ namespace pcl }; } -#define PCL_INSTANTIATE_MomentOfInertiaEstimation(T) template class pcl::MomentOfInertiaEstimation; +#define PCL_INSTANTIATE_MomentOfInertiaEstimation(T) template class PCL_EXPORTS pcl::MomentOfInertiaEstimation; #ifdef PCL_NO_PRECOMPILE #include diff --git a/features/include/pcl/features/principal_curvatures.h b/features/include/pcl/features/principal_curvatures.h index 62025994..f7285a11 100644 --- a/features/include/pcl/features/principal_curvatures.h +++ b/features/include/pcl/features/principal_curvatures.h @@ -45,14 +45,13 @@ namespace pcl { /** \brief PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of - * principal surface curvatures for a given point cloud dataset containing points and normals. + * principal surface curvatures for a given point cloud dataset containing points and normals. The output contains + * the principal curvature (eigenvector of the max eigenvalue), along with both the max (pc1) and min (pc2) + * eigenvalues. Parallel execution is supported through OpenMP. * * The recommended PointOutT is pcl::PrincipalCurvatures. * - * \note The code is stateful as we do not expect this class to be multicore parallelized. Please look at - * \ref NormalEstimationOMP for an example on how to extend this to parallel implementations. - * - * \author Radu B. Rusu, Jared Glover + * \author Radu B. Rusu, Jared Glover, Alex Navarro * \ingroup features */ template @@ -73,15 +72,18 @@ namespace pcl using PointCloudOut = typename Feature::PointCloudOut; using PointCloudIn = pcl::PointCloud; - /** \brief Empty constructor. */ - PrincipalCurvaturesEstimation () : - xyz_centroid_ (Eigen::Vector3f::Zero ()), - demean_ (Eigen::Vector3f::Zero ()), - covariance_matrix_ (Eigen::Matrix3f::Zero ()), - eigenvector_ (Eigen::Vector3f::Zero ()), - eigenvalues_ (Eigen::Vector3f::Zero ()) + /** \brief Initialize the scheduler and set the number of threads to use. + * \param nr_threads the number of hardware threads to use (0 sets the value to automatic) + * \param chunk_size PCL will use dynamic scheduling with this chunk size. Setting it too + * low will lead to more parallelization overhead. Setting it too high + * will lead to a worse balancing between the threads. + */ + PrincipalCurvaturesEstimation (unsigned int nr_threads = 1, int chunk_size = 256) : + chunk_size_(chunk_size) { feature_name_ = "PrincipalCurvaturesEstimation"; + + setNumberOfThreads(nr_threads); }; /** \brief Perform Principal Components Analysis (PCA) on the point normals of a surface patch in the tangent @@ -101,7 +103,19 @@ namespace pcl int p_idx, const pcl::Indices &indices, float &pcx, float &pcy, float &pcz, float &pc1, float &pc2); + /** \brief Initialize the scheduler and set the number of threads to use. The default behavior is + * single threaded exectution + * \param nr_threads the number of hardware threads to use (0 sets the value to automatic) + */ + void + setNumberOfThreads (unsigned int nr_threads); + protected: + /** \brief The number of threads the scheduler should use. */ + unsigned int threads_; + + /** \brief Chunk size for (dynamic) scheduling. */ + int chunk_size_; /** \brief Estimate the principal curvature (eigenvector of the max eigenvalue), along with both the max (pc1) * and min (pc2) eigenvalues for all points given in using the surface in @@ -110,24 +124,6 @@ namespace pcl */ void computeFeature (PointCloudOut &output) override; - - private: - /** \brief A pointer to the input dataset that contains the point normals of the XYZ dataset. */ - std::vector > projected_normals_; - - /** \brief SSE aligned placeholder for the XYZ centroid of a surface patch. */ - Eigen::Vector3f xyz_centroid_; - - /** \brief Temporary point placeholder. */ - Eigen::Vector3f demean_; - - /** \brief Placeholder for the 3x3 covariance matrix at each surface patch. */ - EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_; - - /** \brief SSE aligned eigenvectors placeholder for a covariance matrix. */ - Eigen::Vector3f eigenvector_; - /** \brief eigenvalues placeholder for a covariance matrix. */ - Eigen::Vector3f eigenvalues_; }; } diff --git a/features/include/pcl/features/rops_estimation.h b/features/include/pcl/features/rops_estimation.h index a34e09fc..b46c504c 100644 --- a/features/include/pcl/features/rops_estimation.h +++ b/features/include/pcl/features/rops_estimation.h @@ -227,7 +227,7 @@ namespace pcl }; } -#define PCL_INSTANTIATE_ROPSEstimation(InT, OutT) template class pcl::ROPSEstimation; +#define PCL_INSTANTIATE_ROPSEstimation(InT, OutT) template class PCL_EXPORTS pcl::ROPSEstimation; #ifdef PCL_NO_PRECOMPILE #include diff --git a/features/src/narf.cpp b/features/src/narf.cpp index b391e3fc..c2532d4b 100644 --- a/features/src/narf.cpp +++ b/features/src/narf.cpp @@ -109,9 +109,9 @@ Narf::deepCopy (const Narf& other) { surface_patch_pixel_size_ = other.surface_patch_pixel_size_; delete[] surface_patch_; - surface_patch_ = new float[surface_patch_pixel_size_*surface_patch_pixel_size_]; + surface_patch_ = new float[static_cast(surface_patch_pixel_size_)*static_cast(surface_patch_pixel_size_)]; } - std::copy(other.surface_patch_, other.surface_patch_ + surface_patch_pixel_size_*surface_patch_pixel_size_, surface_patch_); + std::copy(other.surface_patch_, other.surface_patch_ + static_cast(surface_patch_pixel_size_)*static_cast(surface_patch_pixel_size_), surface_patch_); surface_patch_world_size_ = other.surface_patch_world_size_; surface_patch_rotation_ = other.surface_patch_rotation_; @@ -521,7 +521,7 @@ Narf::saveBinary (std::ostream& file) const pcl::saveBinary(transformation_.matrix(), file); file.write(reinterpret_cast(&surface_patch_pixel_size_), sizeof(surface_patch_pixel_size_)); file.write(reinterpret_cast(surface_patch_), - surface_patch_pixel_size_*surface_patch_pixel_size_*sizeof(*surface_patch_)); + sizeof(*surface_patch_)*surface_patch_pixel_size_*surface_patch_pixel_size_); file.write(reinterpret_cast(&surface_patch_world_size_), sizeof(surface_patch_world_size_)); file.write(reinterpret_cast(&surface_patch_rotation_), sizeof(surface_patch_rotation_)); file.write(reinterpret_cast(&descriptor_size_), sizeof(descriptor_size_)); @@ -573,9 +573,9 @@ Narf::loadBinary (std::istream& file) pcl::loadBinary(position_.matrix(), file); pcl::loadBinary(transformation_.matrix(), file); file.read(reinterpret_cast(&surface_patch_pixel_size_), sizeof(surface_patch_pixel_size_)); - surface_patch_ = new float[surface_patch_pixel_size_*surface_patch_pixel_size_]; + surface_patch_ = new float[static_cast(surface_patch_pixel_size_)*static_cast(surface_patch_pixel_size_)]; file.read(reinterpret_cast(surface_patch_), - surface_patch_pixel_size_*surface_patch_pixel_size_*sizeof(*surface_patch_)); + sizeof(*surface_patch_)*surface_patch_pixel_size_*surface_patch_pixel_size_); file.read(reinterpret_cast(&surface_patch_world_size_), sizeof(surface_patch_world_size_)); file.read(reinterpret_cast(&surface_patch_rotation_), sizeof(surface_patch_rotation_)); file.read(reinterpret_cast(&descriptor_size_), sizeof(descriptor_size_)); diff --git a/features/src/range_image_border_extractor.cpp b/features/src/range_image_border_extractor.cpp index 6590b57a..7d331368 100644 --- a/features/src/range_image_border_extractor.cpp +++ b/features/src/range_image_border_extractor.cpp @@ -201,7 +201,7 @@ RangeImageBorderExtractor::extractBorderScoreImages () float* RangeImageBorderExtractor::updatedScoresAccordingToNeighborValues (const float* border_scores) const { - float* new_scores = new float[range_image_->width*range_image_->height]; + float* new_scores = new float[static_cast(range_image_->width)*static_cast(range_image_->height)]; float* new_scores_ptr = new_scores; for (int y=0; y < static_cast (range_image_->height); ++y) for (int x=0; x < static_cast (range_image_->width); ++x) @@ -213,7 +213,7 @@ std::vector RangeImageBorderExtractor::updatedScoresAccordingToNeighborValues (const std::vector& border_scores) const { std::vector new_border_scores; - new_border_scores.reserve (range_image_->width*range_image_->height); + new_border_scores.reserve (static_cast(range_image_->width)*static_cast(range_image_->height)); for (int y=0; y < static_cast (range_image_->height); ++y) for (int x=0; x < static_cast (range_image_->width); ++x) new_border_scores.push_back (updatedScoreAccordingToNeighborValues(x, y, border_scores.data ())); @@ -248,15 +248,14 @@ RangeImageBorderExtractor::findAndEvaluateShadowBorders () //MEASURE_FUNCTION_TIME; - int width = range_image_->width, + std::size_t width = range_image_->width, height = range_image_->height; shadow_border_informations_ = new ShadowBorderIndices*[width*height]; for (int y = 0; y < static_cast (height); ++y) { for (int x = 0; x < static_cast (width); ++x) { - int index = y*width+x; - ShadowBorderIndices*& shadow_border_indices = shadow_border_informations_[index]; + ShadowBorderIndices*& shadow_border_indices = shadow_border_informations_[y*width+x]; shadow_border_indices = nullptr; int shadow_border_idx; @@ -611,8 +610,8 @@ RangeImageBorderExtractor::blurSurfaceChanges () const RangeImage& range_image = *range_image_; - auto* blurred_directions = new Eigen::Vector3f[range_image.width*range_image.height]; - float* blurred_scores = new float[range_image.width*range_image.height]; + auto* blurred_directions = new Eigen::Vector3f[static_cast(range_image.width)*static_cast(range_image.height)]; + float* blurred_scores = new float[static_cast(range_image.width)*static_cast(range_image.height)]; for (int y=0; y(range_image.height); ++y) { for (int x=0; x(range_image.width); ++x) diff --git a/filters/CMakeLists.txt b/filters/CMakeLists.txt index f4541889..3fc7c641 100644 --- a/filters/CMakeLists.txt +++ b/filters/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME filters) set(SUBSYS_DESC "Point cloud filters library") set(SUBSYS_DEPS common sample_consensus search kdtree octree) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP) @@ -50,7 +49,6 @@ set(srcs ) set(incs - "include/pcl/${SUBSYS_NAME}/boost.h" "include/pcl/${SUBSYS_NAME}/conditional_removal.h" "include/pcl/${SUBSYS_NAME}/crop_box.h" "include/pcl/${SUBSYS_NAME}/clipper3D.h" @@ -132,7 +130,6 @@ set(impl_incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) target_link_libraries("${LIB_NAME}" pcl_common pcl_sample_consensus pcl_search pcl_kdtree pcl_octree) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) diff --git a/filters/include/pcl/filters/approximate_voxel_grid.h b/filters/include/pcl/filters/approximate_voxel_grid.h index 95e16a1d..07bf3404 100644 --- a/filters/include/pcl/filters/approximate_voxel_grid.h +++ b/filters/include/pcl/filters/approximate_voxel_grid.h @@ -92,6 +92,7 @@ namespace pcl /** \brief ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. * Thus, this is similar to the \ref VoxelGrid filter. * This class works best if points that are stored in memory next to each other (in the input point cloud), are also somewhat close in 3D euclidean space (this is for example usually the case for organized point clouds). If the points have no storage order (e.g. in synthetic, randomly generated point clouds), this class will give very poor results, and \ref VoxelGrid should be used instead. + * \sa VoxelGrid * \author James Bowman, Radu B. Rusu * \ingroup filters */ diff --git a/filters/include/pcl/filters/boost.h b/filters/include/pcl/filters/boost.h deleted file mode 100644 index 273c1e67..00000000 --- a/filters/include/pcl/filters/boost.h +++ /dev/null @@ -1,54 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2011, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: io.h 5850 2012-06-06 14:04:59Z stfox88 $ - * - */ - -#pragma once - -#ifdef __GNUC__ -#pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.") - -// Marking all Boost headers as system headers to remove warnings -#include -#include -#include -#include -#include -#include diff --git a/filters/include/pcl/filters/convolution_3d.h b/filters/include/pcl/filters/convolution_3d.h index bb701725..8cb21bde 100644 --- a/filters/include/pcl/filters/convolution_3d.h +++ b/filters/include/pcl/filters/convolution_3d.h @@ -40,7 +40,9 @@ #pragma once #include +#include // for pcl::search::Search #include +#include namespace pcl { @@ -270,7 +272,7 @@ namespace pcl double search_radius_; /** \brief number of threads */ - unsigned int threads_; + unsigned int threads_{1}; /** \brief convlving kernel */ KernelT kernel_; diff --git a/filters/include/pcl/filters/covariance_sampling.h b/filters/include/pcl/filters/covariance_sampling.h index d44b2e66..831a623b 100644 --- a/filters/include/pcl/filters/covariance_sampling.h +++ b/filters/include/pcl/filters/covariance_sampling.h @@ -56,6 +56,7 @@ namespace pcl * Based on the following publication: * * "Geometrically Stable Sampling for the ICP Algorithm" - N. Gelfand, L. Ikemoto, S. Rusinkiewicz, M. Levoy * + * \ingroup filters * \author Alexandru E. Ichim, alex.e.ichim@gmail.com */ template diff --git a/filters/include/pcl/filters/crop_hull.h b/filters/include/pcl/filters/crop_hull.h index 081c2f5d..9ec44921 100644 --- a/filters/include/pcl/filters/crop_hull.h +++ b/filters/include/pcl/filters/crop_hull.h @@ -109,7 +109,7 @@ namespace pcl * This should be set to correspond to the dimensionality of the * convex/concave hull produced by the pcl::ConvexHull and * pcl::ConcaveHull classes. - * \param[in] dim Dimensionailty of the hull used to filter points. + * \param[in] dim Dimensionality of the hull used to filter points. */ inline void setDim (int dim) diff --git a/filters/include/pcl/filters/impl/bilateral.hpp b/filters/include/pcl/filters/impl/bilateral.hpp index 2c707d38..3a3a403d 100644 --- a/filters/include/pcl/filters/impl/bilateral.hpp +++ b/filters/include/pcl/filters/impl/bilateral.hpp @@ -43,6 +43,7 @@ #include #include // for OrganizedNeighbor #include // for KdTree +#include // for isXYZFinite ////////////////////////////////////////////////////////////////////////////////////////////// template double @@ -101,11 +102,14 @@ pcl::BilateralFilter::applyFilter (PointCloud &output) // For all the indices given (equal to the entire cloud if none given) for (const auto& idx : (*indices_)) { - // Perform a radius search to find the nearest neighbors - tree_->radiusSearch (idx, sigma_s_ * 2, k_indices, k_distances); + if (input_->is_dense || pcl::isXYZFinite((*input_)[idx])) + { + // Perform a radius search to find the nearest neighbors + tree_->radiusSearch (idx, sigma_s_ * 2, k_indices, k_distances); - // Overwrite the intensity value with the computed average - output[idx].intensity = static_cast (computePointWeight (idx, k_indices, k_distances)); + // Overwrite the intensity value with the computed average + output[idx].intensity = static_cast (computePointWeight (idx, k_indices, k_distances)); + } } } diff --git a/filters/include/pcl/filters/impl/conditional_removal.hpp b/filters/include/pcl/filters/impl/conditional_removal.hpp index 99cc9295..57baf8e1 100644 --- a/filters/include/pcl/filters/impl/conditional_removal.hpp +++ b/filters/include/pcl/filters/impl/conditional_removal.hpp @@ -529,8 +529,8 @@ pcl::PointDataAtOffset::compare (const PointT& p, const double& val) case CASE_LABEL: { \ pcl::traits::asType_t pt_val; \ memcpy(&pt_val, pt_data + this->offset_, sizeof(pt_val)); \ - return (pt_val > static_cast>(val)) - \ - (pt_val < static_cast>(val)); \ + return (pt_val > static_cast>(val)) - \ + (pt_val < static_cast>(val)); \ } switch (datatype_) diff --git a/filters/include/pcl/filters/impl/convolution_3d.hpp b/filters/include/pcl/filters/impl/convolution_3d.hpp index f3901fca..1001bce7 100644 --- a/filters/include/pcl/filters/impl/convolution_3d.hpp +++ b/filters/include/pcl/filters/impl/convolution_3d.hpp @@ -40,10 +40,12 @@ #ifndef PCL_FILTERS_CONVOLUTION_3D_IMPL_HPP #define PCL_FILTERS_CONVOLUTION_3D_IMPL_HPP +#include // for isFinite #include #include #include #include +#include #include #include @@ -247,7 +249,8 @@ pcl::filters::Convolution3D::convolve (PointCloudO default(none) \ shared(output) \ firstprivate(nn_indices, nn_distances) \ - num_threads(threads_) + num_threads(threads_) \ + schedule(dynamic, 64) for (std::int64_t point_idx = 0; point_idx < static_cast (surface_->size ()); ++point_idx) { const PointInT& point_in = surface_->points [point_idx]; diff --git a/filters/include/pcl/filters/impl/covariance_sampling.hpp b/filters/include/pcl/filters/impl/covariance_sampling.hpp index 99d8da8f..a3885cf6 100644 --- a/filters/include/pcl/filters/impl/covariance_sampling.hpp +++ b/filters/include/pcl/filters/impl/covariance_sampling.hpp @@ -164,7 +164,7 @@ pcl::CovarianceSampling::applyFilter (Indices &sampled_indices) for (std::size_t i = 0; i < 6; ++i) { for (std::size_t p_i = 0; p_i < candidate_indices.size (); ++p_i) - L[i].push_back (std::make_pair (p_i, std::abs (v[p_i].dot (x.block<6, 1> (0, i))))); + L[i].emplace_back(p_i, std::abs (v[p_i].dot (x.block<6, 1> (0, i)))); // Sort in decreasing order L[i].sort (sort_dot_list_function); diff --git a/filters/include/pcl/filters/impl/filter_indices.hpp b/filters/include/pcl/filters/impl/filter_indices.hpp index d408ee8d..de53d91c 100644 --- a/filters/include/pcl/filters/impl/filter_indices.hpp +++ b/filters/include/pcl/filters/impl/filter_indices.hpp @@ -100,7 +100,6 @@ pcl::FilterIndices::applyFilter (PointCloud &output) } else { - output.is_dense = true; applyFilter (indices); pcl::copyPointCloud (*input_, indices, output); } diff --git a/filters/include/pcl/filters/impl/normal_space.hpp b/filters/include/pcl/filters/impl/normal_space.hpp index e0100a2f..3bbc610d 100644 --- a/filters/include/pcl/filters/impl/normal_space.hpp +++ b/filters/include/pcl/filters/impl/normal_space.hpp @@ -80,9 +80,11 @@ pcl::NormalSpaceSampling::isEntireBinSampled (boost::dynamic_bi template unsigned int pcl::NormalSpaceSampling::findBin (const float *normal) { - const auto ix = static_cast (std::round (0.5f * (binsx_ - 1.f) * (normal[0] + 1.f))); - const auto iy = static_cast (std::round (0.5f * (binsy_ - 1.f) * (normal[1] + 1.f))); - const auto iz = static_cast (std::round (0.5f * (binsz_ - 1.f) * (normal[2] + 1.f))); + // in the case where normal[0] == 1.0f, ix will be binsx_, which is out of range. + // thus, use std::min to avoid this situation. + const auto ix = std::min (binsx_ - 1, static_cast (std::max (0.0f, std::floor (0.5f * (binsx_) * (normal[0] + 1.f))))); + const auto iy = std::min (binsy_ - 1, static_cast (std::max (0.0f, std::floor (0.5f * (binsy_) * (normal[1] + 1.f))))); + const auto iz = std::min (binsz_ - 1, static_cast (std::max (0.0f, std::floor (0.5f * (binsz_) * (normal[2] + 1.f))))); return ix * (binsy_*binsz_) + iy * binsz_ + iz; } diff --git a/filters/include/pcl/filters/impl/pyramid.hpp b/filters/include/pcl/filters/impl/pyramid.hpp index f4fe5a46..dc47d935 100644 --- a/filters/include/pcl/filters/impl/pyramid.hpp +++ b/filters/include/pcl/filters/impl/pyramid.hpp @@ -55,13 +55,13 @@ Pyramid::initCompute () { if (!input_->isOrganized ()) { - PCL_ERROR ("[pcl::fileters::%s::initCompute] Number of levels should be at least 2!\n", getClassName ().c_str ()); + PCL_ERROR ("[pcl::filters::%s::initCompute] Number of levels should be at least 2!\n", getClassName ().c_str ()); return (false); } if (levels_ < 2) { - PCL_ERROR ("[pcl::fileters::%s::initCompute] Number of levels should be at least 2!\n", getClassName ().c_str ()); + PCL_ERROR ("[pcl::filters::%s::initCompute] Number of levels should be at least 2!\n", getClassName ().c_str ()); return (false); } @@ -71,7 +71,7 @@ Pyramid::initCompute () if (levels_ > 4) { - PCL_ERROR ("[pcl::fileters::%s::initCompute] Number of levels should not exceed 4!\n", getClassName ().c_str ()); + PCL_ERROR ("[pcl::filters::%s::initCompute] Number of levels should not exceed 4!\n", getClassName ().c_str ()); return (false); } diff --git a/filters/include/pcl/filters/impl/radius_outlier_removal.hpp b/filters/include/pcl/filters/impl/radius_outlier_removal.hpp index 8e13ec06..54cddb5b 100644 --- a/filters/include/pcl/filters/impl/radius_outlier_removal.hpp +++ b/filters/include/pcl/filters/impl/radius_outlier_removal.hpp @@ -72,9 +72,17 @@ pcl::RadiusOutlierRemoval::applyFilterIndices (Indices &indices) return; } + // Note: k includes the query point, so is always at least 1 + const int mean_k = min_pts_radius_ + 1; + const double nn_dists_max = search_radius_ * search_radius_; + // The arrays to be used - Indices nn_indices (indices_->size ()); - std::vector nn_dists (indices_->size ()); + Indices nn_indices (mean_k); + std::vector nn_dists(mean_k); + // Set to keep all points and in the filtering set those we don't want to keep, assuming + // we want to keep the majority of the points. + // 0 = remove, 1 = keep + std::vector to_keep(indices_->size(), 1); indices.resize (indices_->size ()); removed_indices_->resize (indices_->size ()); int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator @@ -82,77 +90,85 @@ pcl::RadiusOutlierRemoval::applyFilterIndices (Indices &indices) // If the data is dense => use nearest-k search if (input_->is_dense) { - // Note: k includes the query point, so is always at least 1 - int mean_k = min_pts_radius_ + 1; - double nn_dists_max = search_radius_ * search_radius_; - - for (const auto& index : (*indices_)) + #pragma omp parallel for \ + schedule(dynamic,64) \ + firstprivate(nn_indices, nn_dists) \ + shared(to_keep) \ + num_threads(num_threads_) + for (ptrdiff_t i = 0; i < static_cast(indices_->size()); i++) { + const auto& index = (*indices_)[i]; // Perform the nearest-k search - int k = searcher_->nearestKSearch (index, mean_k, nn_indices, nn_dists); + const int k = searcher_->nearestKSearch (index, mean_k, nn_indices, nn_dists); // Check the number of neighbors // Note: nn_dists is sorted, so check the last item - bool chk_neighbors = true; if (k == mean_k) { - if (negative_) - { - chk_neighbors = false; - if (nn_dists_max < nn_dists[k-1]) - { - chk_neighbors = true; - } - } - else - { - chk_neighbors = true; - if (nn_dists_max < nn_dists[k-1]) + // if negative_ is false and a neighbor is further away than max distance, remove the point + // or + // if negative is true and a neighbor is closer than max distance, remove the point + if ((!negative_ && nn_dists_max < nn_dists[k-1]) || (negative_ && nn_dists_max >= nn_dists[k - 1])) { - chk_neighbors = false; + to_keep[i] = 0; + continue; } - } } else { - chk_neighbors = negative_; - } - - // Points having too few neighbors are outliers and are passed to removed indices - // Unless negative was set, then it's the opposite condition - if (!chk_neighbors) - { - if (extract_removed_indices_) - (*removed_indices_)[rii++] = index; - continue; + if (!negative_) + { + // if too few neighbors, remove the point + to_keep[i] = 0; + continue; + } } - - // Otherwise it was a normal point for output (inlier) - indices[oii++] = index; } } // NaN or Inf values could exist => use radius search else { - for (const auto& index : (*indices_)) + #pragma omp parallel for \ + schedule(dynamic, 64) \ + firstprivate(nn_indices, nn_dists) \ + shared(to_keep) \ + num_threads(num_threads_) + for (ptrdiff_t i = 0; i < static_cast(indices_->size()); i++) { + const auto& index = (*indices_)[i]; + if (!pcl::isXYZFinite((*input_)[index])) + { + to_keep[i] = 0; + continue; + } + // Perform the radius search // Note: k includes the query point, so is always at least 1 - int k = searcher_->radiusSearch (index, search_radius_, nn_indices, nn_dists); + // last parameter (max_nn) is the maximum number of neighbors returned. If enough neighbors are found so that point can not be an outlier, we stop searching. + const int k = searcher_->radiusSearch (index, search_radius_, nn_indices, nn_dists, min_pts_radius_ + 1); - // Points having too few neighbors are outliers and are passed to removed indices - // Unless negative was set, then it's the opposite condition + // Points having too few neighbors are removed + // or if negative_ is true, then if it has too many neighbors if ((!negative_ && k <= min_pts_radius_) || (negative_ && k > min_pts_radius_)) + { + to_keep[i] = 0; + continue; + } + } + } + + for (index_t i=0; i < static_cast(to_keep.size()); i++) + { + if (to_keep[i] == 0) { if (extract_removed_indices_) - (*removed_indices_)[rii++] = index; + (*removed_indices_)[rii++] = (*indices_)[i]; continue; } // Otherwise it was a normal point for output (inlier) - indices[oii++] = index; + indices[oii++] = (*indices_)[i]; } - } // Resize the output arrays indices.resize (oii); diff --git a/filters/include/pcl/filters/impl/random_sample.hpp b/filters/include/pcl/filters/impl/random_sample.hpp index 24a0c571..f4138afc 100644 --- a/filters/include/pcl/filters/impl/random_sample.hpp +++ b/filters/include/pcl/filters/impl/random_sample.hpp @@ -63,7 +63,11 @@ pcl::RandomSample::applyFilter (Indices &indices) removed_indices_->resize (N - sample_size); // Set random seed so derived indices are the same each time the filter runs +#ifdef __OpenBSD__ + srand_deterministic (seed_); // OpenBSD only offers repeatable sequences with this function +#else std::srand (seed_); +#endif // __OpenBSD__ // Algorithm S std::size_t i = 0; diff --git a/filters/include/pcl/filters/impl/sampling_surface_normal.hpp b/filters/include/pcl/filters/impl/sampling_surface_normal.hpp index a711bf8c..3a2959b0 100644 --- a/filters/include/pcl/filters/impl/sampling_surface_normal.hpp +++ b/filters/include/pcl/filters/impl/sampling_surface_normal.hpp @@ -48,6 +48,18 @@ template void pcl::SamplingSurfaceNormal::applyFilter (PointCloud &output) { + if (ratio_ <= 0.0f) + { + PCL_ERROR("[SamplingSurfaceNormal::applyFilter] Parameter 'ratio' must be larger than zero!\n"); + output.clear(); + return; + } + if (sample_ < 5) + { + PCL_ERROR("[SamplingSurfaceNormal::applyFilter] Parameter 'sample' must be at least 5!\n"); + output.clear(); + return; + } Indices indices; std::size_t npts = input_->size (); for (std::size_t i = 0; i < npts; i++) diff --git a/filters/include/pcl/filters/impl/statistical_outlier_removal.hpp b/filters/include/pcl/filters/impl/statistical_outlier_removal.hpp index 0e9359f0..3b81df8b 100644 --- a/filters/include/pcl/filters/impl/statistical_outlier_removal.hpp +++ b/filters/include/pcl/filters/impl/statistical_outlier_removal.hpp @@ -93,11 +93,11 @@ pcl::StatisticalOutlierRemoval::applyFilterIndices (Indices &indices) continue; } - // Calculate the mean distance to its neighbors + // Calculate the mean distance to its neighbors. double dist_sum = 0.0; - for (int k = 1; k < searcher_k; ++k) // k = 0 is the query point - dist_sum += sqrt (nn_dists[k]); - distances[iii] = static_cast (dist_sum / mean_k_); + for (std::size_t k = 1; k < nn_dists.size(); ++k) // k = 0 is the query point + dist_sum += sqrt(nn_dists[k]); + distances[iii] = static_cast(dist_sum / (nn_dists.size() - 1)); valid_distances++; } diff --git a/filters/include/pcl/filters/impl/uniform_sampling.hpp b/filters/include/pcl/filters/impl/uniform_sampling.hpp index a46902c4..c1c0f251 100644 --- a/filters/include/pcl/filters/impl/uniform_sampling.hpp +++ b/filters/include/pcl/filters/impl/uniform_sampling.hpp @@ -40,22 +40,17 @@ #include #include +#include ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// template void -pcl::UniformSampling::applyFilter (PointCloud &output) +pcl::UniformSampling::applyFilter (Indices &indices) { - // Has the input dataset been set already? - if (!input_) - { - PCL_WARN ("[pcl::%s::detectKeypoints] No input dataset given!\n", getClassName ().c_str ()); - output.width = output.height = 0; - output.clear (); - return; - } + // The arrays to be used + indices.resize (indices_->size ()); + removed_indices_->resize (indices_->size ()); - output.height = 1; // downsampling breaks the organized structure - output.is_dense = true; // we filter out invalid points + int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator Eigen::Vector4f min_p, max_p; // Get the minimum and maximum dimensions @@ -79,35 +74,36 @@ pcl::UniformSampling::applyFilter (PointCloud &output) // Set up the division multiplier divb_mul_ = Eigen::Vector4i (1, div_b_[0], div_b_[0] * div_b_[1], 0); - removed_indices_->clear(); // First pass: build a set of leaves with the point index closest to the leaf center - for (std::size_t cp = 0; cp < indices_->size (); ++cp) + for (const auto& cp : *indices_) { if (!input_->is_dense) { // Check if the point is invalid - if (!std::isfinite ((*input_)[(*indices_)[cp]].x) || - !std::isfinite ((*input_)[(*indices_)[cp]].y) || - !std::isfinite ((*input_)[(*indices_)[cp]].z)) + if (!pcl::isXYZFinite ((*input_)[cp])) { if (extract_removed_indices_) - removed_indices_->push_back ((*indices_)[cp]); + (*removed_indices_)[rii++] = cp; continue; } } Eigen::Vector4i ijk = Eigen::Vector4i::Zero (); - ijk[0] = static_cast (std::floor ((*input_)[(*indices_)[cp]].x * inverse_leaf_size_[0])); - ijk[1] = static_cast (std::floor ((*input_)[(*indices_)[cp]].y * inverse_leaf_size_[1])); - ijk[2] = static_cast (std::floor ((*input_)[(*indices_)[cp]].z * inverse_leaf_size_[2])); + ijk[0] = static_cast (std::floor ((*input_)[cp].x * inverse_leaf_size_[0])); + ijk[1] = static_cast (std::floor ((*input_)[cp].y * inverse_leaf_size_[1])); + ijk[2] = static_cast (std::floor ((*input_)[cp].z * inverse_leaf_size_[2])); // Compute the leaf index int idx = (ijk - min_b_).dot (divb_mul_); Leaf& leaf = leaves_[idx]; + + // Increment the count of points in this voxel + ++leaf.count; + // First time we initialize the index if (leaf.idx == -1) { - leaf.idx = (*indices_)[cp]; + leaf.idx = cp; continue; } @@ -115,30 +111,36 @@ pcl::UniformSampling::applyFilter (PointCloud &output) Eigen::Vector4f voxel_center = (ijk.cast() + Eigen::Vector4f::Constant(0.5)) * search_radius_; voxel_center[3] = 0; // Check to see if this point is closer to the leaf center than the previous one we saved - float diff_cur = ((*input_)[(*indices_)[cp]].getVector4fMap () - voxel_center).squaredNorm (); + float diff_cur = ((*input_)[cp].getVector4fMap () - voxel_center).squaredNorm (); float diff_prev = ((*input_)[leaf.idx].getVector4fMap () - voxel_center).squaredNorm (); // If current point is closer, copy its index instead if (diff_cur < diff_prev) { if (extract_removed_indices_) - removed_indices_->push_back (leaf.idx); - leaf.idx = (*indices_)[cp]; + (*removed_indices_)[rii++] = leaf.idx; + leaf.idx = cp; } else { if (extract_removed_indices_) - removed_indices_->push_back ((*indices_)[cp]); + (*removed_indices_)[rii++] = cp; } } + removed_indices_->resize(rii); // Second pass: go over all leaves and copy data - output.resize (leaves_.size ()); - int cp = 0; - + indices.resize (leaves_.size ()); for (const auto& leaf : leaves_) - output[cp++] = (*input_)[leaf.second.idx]; - output.width = output.size (); + { + if (leaf.second.count >= min_points_per_voxel_) + indices[oii++] = leaf.second.idx; + } + + indices.resize (oii); + if(negative_){ + indices.swap(*removed_indices_); + } } #define PCL_INSTANTIATE_UniformSampling(T) template class PCL_EXPORTS pcl::UniformSampling; diff --git a/filters/include/pcl/filters/impl/voxel_grid.hpp b/filters/include/pcl/filters/impl/voxel_grid.hpp index 66de0a08..5297a49d 100644 --- a/filters/include/pcl/filters/impl/voxel_grid.hpp +++ b/filters/include/pcl/filters/impl/voxel_grid.hpp @@ -211,16 +211,6 @@ pcl::getMinMax3D (const typename pcl::PointCloud::ConstPtr &cloud, max_pt = max_p; } -struct cloud_point_index_idx -{ - unsigned int idx; - unsigned int cloud_point_index; - - cloud_point_index_idx() = default; - cloud_point_index_idx (unsigned int idx_, unsigned int cloud_point_index_) : idx (idx_), cloud_point_index (cloud_point_index_) {} - bool operator < (const cloud_point_index_idx &p) const { return (idx < p.idx); } -}; - ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// template void pcl::VoxelGrid::applyFilter (PointCloud &output) @@ -273,7 +263,7 @@ pcl::VoxelGrid::applyFilter (PointCloud &output) divb_mul_ = Eigen::Vector4i (1, div_b_[0], div_b_[0] * div_b_[1], 0); // Storage for mapping leaf and pointcloud indexes - std::vector index_vector; + std::vector index_vector; index_vector.reserve (indices_->size ()); // If we don't want to process the entire cloud, but rather filter points far away from the viewpoint first... @@ -350,7 +340,7 @@ pcl::VoxelGrid::applyFilter (PointCloud &output) // Second pass: sort the index_vector vector using value representing target cell as index // in effect all points belonging to the same output cell will be next to each other - auto rightshift_func = [](const cloud_point_index_idx &x, const unsigned offset) { return x.idx >> offset; }; + auto rightshift_func = [](const internal::cloud_point_index_idx &x, const unsigned offset) { return x.idx >> offset; }; boost::sort::spreadsort::integer_sort(index_vector.begin(), index_vector.end(), rightshift_func); // Third pass: count output cells diff --git a/filters/include/pcl/filters/impl/voxel_grid_covariance.hpp b/filters/include/pcl/filters/impl/voxel_grid_covariance.hpp index 0c4c458b..1c60d354 100644 --- a/filters/include/pcl/filters/impl/voxel_grid_covariance.hpp +++ b/filters/include/pcl/filters/impl/voxel_grid_covariance.hpp @@ -442,11 +442,11 @@ pcl::VoxelGridCovariance::getAllNeighborsAtPoint(const PointT& reference ////////////////////////////////////////////////////////////////////////////////////////// template void -pcl::VoxelGridCovariance::getDisplayCloud (pcl::PointCloud& cell_cloud) +pcl::VoxelGridCovariance::getDisplayCloud (pcl::PointCloud& cell_cloud, int pnt_per_cell) const { cell_cloud.clear (); - int pnt_per_cell = 1000; + // for now, we use random generator and normal distribution from boost instead of std because switching to std would make this function up to 2.8 times slower boost::mt19937 rng; boost::normal_distribution<> nd (0.0, 1.0); boost::variate_generator > var_nor (rng, nd); @@ -463,7 +463,7 @@ pcl::VoxelGridCovariance::getDisplayCloud (pcl::PointCloud& ce // Generate points for each occupied voxel with sufficient points. for (auto it = leaves_.begin (); it != leaves_.end (); ++it) { - Leaf& leaf = it->second; + const Leaf& leaf = it->second; if (leaf.nr_points >= min_points_per_voxel_) { diff --git a/filters/include/pcl/filters/impl/voxel_grid_occlusion_estimation.hpp b/filters/include/pcl/filters/impl/voxel_grid_occlusion_estimation.hpp index 63fac68a..f065e2da 100644 --- a/filters/include/pcl/filters/impl/voxel_grid_occlusion_estimation.hpp +++ b/filters/include/pcl/filters/impl/voxel_grid_occlusion_estimation.hpp @@ -47,7 +47,7 @@ pcl::VoxelGridOcclusionEstimation::initializeVoxelGrid () { // initialization set to true initialized_ = true; - + // create the voxel grid and store the output cloud this->filter (filtered_cloud_); @@ -162,13 +162,13 @@ pcl::VoxelGridOcclusionEstimation::occlusionEstimationAll (std::vector::occlusionEstimationAll (std::vector float -pcl::VoxelGridOcclusionEstimation::rayBoxIntersection (const Eigen::Vector4f& origin, +pcl::VoxelGridOcclusionEstimation::rayBoxIntersection (const Eigen::Vector4f& origin, const Eigen::Vector4f& direction) { float tmin, tmax, tymin, tymax, tzmin, tzmax; @@ -198,7 +198,7 @@ pcl::VoxelGridOcclusionEstimation::rayBoxIntersection (const Eigen::Vect if (direction[1] >= 0) { tymin = (b_min_[1] - origin[1]) / direction[1]; - tymax = (b_max_[1] - origin[1]) / direction[1]; + tymax = (b_max_[1] - origin[1]) / direction[1]; } else { @@ -233,7 +233,7 @@ pcl::VoxelGridOcclusionEstimation::rayBoxIntersection (const Eigen::Vect { PCL_ERROR ("no intersection with the bounding box \n"); tmin = -1.0f; - return tmin; + return tmin; } if (tzmin > tmin) @@ -246,15 +246,16 @@ pcl::VoxelGridOcclusionEstimation::rayBoxIntersection (const Eigen::Vect ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// template int pcl::VoxelGridOcclusionEstimation::rayTraversal (const Eigen::Vector3i& target_voxel, - const Eigen::Vector4f& origin, + const Eigen::Vector4f& origin, const Eigen::Vector4f& direction, const float t_min) { - // coordinate of the boundary of the voxel grid - Eigen::Vector4f start = origin + t_min * direction; + // coordinate of the boundary of the voxel grid. To avoid numerical imprecision + // causing the start voxel index to be off by one, we add the machine epsilon + Eigen::Vector4f start = origin + (t_min > 0.0f ? (t_min + std::numeric_limits::epsilon()) : t_min) * direction; // i,j,k coordinate of the voxel were the ray enters the voxel grid - Eigen::Vector3i ijk = getGridCoordinatesRound (start[0], start[1], start[2]); + Eigen::Vector3i ijk = this->getGridCoordinates(start[0], start[1], start[2]); // steps in which direction we have to travel in the voxel grid int step_x, step_y, step_z; @@ -296,13 +297,13 @@ pcl::VoxelGridOcclusionEstimation::rayTraversal (const Eigen::Vector3i& float t_max_x = t_min + (voxel_max[0] - start[0]) / direction[0]; float t_max_y = t_min + (voxel_max[1] - start[1]) / direction[1]; float t_max_z = t_min + (voxel_max[2] - start[2]) / direction[2]; - + float t_delta_x = leaf_size_[0] / static_cast (std::abs (direction[0])); float t_delta_y = leaf_size_[1] / static_cast (std::abs (direction[1])); float t_delta_z = leaf_size_[2] / static_cast (std::abs (direction[2])); - while ( (ijk[0] < max_b_[0]+1) && (ijk[0] >= min_b_[0]) && - (ijk[1] < max_b_[1]+1) && (ijk[1] >= min_b_[1]) && + while ( (ijk[0] < max_b_[0]+1) && (ijk[0] >= min_b_[0]) && + (ijk[1] < max_b_[1]+1) && (ijk[1] >= min_b_[1]) && (ijk[2] < max_b_[2]+1) && (ijk[2] >= min_b_[2]) ) { // check if we reached target voxel @@ -339,7 +340,7 @@ pcl::VoxelGridOcclusionEstimation::rayTraversal (const Eigen::Vector3i& template int pcl::VoxelGridOcclusionEstimation::rayTraversal (std::vector >& out_ray, const Eigen::Vector3i& target_voxel, - const Eigen::Vector4f& origin, + const Eigen::Vector4f& origin, const Eigen::Vector4f& direction, const float t_min) { @@ -347,12 +348,12 @@ pcl::VoxelGridOcclusionEstimation::rayTraversal (std::vector 0.0f ? (t_min + std::numeric_limits::epsilon()) : t_min) * direction; // i,j,k coordinate of the voxel were the ray enters the voxel grid - Eigen::Vector3i ijk = getGridCoordinatesRound (start[0], start[1], start[2]); - //Eigen::Vector3i ijk = this->getGridCoordinates (start_x, start_y, start_z); + Eigen::Vector3i ijk = this->getGridCoordinates (start[0], start[1], start[2]); // steps in which direction we have to travel in the voxel grid int step_x, step_y, step_z; @@ -394,7 +395,7 @@ pcl::VoxelGridOcclusionEstimation::rayTraversal (std::vector (std::abs (direction[0])); float t_delta_y = leaf_size_[1] / static_cast (std::abs (direction[1])); float t_delta_z = leaf_size_[2] / static_cast (std::abs (direction[2])); @@ -402,8 +403,8 @@ pcl::VoxelGridOcclusionEstimation::rayTraversal (std::vector= min_b_[0]) && - (ijk[1] < max_b_[1]+1) && (ijk[1] >= min_b_[1]) && + while ( (ijk[0] < max_b_[0]+1) && (ijk[0] >= min_b_[0]) && + (ijk[1] < max_b_[1]+1) && (ijk[1] >= min_b_[1]) && (ijk[2] < max_b_[2]+1) && (ijk[2] >= min_b_[2]) ) { // add voxel to ray diff --git a/filters/include/pcl/filters/model_outlier_removal.h b/filters/include/pcl/filters/model_outlier_removal.h index 8fbe3dce..bc811290 100644 --- a/filters/include/pcl/filters/model_outlier_removal.h +++ b/filters/include/pcl/filters/model_outlier_removal.h @@ -67,6 +67,7 @@ namespace pcl * filter.filter (*cloud_out); * \endcode + * \ingroup filters */ template class ModelOutlierRemoval : public FilterIndices diff --git a/filters/include/pcl/filters/radius_outlier_removal.h b/filters/include/pcl/filters/radius_outlier_removal.h index 23f1d483..272d091b 100644 --- a/filters/include/pcl/filters/radius_outlier_removal.h +++ b/filters/include/pcl/filters/radius_outlier_removal.h @@ -64,6 +64,7 @@ namespace pcl * indices_rem = rorfilter.getRemovedIndices (); * // The indices_rem array indexes all points of cloud_in that have 5 or more neighbors within the 0.1 search radius * \endcode + * \sa StatisticalOutlierRemoval * \author Radu Bogdan Rusu * \ingroup filters */ @@ -142,6 +143,24 @@ namespace pcl */ inline void setSearchMethod (const SearcherPtr &searcher) { searcher_ = searcher; } + + /** \brief Set the number of threads to use. + * \param nr_threads the number of hardware threads to use (0 sets the value back + * to automatic) + */ + void + setNumberOfThreads(unsigned int nr_threads = 0) + { +#ifdef _OPENMP + num_threads_ = nr_threads != 0 ? nr_threads : omp_get_num_procs(); +#else + if (num_threads_ != 1) { + PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n"); + } + num_threads_ = 1; +#endif + } + protected: using PCLBase::input_; using PCLBase::indices_; @@ -177,6 +196,11 @@ namespace pcl /** \brief The minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier. */ int min_pts_radius_{1}; + + /** + * @brief Number of threads used during filtering + */ + int num_threads_{1}; }; ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/filters/include/pcl/filters/sampling_surface_normal.h b/filters/include/pcl/filters/sampling_surface_normal.h index 3c2e8397..25253747 100644 --- a/filters/include/pcl/filters/sampling_surface_normal.h +++ b/filters/include/pcl/filters/sampling_surface_normal.h @@ -61,7 +61,7 @@ namespace pcl using PointCloudPtr = typename PointCloud::Ptr; using PointCloudConstPtr = typename PointCloud::ConstPtr; - using Vector = Eigen::Matrix; + using Vector = Eigen::Matrix; public: diff --git a/filters/include/pcl/filters/statistical_outlier_removal.h b/filters/include/pcl/filters/statistical_outlier_removal.h index 4abfd123..c752935b 100644 --- a/filters/include/pcl/filters/statistical_outlier_removal.h +++ b/filters/include/pcl/filters/statistical_outlier_removal.h @@ -73,6 +73,7 @@ namespace pcl * indices_rem = sorfilter.getRemovedIndices (); * // The indices_rem array indexes all points of cloud_in that are outliers * \endcode + * \sa RadiusOutlierRemoval * \author Radu Bogdan Rusu * \ingroup filters */ diff --git a/filters/include/pcl/filters/uniform_sampling.h b/filters/include/pcl/filters/uniform_sampling.h index 39d0815d..53b6c26d 100644 --- a/filters/include/pcl/filters/uniform_sampling.h +++ b/filters/include/pcl/filters/uniform_sampling.h @@ -39,7 +39,7 @@ #pragma once -#include +#include #include @@ -52,13 +52,16 @@ namespace pcl * Then, in each *voxel* (i.e., 3D box), all the points present will be * approximated (i.e., *downsampled*) with the closest point to the center of the voxel. * + * \sa VoxelGrid * \author Radu Bogdan Rusu * \ingroup filters */ template - class UniformSampling: public Filter + class UniformSampling: public FilterIndices { - using PointCloud = typename Filter::PointCloud; + using PointCloud = typename FilterIndices::PointCloud; + + using FilterIndices::negative_; using Filter::filter_name_; using Filter::input_; @@ -75,7 +78,7 @@ namespace pcl /** \brief Empty constructor. */ UniformSampling (bool extract_removed_indices = false) : - Filter(extract_removed_indices), + FilterIndices(extract_removed_indices), leaves_ (), leaf_size_ (Eigen::Vector4f::Zero ()), inverse_leaf_size_ (Eigen::Vector4f::Zero ()), @@ -108,12 +111,25 @@ namespace pcl search_radius_ = radius; } + /** \brief Set the minimum number of points required for a voxel to be used. + * \param[in] min_points_per_voxel the minimum number of points for required for a voxel to be used + */ + inline void + setMinimumPointsNumberPerVoxel (unsigned int min_points_per_voxel) { min_points_per_voxel_ = min_points_per_voxel; } + + /** \brief Return the minimum number of points required for a voxel to be used. + */ + inline unsigned int + getMinimumPointsNumberPerVoxel () const { return min_points_per_voxel_; } + + protected: /** \brief Simple structure to hold an nD centroid and the number of points in a leaf. */ struct Leaf { Leaf () = default; int idx{-1}; + unsigned int count{0}; }; /** \brief The 3D grid leaves. */ @@ -131,11 +147,14 @@ namespace pcl /** \brief The nearest neighbors search radius for each point. */ double search_radius_{0.0}; - /** \brief Downsample a Point Cloud using a voxelized grid approach - * \param[out] output the resultant point cloud message + /** \brief Minimum number of points per voxel. */ + unsigned int min_points_per_voxel_{0}; + + /** \brief Filtered results are indexed by an indices array. + * \param[out] indices The resultant indices. */ void - applyFilter (PointCloud &output) override; + applyFilter (Indices &indices) override; }; } diff --git a/filters/include/pcl/filters/voxel_grid.h b/filters/include/pcl/filters/voxel_grid.h index 24615c43..00bdcf50 100644 --- a/filters/include/pcl/filters/voxel_grid.h +++ b/filters/include/pcl/filters/voxel_grid.h @@ -44,17 +44,30 @@ namespace pcl { + /** \brief Obtain the maximum and minimum points in 3D from a given point cloud. + * \param[in] cloud the pointer to a pcl::PCLPointCloud2 dataset + * \param[in] x_idx the index of the X channel + * \param[in] y_idx the index of the Y channel + * \param[in] z_idx the index of the Z channel + * \param[out] min_pt the minimum data point + * \param[out] max_pt the maximum data point + */ + PCL_EXPORTS void + getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, int x_idx, int y_idx, int z_idx, + Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt); + /** \brief Obtain the maximum and minimum points in 3D from a given point cloud. * \param[in] cloud the pointer to a pcl::PCLPointCloud2 dataset + * \param[in] indices the point cloud indices that need to be considered * \param[in] x_idx the index of the X channel * \param[in] y_idx the index of the Y channel * \param[in] z_idx the index of the Z channel * \param[out] min_pt the minimum data point * \param[out] max_pt the maximum data point - */ + */ PCL_EXPORTS void - getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, int x_idx, int y_idx, int z_idx, - Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt); + getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, const Indices &indices, int x_idx, int y_idx, int z_idx, + Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt); /** \brief Obtain the maximum and minimum points in 3D from a given point cloud. * \note Performs internal data filtering as well. @@ -69,9 +82,29 @@ namespace pcl * \param[out] max_pt the maximum data point * \param[in] limit_negative \b false if data \b inside of the [min_distance; max_distance] interval should be * considered, \b true otherwise. - */ + */ PCL_EXPORTS void getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, int x_idx, int y_idx, int z_idx, + const std::string &distance_field_name, float min_distance, float max_distance, + Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt, bool limit_negative = false); + + /** \brief Obtain the maximum and minimum points in 3D from a given point cloud. + * \note Performs internal data filtering as well. + * \param[in] cloud the pointer to a pcl::PCLPointCloud2 dataset + * \param[in] indices the point cloud indices that need to be considered + * \param[in] x_idx the index of the X channel + * \param[in] y_idx the index of the Y channel + * \param[in] z_idx the index of the Z channel + * \param[in] distance_field_name the name of the dimension to filter data along to + * \param[in] min_distance the minimum acceptable value in \a distance_field_name data + * \param[in] max_distance the maximum acceptable value in \a distance_field_name data + * \param[out] min_pt the minimum data point + * \param[out] max_pt the maximum data point + * \param[in] limit_negative \b false if data \b inside of the [min_distance; max_distance] interval should be + * considered, \b true otherwise. + */ + PCL_EXPORTS void + getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, const Indices &indices, int x_idx, int y_idx, int z_idx, const std::string &distance_field_name, float min_distance, float max_distance, Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt, bool limit_negative = false); @@ -515,7 +548,7 @@ namespace pcl VoxelGrid () : leaf_size_ (Eigen::Vector4f::Zero ()), inverse_leaf_size_ (Eigen::Array4f::Zero ()), - + min_b_ (Eigen::Vector4i::Zero ()), max_b_ (Eigen::Vector4i::Zero ()), div_b_ (Eigen::Vector4i::Zero ()), @@ -833,6 +866,21 @@ namespace pcl void applyFilter (PCLPointCloud2 &output) override; }; + + namespace internal + { + /** \brief Used internally in voxel grid classes. + */ + struct cloud_point_index_idx + { + unsigned int idx; + unsigned int cloud_point_index; + + cloud_point_index_idx() = default; + cloud_point_index_idx (unsigned int idx_, unsigned int cloud_point_index_) : idx (idx_), cloud_point_index (cloud_point_index_) {} + bool operator < (const cloud_point_index_idx &p) const { return (idx < p.idx); } + }; + } } #ifdef PCL_NO_PRECOMPILE diff --git a/filters/include/pcl/filters/voxel_grid_covariance.h b/filters/include/pcl/filters/voxel_grid_covariance.h index d2f69e78..2446a53d 100644 --- a/filters/include/pcl/filters/voxel_grid_covariance.h +++ b/filters/include/pcl/filters/voxel_grid_covariance.h @@ -434,9 +434,10 @@ namespace pcl /** \brief Get a cloud to visualize each voxels normal distribution. * \param[out] cell_cloud a cloud created by sampling the normal distributions of each voxel + * \param[in] pnt_per_cell how many points should be generated for each cell */ void - getDisplayCloud (pcl::PointCloud& cell_cloud); + getDisplayCloud (pcl::PointCloud& cell_cloud, int pnt_per_cell = 1000) const; /** \brief Search for the k-nearest occupied voxels for the given query point. * \note Only voxels containing a sufficient number of points are used. diff --git a/filters/include/pcl/filters/voxel_grid_occlusion_estimation.h b/filters/include/pcl/filters/voxel_grid_occlusion_estimation.h index a55b84b3..1518d329 100644 --- a/filters/include/pcl/filters/voxel_grid_occlusion_estimation.h +++ b/filters/include/pcl/filters/voxel_grid_occlusion_estimation.h @@ -216,7 +216,7 @@ namespace pcl const Eigen::Vector4f& direction, const float t_min); - /** \brief Returns a rounded value. + /** \brief Returns a value rounded to the nearest integer * \param[in] d * \return rounded value */ @@ -226,8 +226,7 @@ namespace pcl return static_cast (std::floor (d + 0.5f)); } - // We use round here instead of std::floor due to some numerical issues. - /** \brief Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z). + /** \brief Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z). * \param[in] x the X point coordinate to get the (i, j, k) index at * \param[in] y the Y point coordinate to get the (i, j, k) index at * \param[in] z the Z point coordinate to get the (i, j, k) index at diff --git a/filters/src/convolution.cpp b/filters/src/convolution.cpp index 7d35a463..41ffd02b 100644 --- a/filters/src/convolution.cpp +++ b/filters/src/convolution.cpp @@ -189,17 +189,5 @@ Convolution::convolveOneColDense(int i, int j) result.b = static_cast(b); return (result); } - -#ifndef PCL_NO_PRECOMPILE -#include -#include - -PCL_INSTANTIATE_PRODUCT( - Convolution, ((pcl::RGB))((pcl::RGB))) - -PCL_INSTANTIATE_PRODUCT( - Convolution, ((pcl::PointXYZRGB))((pcl::PointXYZRGB))) -#endif // PCL_NO_PRECOMPILE - } // namespace filters } // namespace pcl diff --git a/filters/src/passthrough.cpp b/filters/src/passthrough.cpp index c56a285a..4614bd18 100644 --- a/filters/src/passthrough.cpp +++ b/filters/src/passthrough.cpp @@ -61,7 +61,7 @@ pcl::PassThrough::applyFilter (PCLPointCloud2 &output) return; } - int nr_points = input_->width * input_->height; + uindex_t nr_points = input_->width * input_->height; // Check if we're going to keep the organized structure of the cloud or not if (keep_organized_) @@ -96,10 +96,10 @@ pcl::PassThrough::applyFilter (PCLPointCloud2 &output) removed_indices_->resize (input_->data.size ()); - int nr_p = 0; - int nr_removed_p = 0; + uindex_t nr_p = 0; + uindex_t nr_removed_p = 0; // Create the first xyz_offset - Eigen::Array4i xyz_offset (input_->fields[x_idx_].offset, input_->fields[y_idx_].offset, + Eigen::Array xyz_offset (input_->fields[x_idx_].offset, input_->fields[y_idx_].offset, input_->fields[z_idx_].offset, 0); Eigen::Vector4f pt = Eigen::Vector4f::Zero (); @@ -131,7 +131,7 @@ pcl::PassThrough::applyFilter (PCLPointCloud2 &output) { float distance_value = 0; // Go over all points - for (int cp = 0; cp < nr_points; ++cp, xyz_offset += input_->point_step) + for (uindex_t cp = 0; cp < nr_points; ++cp, xyz_offset += input_->point_step) { // Copy all the fields memcpy (&output.data[cp * output.point_step], &input_->data[cp * output.point_step], output.point_step); @@ -175,7 +175,7 @@ pcl::PassThrough::applyFilter (PCLPointCloud2 &output) { // Go over all points float distance_value = 0; - for (int cp = 0; cp < nr_points; ++cp, xyz_offset += input_->point_step) + for (uindex_t cp = 0; cp < nr_points; ++cp, xyz_offset += input_->point_step) { // Get the distance value memcpy (&distance_value, &input_->data[cp * input_->point_step + input_->fields[distance_idx].offset], @@ -242,7 +242,7 @@ pcl::PassThrough::applyFilter (PCLPointCloud2 &output) // No distance filtering, process all data. No need to check for is_organized here as we did it above else { - for (int cp = 0; cp < nr_points; ++cp, xyz_offset += input_->point_step) + for (uindex_t cp = 0; cp < nr_points; ++cp, xyz_offset += input_->point_step) { // Unoptimized memcpys: assume fields x, y, z are in random order memcpy (&pt[0], &input_->data[xyz_offset[0]], sizeof(float)); // NOLINT(readability-container-data-pointer) @@ -296,7 +296,7 @@ pcl::PassThrough::applyFilter (Indices &indices) // The arrays to be used indices.resize (indices_->size ()); removed_indices_->resize (indices_->size ()); - int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator + uindex_t oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator const auto x_offset = input_->fields[x_idx_].offset, y_offset = input_->fields[y_idx_].offset, z_offset = input_->fields[z_idx_].offset; diff --git a/filters/src/random_sample.cpp b/filters/src/random_sample.cpp index f271d8d4..97a75a6d 100644 --- a/filters/src/random_sample.cpp +++ b/filters/src/random_sample.cpp @@ -117,7 +117,11 @@ pcl::RandomSample::applyFilter (Indices &indices) removed_indices_->resize (N - sample_size); // Set random seed so derived indices are the same each time the filter runs +#ifdef __OpenBSD__ + srand_deterministic (seed_); // OpenBSD only offers repeatable sequences with this function +#else std::srand (seed_); +#endif // __OpenBSD__ // Algorithm S std::size_t i = 0; diff --git a/filters/src/statistical_outlier_removal.cpp b/filters/src/statistical_outlier_removal.cpp index 3690d86c..a72ff3fd 100644 --- a/filters/src/statistical_outlier_removal.cpp +++ b/filters/src/statistical_outlier_removal.cpp @@ -227,11 +227,11 @@ pcl::StatisticalOutlierRemoval::generateStatistics (double& continue; } - // Minimum distance (if mean_k_ == 2) or mean distance - double dist_sum = 0; - for (int j = 1; j < mean_k_; ++j) - dist_sum += sqrt (nn_dists[j]); - distances[cp] = static_cast (dist_sum / (mean_k_ - 1)); + // Calculate the mean distance to its neighbors. + double dist_sum = 0.0; + for (std::size_t k = 1; k < nn_dists.size(); ++k) // k = 0 is the query point + dist_sum += sqrt(nn_dists[k]); + distances[cp] = static_cast(dist_sum / (nn_dists.size() - 1)); valid_distances++; } diff --git a/filters/src/voxel_grid.cpp b/filters/src/voxel_grid.cpp index 2a3ab968..7c83f277 100644 --- a/filters/src/voxel_grid.cpp +++ b/filters/src/voxel_grid.cpp @@ -49,7 +49,7 @@ using Array4size_t = Eigen::Array; /////////////////////////////////////////////////////////////////////////////////////////// void pcl::getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, int x_idx, int y_idx, int z_idx, - Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt) + Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt) { // @todo fix this if (cloud->fields[x_idx].datatype != pcl::PCLPointField::FLOAT32 || @@ -76,8 +76,8 @@ pcl::getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, int x_idx, int y_idx memcpy (&pt[1], &cloud->data[xyz_offset[1]], sizeof (float)); memcpy (&pt[2], &cloud->data[xyz_offset[2]], sizeof (float)); // Check if the point is invalid - if (!std::isfinite (pt[0]) || - !std::isfinite (pt[1]) || + if (!std::isfinite (pt[0]) || + !std::isfinite (pt[1]) || !std::isfinite (pt[2])) { xyz_offset += cloud->point_step; @@ -91,11 +91,66 @@ pcl::getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, int x_idx, int y_idx max_pt = max_p; } +/////////////////////////////////////////////////////////////////////////////////////////// +void +pcl::getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, const pcl::Indices &indices, int x_idx, int y_idx, int z_idx, + Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt) +{ + if (cloud->fields[x_idx].datatype != pcl::PCLPointField::FLOAT32 || + cloud->fields[y_idx].datatype != pcl::PCLPointField::FLOAT32 || + cloud->fields[z_idx].datatype != pcl::PCLPointField::FLOAT32) + { + PCL_ERROR ("[pcl::getMinMax3D] XYZ dimensions are not float type!\n"); + return; + } + + Eigen::Array4f min_p, max_p; + min_p.setConstant (std::numeric_limits::max()); + max_p.setConstant (std::numeric_limits::lowest()); + + Eigen::Array4f pt = Eigen::Array4f::Zero (); + Array4size_t xyz_offset (cloud->fields[x_idx].offset, cloud->fields[y_idx].offset, cloud->fields[z_idx].offset, 0); + + if(cloud->is_dense) // no need to check validity of points + { + for (const auto& index : indices) + { + // Unoptimized memcpys: assume fields x, y, z are in random order + memcpy(&pt[0],&cloud->data[xyz_offset[0] + cloud->point_step * index],sizeof(float)); + memcpy(&pt[1],&cloud->data[xyz_offset[1] + cloud->point_step * index],sizeof(float)); + memcpy(&pt[2],&cloud->data[xyz_offset[2] + cloud->point_step * index],sizeof(float)); + min_p = (min_p.min)(pt); + max_p = (max_p.max)(pt); + } + } + else + { + for (const auto& index : indices) + { + // Unoptimized memcpys: assume fields x, y, z are in random order + memcpy(&pt[0],&cloud->data[xyz_offset[0] + cloud->point_step * index],sizeof(float)); + memcpy(&pt[1],&cloud->data[xyz_offset[1] + cloud->point_step * index],sizeof(float)); + memcpy(&pt[2],&cloud->data[xyz_offset[2] + cloud->point_step * index],sizeof(float)); + // Check if the point is invalid + if (!std::isfinite(pt[0]) || + !std::isfinite(pt[1]) || + !std::isfinite(pt[2])) + { + continue; + } + min_p = (min_p.min)(pt); + max_p = (max_p.max)(pt); + } + } + min_pt = min_p; + max_pt = max_p; +} + /////////////////////////////////////////////////////////////////////////////////////////// void pcl::getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, int x_idx, int y_idx, int z_idx, - const std::string &distance_field_name, float min_distance, float max_distance, - Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt, bool limit_negative) + const std::string &distance_field_name, float min_distance, float max_distance, + Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt, bool limit_negative) { // @todo fix this if (cloud->fields[x_idx].datatype != pcl::PCLPointField::FLOAT32 || @@ -124,9 +179,9 @@ pcl::getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, int x_idx, int y_idx Eigen::Array4f pt = Eigen::Array4f::Zero (); Array4size_t xyz_offset (cloud->fields[x_idx].offset, - cloud->fields[y_idx].offset, - cloud->fields[z_idx].offset, - 0); + cloud->fields[y_idx].offset, + cloud->fields[z_idx].offset, + 0); float distance_value = 0; for (std::size_t cp = 0; cp < nr_points; ++cp) { @@ -159,8 +214,8 @@ pcl::getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, int x_idx, int y_idx memcpy (&pt[1], &cloud->data[xyz_offset[1]], sizeof (float)); memcpy (&pt[2], &cloud->data[xyz_offset[2]], sizeof (float)); // Check if the point is invalid - if (!std::isfinite (pt[0]) || - !std::isfinite (pt[1]) || + if (!std::isfinite (pt[0]) || + !std::isfinite (pt[1]) || !std::isfinite (pt[2])) { xyz_offset += cloud->point_step; @@ -174,6 +229,124 @@ pcl::getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, int x_idx, int y_idx max_pt = max_p; } +/////////////////////////////////////////////////////////////////////////////////////////// +void +pcl::getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, const pcl::Indices &indices, int x_idx, int y_idx, int z_idx, + const std::string &distance_field_name, float min_distance, float max_distance, + Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt, bool limit_negative) +{ + // @todo fix this + if (cloud->fields[x_idx].datatype != pcl::PCLPointField::FLOAT32 || + cloud->fields[y_idx].datatype != pcl::PCLPointField::FLOAT32 || + cloud->fields[z_idx].datatype != pcl::PCLPointField::FLOAT32) + { + PCL_ERROR ("[pcl::getMinMax3D] XYZ dimensions are not float type!\n"); + return; + } + + Eigen::Array4f min_p, max_p; + min_p.setConstant (std::numeric_limits::max()); + max_p.setConstant (std::numeric_limits::lowest()); + + // Get the distance field index + int distance_idx = pcl::getFieldIndex (*cloud, distance_field_name); + + // @todo fix this + if (cloud->fields[distance_idx].datatype != pcl::PCLPointField::FLOAT32) + { + PCL_ERROR ("[pcl::getMinMax3D] Filtering dimensions is not float type!\n"); + return; + } + + Eigen::Array4f pt = Eigen::Array4f::Zero (); + Array4size_t xyz_offset (cloud->fields[x_idx].offset, + cloud->fields[y_idx].offset, + cloud->fields[z_idx].offset, + 0); + float distance_value = 0; + if(cloud->is_dense) + { + for (const auto& index : indices) { + std::size_t point_offset = index * cloud->point_step; + + // Get the distance value + memcpy(&distance_value, + &cloud->data[point_offset + cloud->fields[distance_idx].offset], + sizeof(float)); + + if (limit_negative) { + // Use a threshold for cutting out points which inside the interval + if ((distance_value < max_distance) && (distance_value > min_distance)) { + continue; + } + } + else { + // Use a threshold for cutting out points which are too close/far away + if ((distance_value > max_distance) || (distance_value < min_distance)) { + continue; + } + } + + // Unoptimized memcpys: assume fields x, y, z are in random order + memcpy(&pt[0], + &cloud->data[xyz_offset[0] + index * cloud->point_step], + sizeof(float)); + memcpy(&pt[1], + &cloud->data[xyz_offset[1] + index * cloud->point_step], + sizeof(float)); + memcpy(&pt[2], + &cloud->data[xyz_offset[2] + index * cloud->point_step], + sizeof(float)); + min_p = (min_p.min)(pt); + max_p = (max_p.max)(pt); + } + } + else + { + for (const auto& index : indices) + { + std::size_t point_offset = index * cloud->point_step; + + // Get the distance value + memcpy(&distance_value,&cloud->data[point_offset + cloud->fields[distance_idx].offset],sizeof(float)); + + if (limit_negative) + { + // Use a threshold for cutting out points which inside the interval + if ((distance_value < max_distance) && (distance_value > min_distance)) + { + continue; + } + } + else + { + // Use a threshold for cutting out points which are too close/far away + if ((distance_value > max_distance) || (distance_value < min_distance)) + { + continue; + } + } + + // Unoptimized memcpys: assume fields x, y, z are in random order + memcpy(&pt[0],&cloud->data[xyz_offset[0] + index * cloud->point_step],sizeof(float)); + memcpy(&pt[1],&cloud->data[xyz_offset[1] + index * cloud->point_step],sizeof(float)); + memcpy(&pt[2],&cloud->data[xyz_offset[2] + index * cloud->point_step],sizeof(float)); + // Check if the point is invalid + if (!std::isfinite(pt[0]) + || !std::isfinite(pt[1]) + || !std::isfinite(pt[2])) + { + continue; + } + min_p = (min_p.min)(pt); + max_p = (max_p.max)(pt); + } + } + min_pt = min_p; + max_pt = max_p; +} + + /////////////////////////////////////////////////////////////////////////////////////////// void pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) @@ -186,7 +359,6 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) output.data.clear (); return; } - std::size_t nr_points = input_->width * input_->height; // Copy the header (and thus the frame_id) + allocate enough space for points output.height = 1; // downsampling breaks the organized structure @@ -217,11 +389,11 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) Eigen::Vector4f min_p, max_p; // Get the minimum and maximum dimensions if (!filter_field_name_.empty ()) // If we don't want to process the entire cloud... - getMinMax3D (input_, x_idx_, y_idx_, z_idx_, filter_field_name_, - static_cast (filter_limit_min_), + getMinMax3D (input_, *indices_, x_idx_, y_idx_, z_idx_, filter_field_name_, + static_cast (filter_limit_min_), static_cast (filter_limit_max_), min_p, max_p, filter_limit_negative_); else - getMinMax3D (input_, x_idx_, y_idx_, z_idx_, min_p, max_p); + getMinMax3D (input_, *indices_, x_idx_, y_idx_, z_idx_, min_p, max_p); // Check that the leaf size is not too small, given the size of the data std::int64_t dx = static_cast((max_p[0] - min_p[0]) * inverse_leaf_size_[0])+1; @@ -248,8 +420,8 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) div_b_ = max_b_ - min_b_ + Eigen::Vector4i::Ones (); div_b_[3] = 0; - std::vector index_vector; - index_vector.reserve (nr_points); + std::vector index_vector; + index_vector.reserve (indices_->size()); // Create the first xyz_offset, and set up the division multiplier Array4size_t xyz_offset (input_->fields[x_idx_].offset, @@ -265,8 +437,8 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) if (downsample_all_data_) { centroid_size = static_cast (input_->fields.size ()); - - // ---[ RGB special case + + // ---[ RGB special case // if the data contains "rgba" or "rgb", add an extra field for r/g/b in centroid for (int d = 0; d < centroid_size; ++d) { @@ -278,7 +450,7 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) } } } - + // If we don't want to process the entire cloud, but rather filter points far away from the viewpoint first... if (!filter_field_name_.empty ()) { @@ -298,9 +470,9 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) // with calculated idx. Points with the same idx value will contribute to the // same point of resulting CloudPoint float distance_value = 0; - for (std::size_t cp = 0; cp < nr_points; ++cp) + for (const auto &index : *indices_) { - std::size_t point_offset = cp * input_->point_step; + std::size_t point_offset = index * input_->point_step; // Get the distance value memcpy (&distance_value, &input_->data[point_offset + input_->fields[distance_idx].offset], sizeof (float)); @@ -309,7 +481,6 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) // Use a threshold for cutting out points which inside the interval if (distance_value < filter_limit_max_ && distance_value > filter_limit_min_) { - xyz_offset += input_->point_step; continue; } } @@ -318,22 +489,20 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) // Use a threshold for cutting out points which are too close/far away if (distance_value > filter_limit_max_ || distance_value < filter_limit_min_) { - xyz_offset += input_->point_step; continue; } } // Unoptimized memcpys: assume fields x, y, z are in random order - memcpy (&pt[0], &input_->data[xyz_offset[0]], sizeof (float)); - memcpy (&pt[1], &input_->data[xyz_offset[1]], sizeof (float)); - memcpy (&pt[2], &input_->data[xyz_offset[2]], sizeof (float)); + memcpy (&pt[0], &input_->data[xyz_offset[0] + index * input_->point_step], sizeof (float)); + memcpy (&pt[1], &input_->data[xyz_offset[1] + index * input_->point_step], sizeof (float)); + memcpy (&pt[2], &input_->data[xyz_offset[2] + index * input_->point_step], sizeof (float)); // Check if the point is invalid - if (!std::isfinite (pt[0]) || - !std::isfinite (pt[1]) || + if (!std::isfinite (pt[0]) || + !std::isfinite (pt[1]) || !std::isfinite (pt[2])) { - xyz_offset += input_->point_step; continue; } @@ -342,28 +511,26 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) int ijk2 = static_cast (std::floor (pt[2] * inverse_leaf_size_[2]) - min_b_[2]); // Compute the centroid leaf index int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2]; - index_vector.emplace_back(idx, static_cast (cp)); + index_vector.emplace_back(idx, static_cast (index)); - xyz_offset += input_->point_step; } } // No distance filtering, process all data else { // First pass: go over all points and insert them into the right leaf - for (std::size_t cp = 0; cp < nr_points; ++cp) + for (const auto &index : *indices_) { // Unoptimized memcpys: assume fields x, y, z are in random order - memcpy (&pt[0], &input_->data[xyz_offset[0]], sizeof (float)); - memcpy (&pt[1], &input_->data[xyz_offset[1]], sizeof (float)); - memcpy (&pt[2], &input_->data[xyz_offset[2]], sizeof (float)); + memcpy (&pt[0], &input_->data[xyz_offset[0] + index * input_->point_step], sizeof (float)); + memcpy (&pt[1], &input_->data[xyz_offset[1] + index * input_->point_step], sizeof (float)); + memcpy (&pt[2], &input_->data[xyz_offset[2] + index * input_->point_step], sizeof (float)); // Check if the point is invalid - if (!std::isfinite (pt[0]) || - !std::isfinite (pt[1]) || + if (!std::isfinite (pt[0]) || + !std::isfinite (pt[1]) || !std::isfinite (pt[2])) { - xyz_offset += input_->point_step; continue; } @@ -372,14 +539,13 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) int ijk2 = static_cast (std::floor (pt[2] * inverse_leaf_size_[2]) - min_b_[2]); // Compute the centroid leaf index int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2]; - index_vector.emplace_back(idx, static_cast (cp)); - xyz_offset += input_->point_step; + index_vector.emplace_back(idx, static_cast (index)); } } // Second pass: sort the index_vector vector using value representing target cell as index // in effect all points belonging to the same output cell will be next to each other - auto rightshift_func = [](const cloud_point_index_idx &x, const unsigned offset) { return x.idx >> offset; }; + auto rightshift_func = [](const internal::cloud_point_index_idx &x, const unsigned offset) { return x.idx >> offset; }; boost::sort::spreadsort::integer_sort(index_vector.begin(), index_vector.end(), rightshift_func); // Third pass: count output cells @@ -392,10 +558,10 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) std::vector > first_and_last_indices_vector; // Worst case size first_and_last_indices_vector.reserve (index_vector.size ()); - while (index < index_vector.size ()) + while (index < index_vector.size ()) { std::size_t i = index + 1; - while (i < index_vector.size () && index_vector[i].idx == index_vector[index].idx) + while (i < index_vector.size () && index_vector[i].idx == index_vector[index].idx) ++i; if ((i - index) >= min_points_per_voxel_) { @@ -410,7 +576,7 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) output.row_step = output.point_step * output.width; output.data.resize (output.width * output.point_step); - if (save_leaf_layout_) + if (save_leaf_layout_) { try { @@ -421,21 +587,21 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) for (std::uint32_t i = 0; i < reinit_size; i++) { leaf_layout_[i] = -1; - } - leaf_layout_.resize (new_layout_size, -1); + } + leaf_layout_.resize (new_layout_size, -1); } catch (std::bad_alloc&) { - throw PCLException("VoxelGrid bin size is too low; impossible to allocate memory for layout", - "voxel_grid.cpp", "applyFilter"); + throw PCLException("VoxelGrid bin size is too low; impossible to allocate memory for layout", + "voxel_grid.cpp", "applyFilter"); } catch (std::length_error&) { - throw PCLException("VoxelGrid bin size is too low; impossible to allocate memory for layout", - "voxel_grid.cpp", "applyFilter"); + throw PCLException("VoxelGrid bin size is too low; impossible to allocate memory for layout", + "voxel_grid.cpp", "applyFilter"); } } - + // If we downsample each field, the {x,y,z}_idx_ offsets should correspond in input_ and output if (downsample_all_data_) xyz_offset = Array4size_t (output.fields[x_idx_].offset, @@ -506,7 +672,7 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) centroid += temporary; } centroid /= static_cast (last_index - first_index); - + std::size_t point_offset = index * output.point_step; // Copy all the fields for (std::size_t d = 0; d < output.fields.size (); ++d) @@ -514,14 +680,14 @@ pcl::VoxelGrid::applyFilter (PCLPointCloud2 &output) // ---[ RGB special case // full extra r/g/b centroid field - if (rgba_index >= 0) + if (rgba_index >= 0) { float r = centroid[centroid_size-4], g = centroid[centroid_size-3], b = centroid[centroid_size-2], a = centroid[centroid_size-1]; int rgb = (static_cast (a) << 24) | (static_cast (r) << 16) | (static_cast (g) << 8) | static_cast (b); memcpy (&output.data[point_offset + output.fields[rgba_index].offset], &rgb, sizeof (float)); } } - + ++index; } } diff --git a/filters/src/voxel_grid_label.cpp b/filters/src/voxel_grid_label.cpp index 13dd7cdf..1d7e9ab9 100644 --- a/filters/src/voxel_grid_label.cpp +++ b/filters/src/voxel_grid_label.cpp @@ -37,8 +37,9 @@ */ #include +#include // for getMinMax3D #include -#include +#include // for boost::mpl::size ////////////////////////////////////////////////////////////////////////////// void @@ -111,7 +112,7 @@ pcl::VoxelGridLabel::applyFilter (PointCloud &output) int label_index = -1; label_index = pcl::getFieldIndex ("label", fields); - std::vector index_vector; + std::vector index_vector; index_vector.reserve(input_->size()); // If we don't want to process the entire cloud, but rather filter points far away from the viewpoint first... diff --git a/geometry/CMakeLists.txt b/geometry/CMakeLists.txt index cafc32e4..6f3d527c 100644 --- a/geometry/CMakeLists.txt +++ b/geometry/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME geometry) set(SUBSYS_DESC "Point cloud geometry library") set(SUBSYS_DEPS common) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) @@ -14,7 +13,6 @@ endif() set(incs "include/pcl/${SUBSYS_NAME}/boost.h" - "include/pcl/${SUBSYS_NAME}/eigen.h" "include/pcl/${SUBSYS_NAME}/get_boundary.h" "include/pcl/${SUBSYS_NAME}/line_iterator.h" "include/pcl/${SUBSYS_NAME}/mesh_base.h" @@ -36,12 +34,8 @@ set(impl_incs "include/pcl/${SUBSYS_NAME}/impl/polygon_operations.hpp" ) - set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") - -add_library(${LIB_NAME} INTERFACE) -target_include_directories(${LIB_NAME} INTERFACE "${CMAKE_CURRENT_SOURCE_DIR}/include") +PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} INCLUDES ${incs} ${impl_incs}) target_link_libraries(${LIB_NAME} INTERFACE Boost::boost pcl_common) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} HEADER_ONLY) diff --git a/geometry/include/pcl/geometry/eigen.h b/geometry/include/pcl/geometry/eigen.h deleted file mode 100644 index 2f250e29..00000000 --- a/geometry/include/pcl/geometry/eigen.h +++ /dev/null @@ -1,49 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2009-2012, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ - -#pragma once - -#ifdef __GNUC__ -#pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed eigen headers directly.") - -#include -#include diff --git a/geometry/include/pcl/geometry/mesh_base.h b/geometry/include/pcl/geometry/mesh_base.h index f0437d2d..014b8c86 100644 --- a/geometry/include/pcl/geometry/mesh_base.h +++ b/geometry/include/pcl/geometry/mesh_base.h @@ -1333,7 +1333,7 @@ protected: HalfEdgeIndex& /*idx_free_half_edge*/, std::true_type /*is_manifold*/) const { - return !(is_new_ab && is_new_bc && !is_isolated_b); + return (!is_new_ab || !is_new_bc || is_isolated_b); } /** \brief Check if the half-edge bc is the next half-edge of ab. @@ -1804,14 +1804,14 @@ protected: typename IndexContainerT::value_type()); Index ind_old(0), ind_new(0); - typename ElementContainerT::const_iterator it_e_old = elements.begin(); + auto it_e_old = elements.cbegin(); auto it_e_new = elements.begin(); - typename DataContainerT::const_iterator it_d_old = data_cloud.begin(); + auto it_d_old = data_cloud.cbegin(); auto it_d_new = data_cloud.begin(); auto it_ind_new = new_indices.begin(); - typename IndexContainerT::const_iterator it_ind_new_end = new_indices.end(); + auto it_ind_new_end = new_indices.cend(); while (it_ind_new != it_ind_new_end) { if (!this->isDeleted(ind_old)) { diff --git a/gpu/CMakeLists.txt b/gpu/CMakeLists.txt index 45daad5c..a126cef8 100644 --- a/gpu/CMakeLists.txt +++ b/gpu/CMakeLists.txt @@ -2,7 +2,7 @@ set(SUBSYS_NAME gpu) set(SUBSYS_DESC "Point cloud GPU libraries") set(SUBSYS_DEPS) -option(BUILD_GPU "Build the GPU-related subsystems" ${DEFAULT}) +option(BUILD_GPU "Build the GPU-related subsystems" OFF) if(NOT (BUILD_GPU AND CUDA_FOUND)) return() diff --git a/gpu/containers/CMakeLists.txt b/gpu/containers/CMakeLists.txt index f25120ba..a07418e0 100644 --- a/gpu/containers/CMakeLists.txt +++ b/gpu/containers/CMakeLists.txt @@ -1,9 +1,8 @@ set(SUBSYS_NAME gpu_containers) set(SUBSYS_PATH gpu/containers) set(SUBSYS_DESC "Containers with reference counting for GPU memory. This module can be compiled without Cuda Toolkit.") -set(SUBSYS_DEPS common) +set(SUBSYS_DEPS common gpu_utils) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}") @@ -13,19 +12,16 @@ if(NOT build) return() endif() -file(GLOB srcs src/*.cpp src/*.hpp) +file(GLOB srcs src/*.cpp src/*.cu src/*.hpp) file(GLOB incs include/pcl/gpu/containers/*.h) file(GLOB incs_impl include/pcl/gpu/containers/impl/*.hpp) source_group("Header Files\\impl" FILES ${incs_impl}) list(APPEND incs ${incs_impl}) -get_filename_component(UTILS_INC "${CMAKE_CURRENT_SOURCE_DIR}/../utils/include" REALPATH) - set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" ${UTILS_INC}) PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs}) -target_link_libraries(${LIB_NAME} pcl_common) +target_link_libraries(${LIB_NAME} pcl_common pcl_gpu_utils) #Ensures that CUDA is added and the project can compile as it uses cuda calls. set_source_files_properties(src/device_memory.cpp PROPERTIES LANGUAGE CUDA) diff --git a/gpu/containers/include/pcl/gpu/containers/impl/repacks.hpp b/gpu/containers/include/pcl/gpu/containers/impl/repacks.hpp new file mode 100644 index 00000000..db9c7f29 --- /dev/null +++ b/gpu/containers/include/pcl/gpu/containers/impl/repacks.hpp @@ -0,0 +1,154 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2011, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com) + */ + +#ifndef __PCL_GPU_UTILS_REPACKS_HPP__ +#define __PCL_GPU_UTILS_REPACKS_HPP__ + +#include +#include +#include + +namespace pcl { +namespace gpu { +/////////////////////////////////////// +/// This is an experimental code /// +/////////////////////////////////////// + +const int NoCP = 0xFFFFFFFF; + +/** \brief Returns field copy operation code. */ +inline int +cp(int from, int to) +{ + return ((to & 0xF) << 4) + (from & 0xF); +} + +/* Combines several field copy operations to one int (called rule) */ +inline int +rule(int cp1, int cp2 = NoCP, int cp3 = NoCP, int cp4 = NoCP) +{ + return (cp1 & 0xFF) + ((cp2 & 0xFF) << 8) + ((cp3 & 0xFF) << 16) + + ((cp4 & 0xFF) << 24); +} + +/* Combines performs all field copy operations in given rule array (can be 0, 1, or 16 + * copies) */ +void +copyFieldsImpl( + int in_size, int out_size, int rules[4], int size, const void* input, void* output); + +template +void +copyFieldsEx(const DeviceArray& src, + DeviceArray& dst, + int rule1, + int rule2 = NoCP, + int rule3 = NoCP, + int rule4 = NoCP) +{ + int rules[4] = {rule1, rule2, rule3, rule4}; + dst.create(src.size()); + copyFieldsImpl(sizeof(PointIn) / sizeof(int), + sizeof(PointOut) / sizeof(int), + rules, + (int)src.size(), + src.ptr(), + dst.ptr()); +} + +void +copyFields(const DeviceArray& src, DeviceArray& dst) +{ + // PointXYZ.x (0) -> PointNormal.x (0) + // PointXYZ.y (1) -> PointNormal.y (1) + // PointXYZ.z (2) -> PointNormal.z (2) + copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); +}; + +void +copyFields(const DeviceArray& src, DeviceArray& dst) +{ + // PointXYZ.normal_x (0) -> PointNormal.normal_x (4) + // PointXYZ.normal_y (1) -> PointNormal.normal_y (5) + // PointXYZ.normal_z (2) -> PointNormal.normal_z (6) + // PointXYZ.curvature (4) -> PointNormal.curvature (8) + copyFieldsEx(src, dst, rule(cp(0, 4), cp(1, 5), cp(2, 6), cp(4, 8))); +}; + +void +copyFields(const DeviceArray& src, DeviceArray& dst) +{ + // PointXYZRGBL.x (0) -> PointXYZ.x (0) + // PointXYZRGBL.y (1) -> PointXYZ.y (1) + // PointXYZRGBL.z (2) -> PointXYZ.z (2) + copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); +}; + +void +copyFields(const DeviceArray& src, DeviceArray& dst) +{ + // PointXYZRGB.x (0) -> PointXYZ.x (0) + // PointXYZRGB.y (1) -> PointXYZ.y (1) + // PointXYZRGB.z (2) -> PointXYZ.z (2) + copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); +}; + +void +copyFields(const DeviceArray& src, DeviceArray& dst) +{ + // PointXYZRGBA.x (0) -> PointXYZ.x (0) + // PointXYZRGBA.y (1) -> PointXYZ.y (1) + // PointXYZRGBA.z (2) -> PointXYZ.z (2) + copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); +}; + +void +copyFieldsZ(const DeviceArray& src, DeviceArray& dst) +{ + // PointXYZRGBL.z (2) -> float (1) + copyFieldsEx(src, dst, rule(cp(2, 0))); +}; + +void +copyFieldsZ(const DeviceArray& src, DeviceArray& dst) +{ + // PointXYZRGBL.z (2) -> float (1) + copyFieldsEx(src, dst, rule(cp(2, 0))); +}; +} // namespace gpu +} // namespace pcl + +#endif /* __PCL_GPU_UTILS_REPACKS_HPP__ */ diff --git a/gpu/utils/include/pcl/gpu/utils/device/static_check.hpp b/gpu/containers/include/pcl/gpu/containers/impl/texture_binder.hpp similarity index 52% rename from gpu/utils/include/pcl/gpu/utils/device/static_check.hpp rename to gpu/containers/include/pcl/gpu/containers/impl/texture_binder.hpp index fe153cfc..16dede92 100644 --- a/gpu/utils/include/pcl/gpu/utils/device/static_check.hpp +++ b/gpu/containers/include/pcl/gpu/containers/impl/texture_binder.hpp @@ -34,35 +34,60 @@ * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com) */ -PCL_DEPRECATED_HEADER(1, 15, "pcl::device::Static will be removed at PCL release 1.15"); +#ifndef PCL_GPU_UTILS_TEXTURE_BINDER_HPP_ +#define PCL_GPU_UTILS_TEXTURE_BINDER_HPP_ -#ifndef PCL_GPU_DEVICE_STATIC_CHECK_HPP_ -#define PCL_GPU_DEVICE_STATIC_CHECK_HPP_ - -#if defined(__CUDACC__) -#define __PCL_GPU_HOST_DEVICE__ __host__ __device__ __forceinline__ -#else -#define __PCL_GPU_HOST_DEVICE__ -#endif +#include +#include namespace pcl { -namespace device { -template -struct Static {}; +namespace gpu { +class TextureBinder { +public: + template + TextureBinder(const DeviceArray2D& arr, const struct texture& tex) + : texref(&tex) + { + cudaChannelFormatDesc desc = cudaCreateChannelDesc(); + cudaSafeCall( + cudaBindTexture2D(0, tex, arr.ptr(), desc, arr.cols(), arr.rows(), arr.step())); + } + + template + TextureBinder(const DeviceArray& arr, const struct texture& tex) + : texref(&tex) + { + cudaChannelFormatDesc desc = cudaCreateChannelDesc(); + cudaSafeCall(cudaBindTexture(0, tex, arr.ptr(), desc, arr.sizeBytes())); + } + + template + TextureBinder(const PtrStepSz& arr, const struct texture& tex) + : texref(&tex) + { + cudaChannelFormatDesc desc = cudaCreateChannelDesc(); + cudaSafeCall( + cudaBindTexture2D(0, tex, arr.data, desc, arr.cols, arr.rows, arr.step)); + } -template <> -struct [[deprecated("This class will be replaced at PCL release 1.15 by " - "c++11's static_assert instead")]] Static -{ - __PCL_GPU_HOST_DEVICE__ static void check(){}; + template + TextureBinder(const PtrSz& arr, const struct texture& tex) + : texref(&tex) + { + cudaChannelFormatDesc desc = cudaCreateChannelDesc(); + cudaSafeCall(cudaBindTexture(0, tex, arr.data, desc, arr.size * arr.elemSize())); + } + + ~TextureBinder() { cudaSafeCall(cudaUnbindTexture(texref)); } + +private: + const struct textureReference* texref; }; -} // namespace device +} // namespace gpu -namespace gpu { -using pcl::device::Static; +namespace device { +using pcl::gpu::TextureBinder; } } // namespace pcl -#undef __PCL_GPU_HOST_DEVICE__ - -#endif /* PCL_GPU_DEVICE_STATIC_CHECK_HPP_ */ +#endif /* PCL_GPU_UTILS_TEXTURE_BINDER_HPP_*/ \ No newline at end of file diff --git a/gpu/containers/src/initialization.cpp b/gpu/containers/src/initialization.cpp index 8bcc6428..dbd4cadf 100644 --- a/gpu/containers/src/initialization.cpp +++ b/gpu/containers/src/initialization.cpp @@ -42,7 +42,9 @@ #include // replace c-style array with std::array #include +#if !defined(HAVE_CUDA) #define HAVE_CUDA +#endif //#include #if !defined(HAVE_CUDA) diff --git a/gpu/utils/src/repacks.cu b/gpu/containers/src/repacks.cu similarity index 98% rename from gpu/utils/src/repacks.cu rename to gpu/containers/src/repacks.cu index 2467bf9b..e99956a7 100644 --- a/gpu/utils/src/repacks.cu +++ b/gpu/containers/src/repacks.cu @@ -1,7 +1,7 @@ -#include "internal.hpp" +#include +#include + #include -#include "pcl/gpu/utils/safe_call.hpp" -#include "pcl/pcl_exports.h" namespace pcl { diff --git a/gpu/features/CMakeLists.txt b/gpu/features/CMakeLists.txt index 2d2954fe..4eecde02 100644 --- a/gpu/features/CMakeLists.txt +++ b/gpu/features/CMakeLists.txt @@ -3,7 +3,6 @@ set(SUBSYS_PATH gpu/features) set(SUBSYS_DESC "Temporary GPU_common module. Weak CUDA dependency: a code that use this module requires CUDA Toolkit installed, but should be compiled without nvcc") set(SUBSYS_DEPS common gpu_containers gpu_utils gpu_octree geometry) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}") @@ -25,7 +24,6 @@ file(GLOB srcs_utils src/utils/*.hpp) source_group("Source Files\\utils" FILES ${srcs_utils}) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" "${CMAKE_CURRENT_SOURCE_DIR}/src") PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${cuda} ${srcs_utils} ${dev_incs}) target_link_libraries("${LIB_NAME}" pcl_gpu_utils pcl_gpu_containers pcl_gpu_octree) diff --git a/gpu/features/src/centroid.cu b/gpu/features/src/centroid.cu index 5e73df35..8ba0f80e 100644 --- a/gpu/features/src/centroid.cu +++ b/gpu/features/src/centroid.cu @@ -36,6 +36,7 @@ #include "internal.hpp" +#include #include #include #include @@ -56,26 +57,26 @@ namespace pcl struct PlusFloat3 { - __device__ __forceinline__ float3 operator()(const float3& e1, const float3& e2) const - { - return make_float3(e1.x + e2.x, e1.y + e2.y, e1.z + e2.z); + __device__ __forceinline__ float3 operator()(const float3& e1, const float3& e2) const + { + return make_float3(e1.x + e2.x, e1.y + e2.y, e1.z + e2.z); } }; - + struct TupleDistCvt { float3 pivot_; TupleDistCvt(const float3& pivot) : pivot_(pivot) {} - __device__ __forceinline__ thrust::tuple operator()(const thrust::tuple& t) const - { - float4 point = t.get<0>(); + __device__ __forceinline__ thrust::tuple operator()(const thrust::tuple& t) const + { + float4 point = thrust::get<0>(t); float dx = pivot_.x - point.x; float dy = pivot_.y - point.y; float dz = pivot_.z - point.z; float dist = sqrt(dx*dx + dy*dy + dz*dz); - return thrust::tuple(dist, t.get<1>()); + return thrust::tuple(dist, thrust::get<1>(t)); } }; @@ -87,7 +88,7 @@ void pcl::device::compute3DCentroid(const DeviceArray& cloud, float3& ce { thrust::device_ptr src_beg((PointT*)cloud.ptr()); thrust::device_ptr src_end = src_beg + cloud.size(); - + centroid = transform_reduce(src_beg, src_beg, PointT2float3(), make_float3(0.f, 0.f, 0.f), PlusFloat3()); centroid *= 1.f/cloud.size(); } @@ -99,13 +100,13 @@ void pcl::device::compute3DCentroid(const DeviceArray& cloud, const Indi compute3DCentroid(cloud, centroid); else { - thrust::device_ptr src_beg((PointT*)cloud.ptr()); + thrust::device_ptr src_beg((PointT*)cloud.ptr()); thrust::device_ptr map_beg((int*)indices.ptr()); thrust::device_ptr map_end = map_beg + indices.size(); centroid = transform_reduce(make_permutation_iterator(src_beg, map_beg), - make_permutation_iterator(src_beg, map_end), + make_permutation_iterator(src_beg, map_end), PointT2float3(), make_float3(0.f, 0.f, 0.f), PlusFloat3()); centroid *= 1.f/indices.size(); @@ -114,7 +115,7 @@ void pcl::device::compute3DCentroid(const DeviceArray& cloud, const Indi template float3 pcl::device::getMaxDistance(const DeviceArray& cloud, const float3& pivot) -{ +{ thrust::device_ptr src_beg((PointT*)cloud.ptr()); thrust::device_ptr src_end = src_beg + cloud.size(); @@ -123,14 +124,14 @@ float3 pcl::device::getMaxDistance(const DeviceArray& cloud, const float thrust::tuple init(0.f, 0); thrust::maximum> op; - + thrust::tuple res = transform_reduce( make_zip_iterator(make_tuple( src_beg, cf )), make_zip_iterator(make_tuple( src_beg, ce )), TupleDistCvt(pivot), init, op); - float4 point = src_beg[res.get<1>()]; + float4 point = src_beg[thrust::get<1>(res)]; return make_float3(point.x, point.y, point.z); } @@ -138,11 +139,11 @@ float3 pcl::device::getMaxDistance(const DeviceArray& cloud, const float template float3 pcl::device::getMaxDistance(const DeviceArray& cloud, const Indices& indices, const float3& pivot) -{ +{ if (indices.empty()) return getMaxDistance(cloud, pivot); - thrust::device_ptr src_beg((PointT*)cloud.ptr()); + thrust::device_ptr src_beg((PointT*)cloud.ptr()); thrust::device_ptr map_beg((int*)indices.ptr()); thrust::device_ptr map_end = map_beg + indices.size(); @@ -151,13 +152,13 @@ float3 pcl::device::getMaxDistance(const DeviceArray& cloud, const Indic thrust::tuple init(0.f, 0); thrust::maximum> op; - + thrust::tuple res = transform_reduce( make_zip_iterator(make_tuple( make_permutation_iterator(src_beg, map_beg), cf )), make_zip_iterator(make_tuple( make_permutation_iterator(src_beg, map_end), ce )), TupleDistCvt(pivot), init, op); - float4 point = src_beg[map_beg[res.get<1>()]]; + float4 point = src_beg[map_beg[thrust::get<1>(res)]]; return make_float3(point.x, point.y, point.z); } diff --git a/gpu/features/src/fpfh.cu b/gpu/features/src/fpfh.cu index d2ae7fda..211da113 100644 --- a/gpu/features/src/fpfh.cu +++ b/gpu/features/src/fpfh.cu @@ -297,7 +297,7 @@ namespace pcl template __device__ __forceinline__ void normalizeFeature(volatile float *feature, volatile float *buffer, int lane) const { - //nomalize buns + //normalize buns float value = (lane < bins) ? feature[lane] : 0.f; float sum = Warp::reduce(buffer, value, plus()); diff --git a/gpu/features/src/normal_3d.cu b/gpu/features/src/normal_3d.cu index 9dfaefd8..9b510d25 100644 --- a/gpu/features/src/normal_3d.cu +++ b/gpu/features/src/normal_3d.cu @@ -55,7 +55,8 @@ namespace pcl CTA_SIZE = 256, WAPRS = CTA_SIZE / Warp::WARP_SIZE, - MIN_NEIGHBOORS = 1 + // if there are fewer than 3 neighbors, the normal is definitely garbage + MIN_NEIGHBOORS = 3 }; struct plus @@ -86,6 +87,7 @@ namespace pcl { constexpr float NaN = std::numeric_limits::quiet_NaN(); normals.data[idx] = make_float4(NaN, NaN, NaN, NaN); + return; } const int *ibeg = indices.ptr(idx); diff --git a/gpu/features/test/CMakeLists.txt b/gpu/features/test/CMakeLists.txt index 7d81b67e..3ae9e04f 100644 --- a/gpu/features/test/CMakeLists.txt +++ b/gpu/features/test/CMakeLists.txt @@ -2,26 +2,8 @@ if(NOT BUILD_TESTS) return() endif() -include_directories( - "${PCL_SOURCE_DIR}/test/gtest-1.6.0/include" - "${PCL_SOURCE_DIR}/test/gtest-1.6.0" -) - -set(pcl_gtest_sources "${PCL_SOURCE_DIR}/test/gtest-1.6.0/src/gtest-all.cc") - set(the_test_target test_gpu_features) -get_filename_component(DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) -get_filename_component(INC1 "${DIR}/../../../io/include" REALPATH) -get_filename_component(INC2 "${DIR}/../../../features/include" REALPATH) -get_filename_component(INC3 "${DIR}/../../../kdtree/include" REALPATH) -get_filename_component(INC4 "${DIR}/../../../visualization/include" REALPATH) -get_filename_component(INC5 "${DIR}/../../../common/include" REALPATH) -get_filename_component(INC6 "${DIR}/../../../search/include" REALPATH) -get_filename_component(INC7 "${DIR}/../../../octree/include" REALPATH) - - file(GLOB test_src *.cpp *.hpp) list(APPEND test_src ${pcl_gtest_sources}) -include_directories("${INC1}" "${INC2}" "${INC3}" "${INC4}" "${INC5}" "${INC6}" "${INC7}") -include_directories(SYSTEM ${VTK_INCLUDE_DIRS}) + diff --git a/gpu/kinfu/CMakeLists.txt b/gpu/kinfu/CMakeLists.txt index fbbd294f..2ba88e0c 100644 --- a/gpu/kinfu/CMakeLists.txt +++ b/gpu/kinfu/CMakeLists.txt @@ -1,7 +1,7 @@ set(SUBSYS_NAME gpu_kinfu) set(SUBSYS_PATH gpu/kinfu) set(SUBSYS_DESC "Kinect Fusion implementation") -set(SUBSYS_DEPS common io gpu_containers geometry search) +set(SUBSYS_DEPS common io gpu_utils gpu_containers geometry search) if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "12.0") set(DEFAULT FALSE) set(REASON "Kinfu uses textures which was removed in CUDA 12") @@ -26,10 +26,10 @@ source_group("Source Files\\cuda" FILES ${cuda}) source_group("Source Files" FILES ${srcs}) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" "${CMAKE_CURRENT_SOURCE_DIR}/src") PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${cuda}) -target_link_libraries(${LIB_NAME} pcl_cuda pcl_gpu_containers) +target_link_libraries(${LIB_NAME} pcl_gpu_utils pcl_gpu_containers) +target_include_directories(${LIB_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src) target_compile_options(${LIB_NAME} PRIVATE $<$:--ftz=true;--prec-div=false;--prec-sqrt=false>) diff --git a/gpu/kinfu/tools/CMakeLists.txt b/gpu/kinfu/tools/CMakeLists.txt index e1593b38..4a52d783 100644 --- a/gpu/kinfu/tools/CMakeLists.txt +++ b/gpu/kinfu/tools/CMakeLists.txt @@ -2,7 +2,7 @@ set(SUBSUBSYS_NAME tools) set(SUBSUBSYS_DESC "Kinfu tools") set(SUBSUBSYS_DEPS gpu_kinfu visualization) set(SUBSUBSYS_OPT_DEPS opencv) -set(EXT_DEPS openni) +set(EXT_DEPS glew openni) set(DEFAULT TRUE) set(REASON "") @@ -13,10 +13,7 @@ if(NOT build) return() endif() -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") - file(GLOB hdrs "*.h*") -include_directories(SYSTEM ${OPENNI_INCLUDE_DIRS}) ## KINECT FUSION set(the_target pcl_kinfu_app) diff --git a/gpu/kinfu/tools/kinfu_app.cpp b/gpu/kinfu/tools/kinfu_app.cpp index ffdb154f..7564e62c 100644 --- a/gpu/kinfu/tools/kinfu_app.cpp +++ b/gpu/kinfu/tools/kinfu_app.cpp @@ -41,10 +41,9 @@ #include #include +#include #include -#include - #include #include #include @@ -173,19 +172,18 @@ namespace pcl /////////////////////////////////////////////////////////////////////////////////////////////////////////////////// std::vector getPcdFilesInDir(const std::string& directory) { - namespace fs = boost::filesystem; - fs::path dir(directory); + pcl_fs::path dir(directory); std::cout << "path: " << directory << std::endl; - if (directory.empty() || !fs::exists(dir) || !fs::is_directory(dir)) + if (directory.empty() || !pcl_fs::exists(dir) || !pcl_fs::is_directory(dir)) PCL_THROW_EXCEPTION (pcl::IOException, "No valid PCD directory given!\n"); std::vector result; - fs::directory_iterator pos(dir); - fs::directory_iterator end; + pcl_fs::directory_iterator pos(dir); + pcl_fs::directory_iterator end; for(; pos != end ; ++pos) - if (fs::is_regular_file(pos->status()) ) + if (pcl_fs::is_regular_file(pos->status()) ) if (pos->path().extension().string() == ".pcd") { result.push_back (pos->path ().string ()); @@ -1246,7 +1244,7 @@ main (int argc, char* argv[]) pcl::gpu::printShortCudaDeviceInfo (device); // if (checkIfPreFermiGPU(device)) -// return std::cout << std::endl << "Kinfu is supported only for Fermi and Kepler arhitectures. It is not even compiled for pre-Fermi by default. Exiting..." << std::endl, 1; +// return std::cout << std::endl << "Kinfu is supported only for Fermi and Kepler architectures. It is not even compiled for pre-Fermi by default. Exiting..." << std::endl, 1; std::unique_ptr capture; diff --git a/gpu/kinfu/tools/kinfu_app_sim.cpp b/gpu/kinfu/tools/kinfu_app_sim.cpp index 383ecb83..4d4bdd8b 100644 --- a/gpu/kinfu/tools/kinfu_app_sim.cpp +++ b/gpu/kinfu/tools/kinfu_app_sim.cpp @@ -1357,7 +1357,7 @@ print_cli_help () std::cout << ""; std::cout << " For RGBD benchmark (Requires OpenCV):" << std::endl; std::cout << " -eval [-match_file ]" << std::endl; - std::cout << " For Simuation (Requires pcl::simulation):" << std::endl; + std::cout << " For Simulation (Requires pcl::simulation):" << std::endl; std::cout << " -plyfile : path to ply file for simulation testing " << std::endl; return 0; diff --git a/gpu/kinfu_large_scale/CMakeLists.txt b/gpu/kinfu_large_scale/CMakeLists.txt index 0488fcb4..da956a27 100644 --- a/gpu/kinfu_large_scale/CMakeLists.txt +++ b/gpu/kinfu_large_scale/CMakeLists.txt @@ -2,6 +2,8 @@ set(SUBSYS_NAME gpu_kinfu_large_scale) set(SUBSYS_PATH gpu/kinfu_large_scale) set(SUBSYS_DESC "Kinect Fusion implementation, with volume shifting") set(SUBSYS_DEPS common io gpu_containers gpu_utils geometry search octree filters kdtree features surface) +set(EXT_DEPS vtk) # Uses saveRgbPNGFile from png_io, which requires VTK to be present + if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "12.0") set(DEFAULT FALSE) set(REASON "Kinfu_large_scale uses textures which was removed in CUDA 12") @@ -10,7 +12,7 @@ else() endif() PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") -PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) +PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS}) PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}") mark_as_advanced("BUILD_${SUBSYS_NAME}") @@ -27,15 +29,13 @@ source_group("Source Files\\cuda" FILES ${cuda}) source_group("Source Files" FILES ${srcs}) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" "${CMAKE_CURRENT_SOURCE_DIR}/src") - PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${cuda}) - -target_link_libraries(${LIB_NAME} pcl_cuda pcl_common pcl_io pcl_gpu_utils pcl_gpu_containers pcl_gpu_octree pcl_octree pcl_filters) +target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_gpu_utils pcl_gpu_containers pcl_gpu_octree pcl_octree pcl_filters) +target_include_directories(${LIB_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src) target_compile_options(${LIB_NAME} PRIVATE $<$:--ftz=true;--prec-div=false;--prec-sqrt=false>) -PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS}) +PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS "") # Install include files PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_PATH}" ${incs}) diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/screenshot_manager.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/screenshot_manager.h index 35b0a152..7ade3797 100644 --- a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/screenshot_manager.h +++ b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/screenshot_manager.h @@ -48,11 +48,10 @@ #include #include #include -#include -//#include #include +#include #include diff --git a/gpu/kinfu_large_scale/src/screenshot_manager.cpp b/gpu/kinfu_large_scale/src/screenshot_manager.cpp index 15e6a9a8..755fc947 100644 --- a/gpu/kinfu_large_scale/src/screenshot_manager.cpp +++ b/gpu/kinfu_large_scale/src/screenshot_manager.cpp @@ -48,8 +48,8 @@ namespace pcl { ScreenshotManager::ScreenshotManager() { - boost::filesystem::path p ("KinFuSnapshots"); - boost::filesystem::create_directory (p); + pcl_fs::path p ("KinFuSnapshots"); + pcl_fs::create_directory (p); screenshot_counter = 0; setCameraIntrinsics(); } diff --git a/gpu/kinfu_large_scale/tools/CMakeLists.txt b/gpu/kinfu_large_scale/tools/CMakeLists.txt index d8d65472..30fbebe2 100644 --- a/gpu/kinfu_large_scale/tools/CMakeLists.txt +++ b/gpu/kinfu_large_scale/tools/CMakeLists.txt @@ -2,7 +2,7 @@ set(SUBSUBSYS_NAME tools) set(SUBSUBSYS_DESC "Kinfu large scale tools") set(SUBSUBSYS_DEPS gpu_kinfu_large_scale visualization) set(SUBSUBSYS_OPT_DEPS ) -set(EXT_DEPS openni openni2) +set(EXT_DEPS glew openni openni2) set(DEFAULT TRUE) set(REASON "") @@ -13,10 +13,7 @@ if(NOT build) return() endif() -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") - file(GLOB hdrs "*.h*") -include_directories(SYSTEM ${VTK_INCLUDE_DIRS}) ## STANDALONE TEXTURE MAPPING set(the_target pcl_kinfu_largeScale_texture_output) diff --git a/gpu/kinfu_large_scale/tools/kinfuLS_app.cpp b/gpu/kinfu_large_scale/tools/kinfuLS_app.cpp index 28278195..73c943e3 100644 --- a/gpu/kinfu_large_scale/tools/kinfuLS_app.cpp +++ b/gpu/kinfu_large_scale/tools/kinfuLS_app.cpp @@ -53,10 +53,9 @@ Work in progress: patch by Marco (AUG,19th 2012) #include #include +#include #include -#include - #include #include #include @@ -123,19 +122,18 @@ namespace pcl std::vector getPcdFilesInDir(const std::string& directory) { - namespace fs = boost::filesystem; - fs::path dir(directory); + pcl_fs::path dir(directory); std::cout << "path: " << directory << std::endl; - if (directory.empty() || !fs::exists(dir) || !fs::is_directory(dir)) + if (directory.empty() || !pcl_fs::exists(dir) || !pcl_fs::is_directory(dir)) PCL_THROW_EXCEPTION (pcl::IOException, "No valid PCD directory given!\n"); std::vector result; - fs::directory_iterator pos(dir); - fs::directory_iterator end; + pcl_fs::directory_iterator pos(dir); + pcl_fs::directory_iterator end; for(; pos != end ; ++pos) - if (fs::is_regular_file(pos->status()) ) + if (pcl_fs::is_regular_file(pos->status()) ) if (pos->path().extension().string() == ".pcd") { result.push_back (pos->path ().string ()); @@ -1330,7 +1328,7 @@ main (int argc, char* argv[]) pcl::gpu::printShortCudaDeviceInfo (device); // if (checkIfPreFermiGPU(device)) - // return std::cout << std::endl << "Kinfu is supported only for Fermi and Kepler arhitectures. It is not even compiled for pre-Fermi by default. Exiting..." << std::endl, 1; + // return std::cout << std::endl << "Kinfu is supported only for Fermi and Kepler architectures. It is not even compiled for pre-Fermi by default. Exiting..." << std::endl, 1; pcl::shared_ptr capture; bool triggered_capture = false; diff --git a/gpu/kinfu_large_scale/tools/kinfu_app_sim.cpp b/gpu/kinfu_large_scale/tools/kinfu_app_sim.cpp index b1ff4f56..6ad7c1d6 100644 --- a/gpu/kinfu_large_scale/tools/kinfu_app_sim.cpp +++ b/gpu/kinfu_large_scale/tools/kinfu_app_sim.cpp @@ -1382,7 +1382,7 @@ print_cli_help () std::cout << ""; std::cout << " For RGBD benchmark (Requires OpenCV):" << std::endl; std::cout << " -eval [-match_file ]" << std::endl; - std::cout << " For Simuation (Requires pcl::simulation):" << std::endl; + std::cout << " For Simulation (Requires pcl::simulation):" << std::endl; std::cout << " -plyfile : path to ply file for simulation testing " << std::endl; return 0; diff --git a/gpu/kinfu_large_scale/tools/standalone_texture_mapping.cpp b/gpu/kinfu_large_scale/tools/standalone_texture_mapping.cpp index 6803bba3..8a9f6faa 100644 --- a/gpu/kinfu_large_scale/tools/standalone_texture_mapping.cpp +++ b/gpu/kinfu_large_scale/tools/standalone_texture_mapping.cpp @@ -36,13 +36,11 @@ * Author: Raphael Favier, Technical University Eindhoven, (r.mysurname tue.nl) */ - -#include - #include #include #include +#include #include #include #include @@ -432,11 +430,11 @@ main (int argc, char** argv) PCL_INFO ("\nLoading textures and camera poses...\n"); pcl::texture_mapping::CameraVector my_cams; - const boost::filesystem::path base_dir ("."); + const pcl_fs::path base_dir ("."); std::string extension (".txt"); - for (boost::filesystem::directory_iterator it (base_dir); it != boost::filesystem::directory_iterator (); ++it) + for (pcl_fs::directory_iterator it (base_dir); it != pcl_fs::directory_iterator (); ++it) { - if(boost::filesystem::is_regular_file (it->status ()) && it->path ().extension ().string () == extension) + if(pcl_fs::is_regular_file (it->status ()) && it->path ().extension ().string () == extension) { pcl::TextureMapping::Camera cam; readCamPoseFile(it->path ().string (), cam); diff --git a/gpu/octree/CMakeLists.txt b/gpu/octree/CMakeLists.txt index 8477bb75..2c2f67e9 100644 --- a/gpu/octree/CMakeLists.txt +++ b/gpu/octree/CMakeLists.txt @@ -3,7 +3,6 @@ set(SUBSYS_PATH gpu/octree) set(SUBSYS_DESC "Octree GPU") set(SUBSYS_DEPS common gpu_containers gpu_utils) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) mark_as_advanced("BUILD_${SUBSYS_NAME}") PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) @@ -26,9 +25,9 @@ source_group("Source Files\\cuda" FILES ${cuda}) list(APPEND srcs ${utils} ${cuda}) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" "${CMAKE_CURRENT_SOURCE_DIR}/src" "${CMAKE_CURRENT_SOURCE_DIR}/src/utils") PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs}) target_link_libraries("${LIB_NAME}" pcl_gpu_containers) +target_include_directories(${LIB_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src) set(EXT_DEPS "") #set(EXT_DEPS CUDA) diff --git a/gpu/octree/include/pcl/gpu/octree/device_format.hpp b/gpu/octree/include/pcl/gpu/octree/device_format.hpp index e47d7f31..1a7be92a 100644 --- a/gpu/octree/include/pcl/gpu/octree/device_format.hpp +++ b/gpu/octree/include/pcl/gpu/octree/device_format.hpp @@ -58,7 +58,7 @@ namespace pcl void create(int query_number, int max_elements) { max_elems = max_elements; - data.create (query_number * max_elems); + data.create (static_cast(query_number) * static_cast(max_elems)); if (max_elems != 1) sizes.create(query_number); diff --git a/gpu/octree/include/pcl/gpu/octree/octree.hpp b/gpu/octree/include/pcl/gpu/octree/octree.hpp index 5e222a5c..9f827e0f 100644 --- a/gpu/octree/include/pcl/gpu/octree/octree.hpp +++ b/gpu/octree/include/pcl/gpu/octree/octree.hpp @@ -164,7 +164,7 @@ namespace pcl */ void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results, ResultSqrDists& sqr_distances) const; - /** \brief Desroys octree and release all resources */ + /** \brief Destroys octree and release all resources */ void clear(); private: void *impl; diff --git a/gpu/octree/src/cuda/octree_builder.cu b/gpu/octree/src/cuda/octree_builder.cu index 96161436..7ca1110e 100644 --- a/gpu/octree/src/cuda/octree_builder.cu +++ b/gpu/octree/src/cuda/octree_builder.cu @@ -43,6 +43,7 @@ #include "utils/scan_block.hpp" #include "utils/morton.hpp" +#include #include #include #include @@ -51,7 +52,7 @@ using namespace pcl::gpu; -namespace pcl +namespace pcl { namespace device { @@ -64,21 +65,21 @@ namespace pcl result.x = fmin(e1.x, e2.x); result.y = fmin(e1.y, e2.y); result.z = fmin(e1.z, e2.z); - return result; - } + return result; + } }; template struct SelectMaxPoint { - __host__ __device__ __forceinline__ PointType operator()(const PointType& e1, const PointType& e2) const - { + __host__ __device__ __forceinline__ PointType operator()(const PointType& e1, const PointType& e2) const + { PointType result; result.x = fmax(e1.x, e2.x); result.y = fmax(e1.y, e2.y); result.z = fmax(e1.z, e2.z); - return result; - } + return result; + } }; @@ -88,9 +89,9 @@ namespace pcl __device__ __forceinline__ thrust::tuple operator()(const PointType& arg) const { thrust::tuple res; - res.get<0>() = arg.x; - res.get<1>() = arg.y; - res.get<2>() = arg.z; + thrust::get<0>(res) = arg.x; + thrust::get<1>(res) = arg.y; + thrust::get<2>(res) = arg.z; return res; } }; @@ -102,8 +103,8 @@ namespace pcl { const static int max_points_per_leaf = 96; - enum - { + enum + { GRID_SIZE = 1, CTA_SIZE = 1024-32, STRIDE = CTA_SIZE, @@ -116,7 +117,7 @@ namespace pcl __shared__ int tasks_beg; __shared__ int tasks_end; __shared__ int total_new; - __shared__ volatile int offsets[CTA_SIZE]; + __shared__ volatile int offsets[CTA_SIZE]; struct SingleStepBuild { @@ -127,14 +128,14 @@ namespace pcl static __device__ __forceinline__ int divUp(int total, int grain) { return (total + grain - 1) / grain; }; __device__ __forceinline__ int FindCells(int task, int level, int cell_begs[], char cell_code[]) const - { + { int cell_count = 0; int beg = octree.begs[task]; - int end = octree.ends[task]; + int end = octree.ends[task]; if (end - beg < max_points_per_leaf) - { + { //cell_count == 0; } else @@ -142,13 +143,13 @@ namespace pcl int cur_code = Morton::extractLevelCode(codes[beg], level); cell_begs[cell_count] = beg; - cell_code[cell_count] = cur_code; - ++cell_count; + cell_code[cell_count] = cur_code; + ++cell_count; int last_code = Morton::extractLevelCode(codes[end - 1], level); if (last_code == cur_code) { - cell_begs[cell_count] = end; + cell_begs[cell_count] = end; } else { @@ -162,7 +163,7 @@ namespace pcl } int morton_code = Morton::shiftLevelCode(search_code, level); - int pos = lower_bound(codes + beg, codes + end, morton_code, CompareByLevelCode(level)) - codes; + int pos = lower_bound(codes + beg, codes + end, morton_code, CompareByLevelCode(level)) - codes; if (pos == end) { @@ -175,7 +176,7 @@ namespace pcl cell_code[cell_count] = cur_code; ++cell_count; beg = pos; - } + } } } return cell_count; @@ -183,7 +184,7 @@ namespace pcl __device__ __forceinline__ void operator()() const - { + { //32 is a performance penalty step for search static_assert((max_points_per_leaf % 32) == 0, "max_points_per_leaf must be a multiple of 32"); @@ -196,7 +197,7 @@ namespace pcl octree. ends[0] = points_number; octree.parent[0] = -1; - //init shared + //init shared nodes_num = 1; tasks_beg = 0; tasks_end = 1; @@ -211,8 +212,8 @@ namespace pcl __syncthreads(); while (tasks_beg < tasks_end && level < Morton::levels) - { - int task_count = tasks_end - tasks_beg; + { + int task_count = tasks_end - tasks_beg; int iters = divUp(task_count, CTA_SIZE); int task = tasks_beg + threadIdx.x; @@ -220,14 +221,14 @@ namespace pcl //__syncthreads(); // extra?? for(int it = 0; it < iters; ++it, task += STRIDE) - { + { int cell_count = (task < tasks_end) ? FindCells(task, level, cell_begs, cell_code) : 0; - + offsets[threadIdx.x] = cell_count; __syncthreads(); scan_block(offsets); - + //__syncthreads(); //because sync is inside the scan above if (task < tasks_end) @@ -255,24 +256,24 @@ namespace pcl __syncthreads(); if (threadIdx.x == CTA_SIZE - 1) - { + { total_new += cell_count + offsets[threadIdx.x]; nodes_num += cell_count + offsets[threadIdx.x]; - } - __syncthreads(); + } + __syncthreads(); } /* for(int it = 0; it < iters; ++it, task += STRIDE) */ //__syncthreads(); //extra ?? if (threadIdx.x == CTA_SIZE - 1) - { + { tasks_beg = tasks_end; - tasks_end += total_new; + tasks_end += total_new; total_new = 0; } ++level; - __syncthreads(); + __syncthreads(); } if (threadIdx.x == CTA_SIZE - 1) @@ -285,7 +286,7 @@ namespace pcl } void pcl::device::OctreeImpl::build() -{ +{ using namespace pcl::device; host_octree.downloaded = false; @@ -293,7 +294,7 @@ void pcl::device::OctreeImpl::build() //allocatations { - //ScopeTimer timer("new_allocs"); + //ScopeTimer timer("new_allocs"); //+1 codes * points_num * sizeof(int) //+1 indices * points_num * sizeof(int) //+1 octreeGlobal.nodes * points_num * sizeof(int) @@ -306,22 +307,22 @@ void pcl::device::OctreeImpl::build() //+3 points_sorted * points_num * sizeof(float) //== - // 10 rows + // 10 rows - //left - //octreeGlobal.nodes_num * 1 * sizeof(int) + //left + //octreeGlobal.nodes_num * 1 * sizeof(int) //== - // 3 * sizeof(int) => +1 row + // 3 * sizeof(int) => +1 row const int transaction_size = 128 / sizeof(int); int cols = std::max(points_num, transaction_size * 4); int rows = 10 + 1; // = 13 - + storage.create(rows, cols); - + codes = DeviceArray(storage.ptr(0), points_num); indices = DeviceArray(storage.ptr(1), points_num); - + octreeGlobal.nodes = storage.ptr(2); octreeGlobal.codes = storage.ptr(3); octreeGlobal.begs = storage.ptr(4); @@ -332,10 +333,10 @@ void pcl::device::OctreeImpl::build() points_sorted = DeviceArray2D(3, points_num, storage.ptr(8), storage.step()); } - + { - //ScopeTimer timer("reduce-morton-sort-permutations"); - + //ScopeTimer timer("reduce-morton-sort-permutations"); + thrust::device_ptr beg(points.ptr()); thrust::device_ptr end = beg + points.size(); @@ -345,49 +346,49 @@ void pcl::device::OctreeImpl::build() atmin.x = atmin.y = atmin.z = std::numeric_limits::lowest(); atmax.w = atmin.w = 0; - //ScopeTimer timer("reduce"); + //ScopeTimer timer("reduce"); PointType minp = thrust::reduce(beg, end, atmax, SelectMinPoint()); PointType maxp = thrust::reduce(beg, end, atmin, SelectMaxPoint()); octreeGlobal.minp = make_float3(minp.x, minp.y, minp.z); octreeGlobal.maxp = make_float3(maxp.x, maxp.y, maxp.z); } - + thrust::device_ptr codes_beg(codes.ptr()); thrust::device_ptr codes_end = codes_beg + codes.size(); { - //ScopeTimer timer("morton"); + //ScopeTimer timer("morton"); thrust::transform(beg, end, codes_beg, CalcMorton(octreeGlobal.minp, octreeGlobal.maxp)); } thrust::device_ptr indices_beg(indices.ptr()); thrust::device_ptr indices_end = indices_beg + indices.size(); { - //ScopeTimer timer("sort"); + //ScopeTimer timer("sort"); thrust::sequence(indices_beg, indices_end); - thrust::sort_by_key(codes_beg, codes_end, indices_beg ); + thrust::sort_by_key(codes_beg, codes_end, indices_beg ); } { - ////ScopeTimer timer("perm"); + ////ScopeTimer timer("perm"); //thrust::copy(make_permutation_iterator(beg, indices_beg), - // make_permutation_iterator(end, indices_end), device_ptr(points_sorted.ptr())); + // make_permutation_iterator(end, indices_end), device_ptr(points_sorted.ptr())); + - } { thrust::device_ptr xs(points_sorted.ptr(0)); thrust::device_ptr ys(points_sorted.ptr(1)); thrust::device_ptr zs(points_sorted.ptr(2)); - //ScopeTimer timer("perm2"); + //ScopeTimer timer("perm2"); thrust::transform(make_permutation_iterator(beg, indices_beg), - make_permutation_iterator(end, indices_end), + make_permutation_iterator(end, indices_end), make_zip_iterator(make_tuple(xs, ys, zs)), PointType_to_tuple()); - + } } - + SingleStepBuild ssb; ssb.octree = octreeGlobal; ssb.codes = codes; diff --git a/gpu/octree/src/cuda/octree_host.cu b/gpu/octree/src/cuda/octree_host.cu index 2230ab3e..8e8782c3 100644 --- a/gpu/octree/src/cuda/octree_host.cu +++ b/gpu/octree/src/cuda/octree_host.cu @@ -34,8 +34,8 @@ * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com) */ -#include "pcl/gpu/utils/timers_cuda.hpp" -#include "pcl/gpu/utils/safe_call.hpp" +#include +#include #include "internal.hpp" #include "utils/approx_nearest_utils.hpp" diff --git a/gpu/octree/src/octree.cpp b/gpu/octree/src/octree.cpp index 63a7e738..e5b06391 100644 --- a/gpu/octree/src/octree.cpp +++ b/gpu/octree/src/octree.cpp @@ -34,6 +34,7 @@ * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com) */ +#include #include #include #include diff --git a/gpu/octree/src/utils/approx_nearest_utils.hpp b/gpu/octree/src/utils/approx_nearest_utils.hpp index 247eda0d..9bec17e7 100644 --- a/gpu/octree/src/utils/approx_nearest_utils.hpp +++ b/gpu/octree/src/utils/approx_nearest_utils.hpp @@ -12,6 +12,7 @@ #include "morton.hpp" #include +#include #include #include #include diff --git a/gpu/people/CMakeLists.txt b/gpu/people/CMakeLists.txt index a3404263..6c9c3aba 100644 --- a/gpu/people/CMakeLists.txt +++ b/gpu/people/CMakeLists.txt @@ -3,8 +3,14 @@ set(SUBSYS_PATH gpu/people) set(SUBSYS_DESC "Point cloud people library") set(SUBSYS_DEPS common features filters geometry gpu_containers gpu_utils io kdtree octree search segmentation surface visualization) -set(build FALSE) -PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} OFF) +if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "12.0") + set(DEFAULT FALSE) + set(REASON "gpu_people uses textures which was removed in CUDA 12") +else() + set(DEFAULT TRUE) +endif() + +PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON}) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) mark_as_advanced("BUILD_${SUBSYS_NAME}") @@ -14,19 +20,22 @@ if(NOT build) return() endif() -#find NPP -unset(CUDA_npp_LIBRARY CACHE) -find_cuda_helper_libs(nppc) -find_cuda_helper_libs(npps) -if(CUDA_VERSION VERSION_GREATER "9.0" OR CUDA_VERSION VERSION_EQUAL "9.0") - find_cuda_helper_libs(nppim) - find_cuda_helper_libs(nppidei) - set(CUDA_npp_LIBRARY ${CUDA_nppc_LIBRARY} ${CUDA_nppim_LIBRARY} ${CUDA_nppidei_LIBRARY} ${CUDA_npps_LIBRARY} CACHE STRING "npp library") +if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.17) + set(CUDA_npp_LIBRARY CUDA::nppc CUDA::nppim CUDA::nppidei CUDA::npps CACHE STRING "npp library") else() - find_cuda_helper_libs(nppi) - set(CUDA_npp_LIBRARY ${CUDA_nppc_LIBRARY} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY} CACHE STRING "npp library") + #find NPP + unset(CUDA_npp_LIBRARY CACHE) + find_cuda_helper_libs(nppc) + find_cuda_helper_libs(npps) + if(CUDA_VERSION VERSION_GREATER_EQUAL "9.0") + find_cuda_helper_libs(nppim) + find_cuda_helper_libs(nppidei) + set(CUDA_npp_LIBRARY ${CUDA_nppc_LIBRARY} ${CUDA_nppim_LIBRARY} ${CUDA_nppidei_LIBRARY} ${CUDA_npps_LIBRARY} CACHE STRING "npp library") + else() + find_cuda_helper_libs(nppi) + set(CUDA_npp_LIBRARY ${CUDA_nppc_LIBRARY} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY} CACHE STRING "npp library") + endif() endif() - #Label_skeleton file(GLOB srcs src/*.cpp src/*.h*) @@ -37,17 +46,18 @@ file(GLOB hdrs_cuda src/cuda/nvidia/*.h*) source_group("Source files\\cuda" FILES ${srcs_cuda}) source_group("Source files" FILES ${srcs}) -include_directories( - "${CMAKE_CURRENT_SOURCE_DIR}/include" - "${CMAKE_CURRENT_SOURCE_DIR}/src" - "${CMAKE_CURRENT_SOURCE_DIR}/src/cuda" - "${CMAKE_CURRENT_SOURCE_DIR}/src/cuda/nvidia" -) - set(LIB_NAME "pcl_${SUBSYS_NAME}") PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${hdrs} ${srcs_cuda}) -target_link_libraries(${LIB_NAME} pcl_cuda pcl_common pcl_search pcl_surface pcl_segmentation pcl_features pcl_sample_consensus pcl_gpu_utils pcl_gpu_containers "${CUDA_CUDART_LIBRARY}" ${CUDA_npp_LIBRARY}) +target_link_libraries(${LIB_NAME} pcl_common pcl_search pcl_surface pcl_segmentation pcl_features pcl_sample_consensus pcl_gpu_utils pcl_gpu_containers ${CUDA_CUDART_LIBRARY} ${CUDA_npp_LIBRARY}) +target_include_directories( + ${LIB_NAME} + PRIVATE + ${CMAKE_CURRENT_SOURCE_DIR}/src + ${CMAKE_CURRENT_SOURCE_DIR}/src/cuda + PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR}/src/cuda/nvidia +) if(UNIX OR APPLE) target_compile_options(${LIB_NAME} INTERFACE $<$:"-Xcompiler=-fPIC">) diff --git a/gpu/people/include/pcl/gpu/people/label_common.h b/gpu/people/include/pcl/gpu/people/label_common.h index 417fd3c6..33918711 100644 --- a/gpu/people/include/pcl/gpu/people/label_common.h +++ b/gpu/people/include/pcl/gpu/people/label_common.h @@ -69,7 +69,7 @@ namespace pcl enum { XML_VERSION = 1}; /** \brief This indicates the current used xml file version (for people lib only) **/ enum { NUM_ATTRIBS = 2000 }; - enum { NUM_LABELS = 32 }; /** \brief Our code is forseen to use maximal use 32 labels **/ + enum { NUM_LABELS = 32 }; /** \brief Our code is foreseen to use maximal use 32 labels **/ /** @todo implement label 25 to 29 **/ enum part_t diff --git a/gpu/people/src/cuda/elec.cu b/gpu/people/src/cuda/elec.cu index 0cacdf9f..2b3cd85a 100644 --- a/gpu/people/src/cuda/elec.cu +++ b/gpu/people/src/cuda/elec.cu @@ -1,6 +1,6 @@ #include "internal.h" -#include +#include #include #include diff --git a/gpu/people/src/cuda/multi_tree.cu b/gpu/people/src/cuda/multi_tree.cu index 5abc443d..df256264 100644 --- a/gpu/people/src/cuda/multi_tree.cu +++ b/gpu/people/src/cuda/multi_tree.cu @@ -41,7 +41,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/gpu/people/src/cuda/prob.cu b/gpu/people/src/cuda/prob.cu index b9cf5524..52c89a5e 100644 --- a/gpu/people/src/cuda/prob.cu +++ b/gpu/people/src/cuda/prob.cu @@ -41,7 +41,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/gpu/people/src/cuda/utils.cu b/gpu/people/src/cuda/utils.cu index 834de928..5f29d5c6 100644 --- a/gpu/people/src/cuda/utils.cu +++ b/gpu/people/src/cuda/utils.cu @@ -2,7 +2,8 @@ #include "internal.h" #include -#include +#include +#include #include "npp.h" #include diff --git a/gpu/people/tools/CMakeLists.txt b/gpu/people/tools/CMakeLists.txt index 6cd7e7f9..68e9b6e3 100644 --- a/gpu/people/tools/CMakeLists.txt +++ b/gpu/people/tools/CMakeLists.txt @@ -6,13 +6,10 @@ if(NOT VTK_FOUND) else() set(DEFAULT TRUE) set(REASON) - include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") endif() set(the_target people_tracking) -include_directories(SYSTEM ${VTK_INCLUDE_DIRS}) - #PCL_ADD_EXECUTABLE(${the_target} "${SUBSYS_NAME}" people_tracking.cpp) #target_link_libraries("${the_target}" pcl_common pcl_kdtree pcl_gpu_people pcl_io pcl_visualization) diff --git a/gpu/people/tools/people_app.cpp b/gpu/people/tools/people_app.cpp index 91308e4e..109974ab 100644 --- a/gpu/people/tools/people_app.cpp +++ b/gpu/people/tools/people_app.cpp @@ -41,6 +41,7 @@ #include #include #include +#include #include #include #include @@ -54,7 +55,6 @@ #include #include #include -#include #include #include @@ -66,18 +66,17 @@ using namespace std::chrono_literals; std::vector getPcdFilesInDir(const std::string& directory) { - namespace fs = boost::filesystem; - fs::path dir(directory); + pcl_fs::path dir(directory); - if (!fs::exists(dir) || !fs::is_directory(dir)) + if (!pcl_fs::exists(dir) || !pcl_fs::is_directory(dir)) PCL_THROW_EXCEPTION(pcl::IOException, "Wrong PCD directory"); std::vector result; - fs::directory_iterator pos(dir); - fs::directory_iterator end; + pcl_fs::directory_iterator pos(dir); + pcl_fs::directory_iterator end; for(; pos != end ; ++pos) - if (fs::is_regular_file(pos->status()) ) + if (pcl_fs::is_regular_file(pos->status()) ) if (pos->path().extension().string() == ".pcd") result.push_back(pos->path().string()); diff --git a/gpu/segmentation/CMakeLists.txt b/gpu/segmentation/CMakeLists.txt index 0c1838ec..8bc3992c 100644 --- a/gpu/segmentation/CMakeLists.txt +++ b/gpu/segmentation/CMakeLists.txt @@ -3,7 +3,6 @@ set(SUBSYS_PATH gpu/segmentation) set(SUBSYS_DESC "Point cloud GPU segmentation library") set(SUBSYS_DEPS common gpu_containers gpu_utils gpu_octree) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}") @@ -32,7 +31,6 @@ set(impl_incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) target_link_libraries("${LIB_NAME}" pcl_common pcl_gpu_octree pcl_gpu_utils pcl_gpu_containers) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) diff --git a/gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_extract_clusters.hpp b/gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_extract_clusters.hpp index 2e2be0de..1f4e2853 100644 --- a/gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_extract_clusters.hpp +++ b/gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_extract_clusters.hpp @@ -39,12 +39,13 @@ #pragma once #include #include +#include namespace pcl { namespace detail { //// Downloads only the neccssary cluster indices from the device to the host. -void +PCL_EXPORTS void economical_download(const pcl::gpu::NeighborIndices& source_indices, const pcl::Indices& buffer_indices, std::size_t buffer_size, diff --git a/gpu/surface/CMakeLists.txt b/gpu/surface/CMakeLists.txt index 6970f0e8..22a84d72 100644 --- a/gpu/surface/CMakeLists.txt +++ b/gpu/surface/CMakeLists.txt @@ -3,7 +3,6 @@ set(SUBSYS_PATH gpu/surface) set(SUBSYS_DESC "Surface algorithms with GPU") set(SUBSYS_DEPS common gpu_containers gpu_utils geometry) -set(build FALSE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}") @@ -26,9 +25,9 @@ source_group("Source Files\\cuda" FILES ${cuda}) list(APPEND srcs ${utils} ${cuda}) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" "${CMAKE_CURRENT_SOURCE_DIR}/src" "${CMAKE_CURRENT_SOURCE_DIR}/src/cuda") PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs}) -target_link_libraries("${LIB_NAME}" pcl_gpu_containers) +target_link_libraries(${LIB_NAME} pcl_gpu_containers) +target_include_directories(${LIB_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src) set(EXT_DEPS "") #set(EXT_DEPS CUDA) diff --git a/gpu/surface/src/cuda/convex_hull.cu b/gpu/surface/src/cuda/convex_hull.cu index c1f20234..98e89cd7 100644 --- a/gpu/surface/src/cuda/convex_hull.cu +++ b/gpu/surface/src/cuda/convex_hull.cu @@ -61,89 +61,89 @@ namespace pcl { namespace device - { + { template struct IndOp { __device__ __forceinline__ thrust::tuple operator()(const thrust::tuple& e1, const thrust::tuple& e2) const - { + { thrust::tuple res; - + if (use_max) - res.get<0>() = fmax(e1.get<0>(), e2.get<0>()); + thrust::get<0>(res) = fmax(thrust::get<0>(e1), thrust::get<0>(e2)); else - res.get<0>() = fmin(e1.get<0>(), e2.get<0>()); + thrust::get<0>(res) = fmin(thrust::get<0>(e1), thrust::get<0>(e2)); - res.get<1>() = (res.get<0>() == e1.get<0>()) ? e1.get<1>() : e2.get<1>(); - return res; - } + thrust::get<1>(res) = (thrust::get<0>(res) == thrust::get<0>(e1)) ? thrust::get<1>(e1) : thrust::get<1>(e2); + return res; + } }; struct X - { - __device__ __forceinline__ - thrust::tuple + { + __device__ __forceinline__ + thrust::tuple operator()(const thrust::tuple& in) const { - return thrust::tuple(in.get<0>().x, in.get<1>()); + return thrust::tuple(thrust::get<0>(in).x, thrust::get<1>(in)); } }; struct Y - { + { __device__ __forceinline__ float operator()(const PointType& in) const { return in.y; } }; struct Z - { + { __device__ __forceinline__ float operator()(const PointType& in) const { return in.z; } }; - + struct LineDist { float3 x1, x2; LineDist(const PointType& p1, const PointType& p2) : x1(tr(p1)), x2(tr(p2)) {} - + __device__ __forceinline__ thrust::tuple operator()(const thrust::tuple& in) const - { - float3 x0 = tr(in.get<0>()); + { + float3 x0 = tr(thrust::get<0>(in)); - float dist = norm(cross(x0 - x1, x0 - x2))/norm(x1 - x2); - return thrust::tuple(dist, in.get<1>()); - } + float dist = norm(cross(x0 - x1, x0 - x2))/norm(x1 - x2); + return thrust::tuple(dist, thrust::get<1>(in)); + } }; struct PlaneDist - { + { float3 x1, n; PlaneDist(const PointType& p1, const PointType& p2, const PointType& p3) : x1(tr(p1)) { float3 x2 = tr(p2), x3 = tr(p3); n = normalized(cross(x2 - x1, x3 - x1)); } - + __device__ __forceinline__ thrust::tuple operator()(const thrust::tuple& in) const { - float3 x0 = tr(in.get<0>()); + float3 x0 = tr(thrust::get<0>(in)); float dist = std::abs(dot(n, x0 - x1)); - return thrust::tuple(dist, in.get<1>()); + return thrust::tuple(dist, thrust::get<1>(in)); } }; - + template int transform_reduce_index(It beg, It end, Unary unop, Init init, Binary binary) { thrust::counting_iterator cbeg(0); thrust::counting_iterator cend = cbeg + thrust::distance(beg, end); - - thrust::tuple t = transform_reduce( - make_zip_iterator(thrust::make_tuple(beg, cbeg)), - make_zip_iterator(thrust::make_tuple(end, cend)), + + thrust::tuple t = transform_reduce( + make_zip_iterator(thrust::make_tuple(beg, cbeg)), + make_zip_iterator(thrust::make_tuple(end, cend)), unop, init, binary); - - return t.get<1>(); + + return thrust::get<1>(t); } template @@ -158,35 +158,35 @@ namespace pcl { thrust::tuple max_tuple(std::numeric_limits::min(), 0); return transform_reduce_index(beg, end, unop, max_tuple, IndOp()); - } + } } } pcl::device::PointStream::PointStream(const Cloud& cloud_) : cloud(cloud_) -{ +{ cloud_size = cloud.size(); facets_dists.create(cloud_size); perm.create(cloud_size); - thrust::device_ptr pbeg(perm.ptr()); + thrust::device_ptr pbeg(perm.ptr()); thrust::sequence(pbeg, pbeg + cloud_size); } void pcl::device::PointStream::computeInitalSimplex() { - thrust::device_ptr beg(cloud.ptr()); + thrust::device_ptr beg(cloud.ptr()); thrust::device_ptr end = beg + cloud_size; - + int minx = transform_reduce_min_index(beg, end, X()); int maxx = transform_reduce_max_index(beg, end, X()); PointType p1 = *(beg + minx); PointType p2 = *(beg + maxx); - + int maxl = transform_reduce_max_index(beg, end, LineDist(p1, p2)); PointType p3 = *(beg + maxl); - + int maxp = transform_reduce_max_index(beg, end, PlaneDist(p1, p2, p3)); PointType p4 = *(beg + maxp); @@ -194,12 +194,12 @@ void pcl::device::PointStream::computeInitalSimplex() simplex.x1 = tr(p1); simplex.x2 = tr(p2); simplex.x3 = tr(p3); simplex.x4 = tr(p4); simplex.i1 = minx; simplex.i2 = maxx; simplex.i3 = maxl; simplex.i4 = maxp; - float maxy = transform_reduce(beg, end, Y(), std::numeric_limits::min(), thrust::maximum()); - float miny = transform_reduce(beg, end, Y(), std::numeric_limits::max(), thrust::minimum()); + float maxy = transform_reduce(beg, end, Y(), std::numeric_limits::min(), thrust::maximum()); + float miny = transform_reduce(beg, end, Y(), std::numeric_limits::max(), thrust::minimum()); + + float maxz = transform_reduce(beg, end, Z(), std::numeric_limits::min(), thrust::maximum()); + float minz = transform_reduce(beg, end, Z(), std::numeric_limits::max(), thrust::minimum()); - float maxz = transform_reduce(beg, end, Z(), std::numeric_limits::min(), thrust::maximum()); - float minz = transform_reduce(beg, end, Z(), std::numeric_limits::max(), thrust::minimum()); - float dx = (p2.x - p1.x); float dy = (maxy - miny); float dz = (maxz - minz); @@ -209,7 +209,7 @@ void pcl::device::PointStream::computeInitalSimplex() simplex.p1 = compute_plane(simplex.x4, simplex.x2, simplex.x3, simplex.x1); simplex.p2 = compute_plane(simplex.x3, simplex.x1, simplex.x4, simplex.x2); simplex.p3 = compute_plane(simplex.x2, simplex.x1, simplex.x4, simplex.x3); - simplex.p4 = compute_plane(simplex.x1, simplex.x2, simplex.x3, simplex.x4); + simplex.p4 = compute_plane(simplex.x1, simplex.x2, simplex.x3, simplex.x4); } namespace pcl @@ -217,7 +217,7 @@ namespace pcl namespace device { __global__ void init_fs(int i1, int i2, int i3, int i4, PtrStep verts_inds) - { + { *(int4*)verts_inds.ptr(0) = make_int4(i2, i1, i1, i1); *(int4*)verts_inds.ptr(1) = make_int4(i3, i3, i2, i2); *(int4*)verts_inds.ptr(2) = make_int4(i4, i4, i4, i3); @@ -227,10 +227,10 @@ namespace pcl } void pcl::device::FacetStream::setInitialFacets(const InitalSimplex& s) -{ - init_fs<<<1, 1>>>(s.i1, s.i2, s.i3, s.i4, verts_inds); +{ + init_fs<<<1, 1>>>(s.i1, s.i2, s.i3, s.i4, verts_inds); cudaSafeCall( cudaGetLastError() ); - cudaSafeCall( cudaDeviceSynchronize() ); + cudaSafeCall( cudaDeviceSynchronize() ); facet_count = 4; } @@ -245,20 +245,20 @@ namespace pcl { float diag; float4 pl1, pl2, pl3, pl4; - - InitalClassify(const float4& p1, const float4& p2, const float4& p3, const float4& p4, float diagonal) + + InitalClassify(const float4& p1, const float4& p2, const float4& p3, const float4& p4, float diagonal) : diag(diagonal), pl1(p1), pl2(p2), pl3(p3), pl4(p4) - { + { pl1 *= compue_inv_normal_norm(pl1); pl2 *= compue_inv_normal_norm(pl2); pl3 *= compue_inv_normal_norm(pl3); pl4 *= compue_inv_normal_norm(pl4); } - + __device__ __forceinline__ - std::uint64_t + std::uint64_t operator()(const PointType& p) const - { + { float4 x = p; x.w = 1; @@ -270,7 +270,7 @@ namespace pcl float dists[] = { d0, d1, d2, d3 }; int negs_inds[4]; int neg_count = 0; - + int idx = std::numeric_limits::max(); float dist = 0; @@ -283,7 +283,7 @@ namespace pcl { int i1 = negs_inds[1]; int i2 = negs_inds[2]; - + int ir = std::abs(dists[i1]) < std::abs(dists[i2]) ? i2 : i1; negs_inds[1] = ir; --neg_count; @@ -293,10 +293,10 @@ namespace pcl { int i1 = negs_inds[0]; int i2 = negs_inds[1]; - + int ir = std::abs(dists[i1]) < std::abs(dists[i2]) ? i2 : i1; negs_inds[0] = ir; - --neg_count; + --neg_count; } if (neg_count == 1) @@ -311,28 +311,28 @@ namespace pcl std::uint64_t res = idx; res <<= 32; return res + *reinterpret_cast(&dist); - } - }; + } + }; - __global__ void initalClassifyKernel(const InitalClassify ic, const PointType* points, int cloud_size, std::uint64_t* output) - { + __global__ void initalClassifyKernel(const InitalClassify ic, const PointType* points, int cloud_size, std::uint64_t* output) + { int index = threadIdx.x + blockIdx.x * blockDim.x; - if (index < cloud_size) - output[index] = ic(points[index]); + if (index < cloud_size) + output[index] = ic(points[index]); } } } void pcl::device::PointStream::initalClassify() -{ +{ //thrust::device_ptr beg(cloud.ptr()); //thrust::device_ptr end = beg + cloud_size; thrust::device_ptr out(facets_dists.ptr()); - + InitalClassify ic(simplex.p1, simplex.p2, simplex.p3, simplex.p4, cloud_diag); //thrust::transform(beg, end, out, ic); - + //printFuncAttrib(initalClassifyKernel); initalClassifyKernel<<>>(ic, cloud, cloud_size, facets_dists); @@ -350,9 +350,9 @@ namespace pcl { namespace device { - __device__ int new_cloud_size; + __device__ int new_cloud_size; struct SearchFacetHeads - { + { std::uint64_t *facets_dists; int cloud_size; int facet_count; @@ -361,25 +361,25 @@ namespace pcl mutable int* head_points; //bool logger; - + __device__ __forceinline__ void operator()(int facet) const - { + { const std::uint64_t* b = facets_dists; const std::uint64_t* e = b + cloud_size; bool last_thread = facet == facet_count; - int search_value = !last_thread ? facet : std::numeric_limits::max(); - int index = lower_bound(b, e, search_value, LessThanByFacet()) - b; - + int search_value = !last_thread ? facet : std::numeric_limits::max(); + int index = lower_bound(b, e, search_value, LessThanByFacet()) - b; + if (last_thread) new_cloud_size = index; else { bool not_found = index == cloud_size || (facet != (facets_dists[index] >> 32)); - head_points[facet] = not_found ? -1 : perm[index]; + head_points[facet] = not_found ? -1 : perm[index]; } } }; @@ -403,18 +403,18 @@ int pcl::device::PointStream::searchFacetHeads(std::size_t facet_count, DeviceAr sfh.facet_count = (int)facet_count; sfh.perm = perm; sfh.points = cloud.ptr(); - sfh.head_points = head_points; - + sfh.head_points = head_points; + //thrust::counting_iterator b(0); - //thrust::counting_iterator e = b + facet_count + 1; + //thrust::counting_iterator e = b + facet_count + 1; //thrust::for_each(b, e, sfh); searchFacetHeadsKernel<<>>(sfh); cudaSafeCall( cudaGetLastError() ); - cudaSafeCall( cudaDeviceSynchronize() ); + cudaSafeCall( cudaDeviceSynchronize() ); int new_size; - cudaSafeCall( cudaMemcpyFromSymbol( (void*)&new_size, pcl::device::new_cloud_size, sizeof(new_size)) ); + cudaSafeCall( cudaMemcpyFromSymbol( (void*)&new_size, pcl::device::new_cloud_size, sizeof(new_size)) ); return new_size; } @@ -434,7 +434,7 @@ namespace pcl struct Compaction { - enum + enum { CTA_SIZE = 256, @@ -443,18 +443,18 @@ namespace pcl int* head_points_in; PtrStep verts_inds_in; - + int *scan_buffer; int facet_count; mutable int* head_points_out; mutable PtrStep verts_inds_out; - + mutable PtrStep empty_facets; mutable int *empty_count; - + __device__ __forceinline__ void operator()() const { @@ -473,16 +473,16 @@ namespace pcl int offset = scan_buffer[idx]; head_points_out[offset] = head_idx; - + verts_inds_out.ptr(0)[offset] = verts_inds_in.ptr(0)[idx]; verts_inds_out.ptr(1)[offset] = verts_inds_in.ptr(1)[idx]; verts_inds_out.ptr(2)[offset] = verts_inds_in.ptr(2)[idx]; - - + + } - else - empty = 1; + else + empty = 1; } int total = __popc (__ballot_sync (__activemask (), empty)); @@ -498,7 +498,7 @@ namespace pcl if (laneid == 0) { int old = atomicAdd(empty_count, total); - wapr_buffer[warpid] = old; + wapr_buffer[warpid] = old; } int old = wapr_buffer[warpid]; @@ -506,11 +506,11 @@ namespace pcl { empty_facets.ptr(0)[old + offset] = verts_inds_in.ptr(0)[idx]; empty_facets.ptr(1)[old + offset] = verts_inds_in.ptr(1)[idx]; - empty_facets.ptr(2)[old + offset] = verts_inds_in.ptr(2)[idx]; + empty_facets.ptr(2)[old + offset] = verts_inds_in.ptr(2)[idx]; int a1 = verts_inds_in.ptr(0)[idx], a2 = verts_inds_in.ptr(1)[idx], a3 = verts_inds_in.ptr(2)[idx]; } - } + } } }; @@ -521,19 +521,19 @@ namespace pcl void pcl::device::FacetStream::compactFacets() { - int old_empty_count; - empty_count.download(&old_empty_count); + int old_empty_count; + empty_count.download(&old_empty_count); thrust::device_ptr b(head_points.ptr()); thrust::device_ptr e = b + facet_count; thrust::device_ptr o(scan_buffer.ptr()); - - thrust::transform_exclusive_scan(b, e, o, NotMinus1(), 0, thrust::plus()); - + + thrust::transform_exclusive_scan(b, e, o, NotMinus1(), 0, thrust::plus()); + Compaction c; c.verts_inds_in = verts_inds; - c.head_points_in = head_points; + c.head_points_in = head_points; c.scan_buffer = scan_buffer; c.facet_count = facet_count; @@ -543,20 +543,20 @@ void pcl::device::FacetStream::compactFacets() c.empty_facets = empty_facets; c.empty_count = empty_count; - + int block = Compaction::CTA_SIZE; int grid = divUp(facet_count, block); - compactionKernel<<>>(c); + compactionKernel<<>>(c); cudaSafeCall( cudaGetLastError() ); cudaSafeCall( cudaDeviceSynchronize() ); - + verts_inds.swap(verts_inds2); head_points.swap(head_points2); - int new_empty_count; - empty_count.download(&new_empty_count); - + int new_empty_count; + empty_count.download(&new_empty_count); + facet_count -= new_empty_count - old_empty_count; } @@ -583,11 +583,11 @@ namespace pcl int facet_count; - __device__ __forceinline__ + __device__ __forceinline__ void operator()(int point_idx) const { int perm_index = perm[point_idx]; - + int facet = facets_dists[point_idx] >> 32; facet = scan_buffer[facet]; @@ -596,10 +596,10 @@ namespace pcl if (hi == perm_index) { std::uint64_t res = std::numeric_limits::max(); - res <<= 32; + res <<= 32; facets_dists[point_idx] = res; } - else + else { int i1 = verts_inds.ptr(0)[facet]; @@ -610,16 +610,16 @@ namespace pcl float3 v1 = tr( points[ i1 ] ); float3 v2 = tr( points[ i2 ] ); float3 v3 = tr( points[ i3 ] ); - + float4 p0 = compute_plane(hp, v1, v2, /*opposite*/v3); // j float4 p1 = compute_plane(hp, v2, v3, /*opposite*/v1); // facet_count + j - float4 p2 = compute_plane(hp, v3, v1, /*opposite*/v2); // facet_count + j*2 + float4 p2 = compute_plane(hp, v3, v1, /*opposite*/v2); // facet_count + j*2 p0 *= compue_inv_normal_norm(p0); p1 *= compue_inv_normal_norm(p1); p2 *= compue_inv_normal_norm(p2); - + float4 p = points[perm_index]; p.w = 1; @@ -640,12 +640,12 @@ namespace pcl for(int i = 0; i < 3; ++i) if (dists[i] < 0) negs_inds[neg_count++] = i; - + if (neg_count == 3) { int i1 = negs_inds[1]; int i2 = negs_inds[2]; - + int ir = std::abs(dists[i1]) < std::abs(dists[i2]) ? i2 : i1; negs_inds[1] = ir; --neg_count; @@ -655,10 +655,10 @@ namespace pcl { int i1 = negs_inds[0]; int i2 = negs_inds[1]; - + int ir = std::abs(dists[i1]) < std::abs(dists[i2]) ? i2 : i1; negs_inds[0] = ir; - --neg_count; + --neg_count; } if (neg_count == 1) @@ -670,16 +670,16 @@ namespace pcl // if (neg_count == 0) // new_idx = std::numeric_limits::max() ==>> internal point - + std::uint64_t res = new_idx; res <<= 32; res += *reinterpret_cast(&dist); facets_dists[point_idx] = res; - } /* if (hi == perm_index) */ + } /* if (hi == perm_index) */ } - }; + }; __global__ void classifyKernel(const Classify c, int cloud_size) { @@ -692,7 +692,7 @@ namespace pcl } void pcl::device::PointStream::classify(FacetStream& fs) -{ +{ Classify c; c.facets_dists = facets_dists; @@ -706,16 +706,16 @@ void pcl::device::PointStream::classify(FacetStream& fs) c.diag = cloud_diag; c.facet_count = fs.facet_count; - //thrust::counting_iterator b(0); + //thrust::counting_iterator b(0); //thrust::for_each(b, b + cloud_size, c); classifyKernel<<>>(c, cloud_size); cudaSafeCall( cudaGetLastError() ); cudaSafeCall( cudaDeviceSynchronize() ); - + thrust::device_ptr beg(facets_dists.ptr()); thrust::device_ptr end = beg + cloud_size; - + thrust::device_ptr pbeg(perm.ptr()); thrust::sort_by_key(beg, end, pbeg); } @@ -731,14 +731,14 @@ namespace pcl mutable PtrStep verts_inds; - __device__ __forceinline__ + __device__ __forceinline__ void operator()(int facet) const { int hi = head_points[facet]; int i1 = verts_inds.ptr(0)[facet]; int i2 = verts_inds.ptr(1)[facet]; int i3 = verts_inds.ptr(2)[facet]; - + make_facet(hi, i1, i2, facet); make_facet(hi, i2, i3, facet + facet_count); make_facet(hi, i3, i1, facet + facet_count * 2); @@ -757,8 +757,8 @@ namespace pcl { int facet = threadIdx.x + blockIdx.x * blockDim.x; - if (facet < sf.facet_count) - sf(facet); + if (facet < sf.facet_count) + sf(facet); } } } @@ -769,9 +769,9 @@ void pcl::device::FacetStream::splitFacets() sf.head_points = head_points; sf.verts_inds = verts_inds; sf.facet_count = facet_count; - - //thrust::counting_iterator b(0); + + //thrust::counting_iterator b(0); //thrust::for_each(b, b + facet_count, sf); splitFacetsKernel<<>>(sf); @@ -786,8 +786,8 @@ size_t pcl::device::remove_duplicates(DeviceArray& indeces) thrust::device_ptr beg(indeces.ptr()); thrust::device_ptr end = beg + indeces.size(); - thrust::sort(beg, end); - return (std::size_t)(thrust::unique(beg, end) - beg); + thrust::sort(beg, end); + return (std::size_t)(thrust::unique(beg, end) - beg); } @@ -810,15 +810,15 @@ void pcl::device::pack_hull(const DeviceArray& points, const DeviceAr { output.create(indeces.size()); - //thrust::device_ptr in(points.ptr()); - + //thrust::device_ptr in(points.ptr()); + //thrust::device_ptr mb(indeces.ptr()); //thrust::device_ptr me = mb + indeces.size(); - //thrust::device_ptr out(output.ptr()); + //thrust::device_ptr out(output.ptr()); //thrust::gather(mb, me, in, out); - + gatherKernel<<>>(indeces, points, output); cudaSafeCall( cudaGetLastError() ); cudaSafeCall( cudaDeviceSynchronize() ); diff --git a/gpu/surface/test/CMakeLists.txt b/gpu/surface/test/CMakeLists.txt index 83f912d9..96f6600d 100644 --- a/gpu/surface/test/CMakeLists.txt +++ b/gpu/surface/test/CMakeLists.txt @@ -4,18 +4,6 @@ endif() set(the_test_target test_gpu_surface) -get_filename_component(DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) -get_filename_component(INC_SURF "${DIR}/../../surface/include" REALPATH) -get_filename_component(INC_IO "${DIR}/../../../io/include" REALPATH) -get_filename_component(INC_VIZ "${DIR}/../../../visualization/include" REALPATH) -get_filename_component(INC_GEO "${DIR}/../../../geometry/include" REALPATH) -get_filename_component(INC_SURF_CPU "${DIR}/../../../surface/include" REALPATH) -get_filename_component(INC_SEA "${DIR}/../../../search/include" REALPATH) -get_filename_component(INC_KD "${DIR}/../../../kdtree/include" REALPATH) -get_filename_component(INC_OCT "${DIR}/../../../octree/include" REALPATH) -include_directories("${INC_SURF}" "${INC_IO}" "${INC_VIZ}" "${INC_GEO}" "${INC_SURF_CPU}" "${INC_SEA}" "${INC_KD}" "${INC_OCT}") -include_directories(SYSTEM ${VTK_INCLUDE_DIRS}) - file(GLOB test_src *.cpp *.hpp) #PCL_ADD_TEST(a_gpu_surface_test ${the_test_target} FILES ${test_src} LINK_WITH pcl_io pcl_gpu_containers pcl_gpu_surface pcl_visualization pcl_surface pcl_octree pcl_kdtree pcl_search) #add_dependencies(${the_test_target} pcl_io pcl_gpu_containes pcl_gpu_surface pcl_visualization) diff --git a/gpu/tracking/CMakeLists.txt b/gpu/tracking/CMakeLists.txt index e464a9e8..651c1718 100644 --- a/gpu/tracking/CMakeLists.txt +++ b/gpu/tracking/CMakeLists.txt @@ -3,7 +3,6 @@ set(SUBSYS_PATH gpu/tracking) set(SUBSYS_DESC "Tracking with GPU") set(SUBSYS_DEPS common gpu_containers gpu_utils gpu_octree tracking search kdtree filters octree) -set(build FALSE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}") @@ -26,9 +25,9 @@ source_group("Source Files\\cuda" FILES ${cuda}) list(APPEND srcs ${utils} ${cuda}) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" "${CMAKE_CURRENT_SOURCE_DIR}/src" "${CMAKE_CURRENT_SOURCE_DIR}/src/cuda") PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs}) -target_link_libraries("${LIB_NAME}" pcl_gpu_containers) +target_link_libraries(${LIB_NAME} pcl_gpu_containers) +target_include_directories(${LIB_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src) set(EXT_DEPS "") #set(EXT_DEPS CUDA) diff --git a/gpu/utils/CMakeLists.txt b/gpu/utils/CMakeLists.txt index 8775067c..e0f4ccfb 100644 --- a/gpu/utils/CMakeLists.txt +++ b/gpu/utils/CMakeLists.txt @@ -1,9 +1,8 @@ set(SUBSYS_NAME gpu_utils) set(SUBSYS_PATH gpu/utils) set(SUBSYS_DESC "Device layer functions.") -set(SUBSYS_DEPS common gpu_containers) +set(SUBSYS_DEPS common) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}") @@ -20,9 +19,8 @@ source_group("Header Files\\device" FILES ${dev_incs}) source_group("Source Files" FILES ${srcs}) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${dev_incs} ${incs} ${srcs}) -target_link_libraries("${LIB_NAME}" pcl_gpu_containers) +target_link_libraries("${LIB_NAME}" pcl_common) set(EXT_DEPS "") #set(EXT_DEPS CUDA) diff --git a/gpu/utils/include/pcl/gpu/utils/device/functional.hpp b/gpu/utils/include/pcl/gpu/utils/device/functional.hpp index c4e8b1b5..743c4cf9 100644 --- a/gpu/utils/include/pcl/gpu/utils/device/functional.hpp +++ b/gpu/utils/include/pcl/gpu/utils/device/functional.hpp @@ -46,7 +46,6 @@ namespace pcl { // Function Objects - using thrust::unary_function; using thrust::binary_function; // Arithmetic Operations @@ -79,8 +78,10 @@ namespace pcl using thrust::bit_or; using thrust::bit_xor; - template struct bit_not : unary_function + template struct bit_not { + typedef T argument_type; + typedef T result_type; __forceinline__ __device__ T operator ()(const T& v) const {return ~v;} }; diff --git a/gpu/utils/include/pcl/gpu/utils/device/vector_math.hpp b/gpu/utils/include/pcl/gpu/utils/device/vector_math.hpp index aee46375..36647dcf 100644 --- a/gpu/utils/include/pcl/gpu/utils/device/vector_math.hpp +++ b/gpu/utils/include/pcl/gpu/utils/device/vector_math.hpp @@ -103,7 +103,7 @@ namespace pcl //////////////////////////////// - // tempalted operations vectors + // templated operations vectors template __device__ __host__ __forceinline__ float norm(const T& val) { diff --git a/gpu/utils/include/pcl/gpu/utils/repacks.hpp b/gpu/utils/include/pcl/gpu/utils/repacks.hpp index ce1e2d22..217fa321 100644 --- a/gpu/utils/include/pcl/gpu/utils/repacks.hpp +++ b/gpu/utils/include/pcl/gpu/utils/repacks.hpp @@ -37,97 +37,7 @@ #ifndef __PCL_GPU_UTILS_REPACKS_HPP__ #define __PCL_GPU_UTILS_REPACKS_HPP__ -#include -#include +PCL_DEPRECATED_HEADER(1, 17, "This has been deprecated, please include it from pcl/gpu/containers.") -#include - -namespace pcl -{ - namespace gpu - { - /////////////////////////////////////// - /// This is an experimental code /// - /////////////////////////////////////// - - const int NoCP = 0xFFFFFFFF; - - /** \brief Returns field copy operation code. */ - inline int cp(int from, int to) - { - return ((to & 0xF) << 4) + (from & 0xF); - } - - /* Combines several field copy operations to one int (called rule) */ - inline int rule(int cp1, int cp2 = NoCP, int cp3 = NoCP, int cp4 = NoCP) - { - return (cp1 & 0xFF) + ((cp2 & 0xFF) << 8) + ((cp3 & 0xFF) << 16) + ((cp4 & 0xFF) << 24); - } - - /* Combines performs all field copy operations in given rule array (can be 0, 1, or 16 copies) */ - void copyFieldsImpl(int in_size, int out_size, int rules[4], int size, const void* input, void* output); - - template - void copyFieldsEx(const DeviceArray& src, DeviceArray& dst, int rule1, int rule2 = NoCP, int rule3 = NoCP, int rule4 = NoCP) - { - int rules[4] = { rule1, rule2, rule3, rule4 }; - dst.create(src.size()); - copyFieldsImpl(sizeof(PointIn)/sizeof(int), sizeof(PointOut)/sizeof(int), rules, (int)src.size(), src.ptr(), dst.ptr()); - } - - void copyFields(const DeviceArray& src, DeviceArray& dst) - { - //PointXYZ.x (0) -> PointNormal.x (0) - //PointXYZ.y (1) -> PointNormal.y (1) - //PointXYZ.z (2) -> PointNormal.z (2) - copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); - }; - - void copyFields(const DeviceArray& src, DeviceArray& dst) - { - //PointXYZ.normal_x (0) -> PointNormal.normal_x (4) - //PointXYZ.normal_y (1) -> PointNormal.normal_y (5) - //PointXYZ.normal_z (2) -> PointNormal.normal_z (6) - //PointXYZ.curvature (4) -> PointNormal.curvature (8) - copyFieldsEx(src, dst, rule(cp(0, 4), cp(1, 5), cp(2, 6), cp(4,8))); - }; - - void copyFields(const DeviceArray& src, DeviceArray& dst) - { - //PointXYZRGBL.x (0) -> PointXYZ.x (0) - //PointXYZRGBL.y (1) -> PointXYZ.y (1) - //PointXYZRGBL.z (2) -> PointXYZ.z (2) - copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); - }; - - void copyFields(const DeviceArray& src, DeviceArray& dst) - { - //PointXYZRGB.x (0) -> PointXYZ.x (0) - //PointXYZRGB.y (1) -> PointXYZ.y (1) - //PointXYZRGB.z (2) -> PointXYZ.z (2) - copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); - }; - - void copyFields(const DeviceArray& src, DeviceArray& dst) - { - //PointXYZRGBA.x (0) -> PointXYZ.x (0) - //PointXYZRGBA.y (1) -> PointXYZ.y (1) - //PointXYZRGBA.z (2) -> PointXYZ.z (2) - copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); - }; - - void copyFieldsZ(const DeviceArray& src, DeviceArray& dst) - { - //PointXYZRGBL.z (2) -> float (1) - copyFieldsEx(src, dst, rule(cp(2, 0))); - }; - - void copyFieldsZ(const DeviceArray& src, DeviceArray& dst) - { - //PointXYZRGBL.z (2) -> float (1) - copyFieldsEx(src, dst, rule(cp(2, 0))); - }; - } -} #endif /* __PCL_GPU_UTILS_REPACKS_HPP__ */ diff --git a/gpu/utils/include/pcl/gpu/utils/safe_call.hpp b/gpu/utils/include/pcl/gpu/utils/safe_call.hpp index 2a2e844d..0c0b8373 100644 --- a/gpu/utils/include/pcl/gpu/utils/safe_call.hpp +++ b/gpu/utils/include/pcl/gpu/utils/safe_call.hpp @@ -38,32 +38,41 @@ #define __PCL_CUDA_SAFE_CALL_HPP__ #include -#include + +#include #if defined(__GNUC__) - #define cudaSafeCall(expr) pcl::gpu::___cudaSafeCall(expr, __FILE__, __LINE__, __func__) +#define cudaSafeCall(expr) pcl::gpu::___cudaSafeCall(expr, __FILE__, __LINE__, __func__) #else /* defined(__CUDACC__) || defined(__MSVC__) */ - #define cudaSafeCall(expr) pcl::gpu::___cudaSafeCall(expr, __FILE__, __LINE__) +#define cudaSafeCall(expr) pcl::gpu::___cudaSafeCall(expr, __FILE__, __LINE__) #endif -namespace pcl -{ - namespace gpu - { - static inline void ___cudaSafeCall(cudaError_t err, const char *file, const int line, const char *func = "") - { - if (cudaSuccess != err) - error(cudaGetErrorString(err), file, line, func); - } +namespace pcl { +namespace gpu { - static inline int divUp(int total, int grain) { return (total + grain - 1) / grain; } - } +static inline void +___cudaSafeCall(cudaError_t err, + const char* file, + const int line, + const char* func = "") +{ + if (cudaSuccess != err) { + std::cout << "Error: " << cudaGetErrorString(err) << "\t" << file << ":" << line + << ":" << func << std::endl; + exit(EXIT_FAILURE); + } +} - namespace device - { - using pcl::gpu::divUp; - } +static inline int +divUp(int total, int grain) +{ + return (total + grain - 1) / grain; } +} // namespace gpu +namespace device { +using pcl::gpu::divUp; +} +} // namespace pcl #endif /* __PCL_CUDA_SAFE_CALL_HPP__ */ diff --git a/gpu/utils/include/pcl/gpu/utils/texture_binder.hpp b/gpu/utils/include/pcl/gpu/utils/texture_binder.hpp index 772392e0..a52799fe 100644 --- a/gpu/utils/include/pcl/gpu/utils/texture_binder.hpp +++ b/gpu/utils/include/pcl/gpu/utils/texture_binder.hpp @@ -37,57 +37,6 @@ #ifndef PCL_GPU_UTILS_TEXTURE_BINDER_HPP_ #define PCL_GPU_UTILS_TEXTURE_BINDER_HPP_ -#include -#include +PCL_DEPRECATED_HEADER(1, 17, "This has been deprecated, please include it from pcl/gpu/containers.") -namespace pcl -{ - namespace gpu - { - class TextureBinder - { - public: - template - TextureBinder(const DeviceArray2D& arr, const struct texture& tex) : texref(&tex) - { - cudaChannelFormatDesc desc = cudaCreateChannelDesc(); - cudaSafeCall( cudaBindTexture2D(0, tex, arr.ptr(), desc, arr.cols(), arr.rows(), arr.step()) ); - } - - template - TextureBinder(const DeviceArray& arr, const struct texture &tex) : texref(&tex) - { - cudaChannelFormatDesc desc = cudaCreateChannelDesc(); - cudaSafeCall( cudaBindTexture(0, tex, arr.ptr(), desc, arr.sizeBytes()) ); - } - - template - TextureBinder(const PtrStepSz& arr, const struct texture& tex) : texref(&tex) - { - cudaChannelFormatDesc desc = cudaCreateChannelDesc(); - cudaSafeCall( cudaBindTexture2D(0, tex, arr.data, desc, arr.cols, arr.rows, arr.step) ); - } - - template - TextureBinder(const PtrSz& arr, const struct texture &tex) : texref(&tex) - { - cudaChannelFormatDesc desc = cudaCreateChannelDesc(); - cudaSafeCall( cudaBindTexture(0, tex, arr.data, desc, arr.size * arr.elemSize()) ); - } - - ~TextureBinder() - { - cudaSafeCall( cudaUnbindTexture(texref) ); - } - private: - const struct textureReference *texref; - }; - } - - namespace device - { - using pcl::gpu::TextureBinder; - } -} - -#endif /* PCL_GPU_UTILS_TEXTURE_BINDER_HPP_*/ \ No newline at end of file +#endif /* PCL_GPU_UTILS_TEXTURE_BINDER_HPP_*/ diff --git a/gpu/utils/src/empty.cu b/gpu/utils/src/empty.cu new file mode 100644 index 00000000..1de32816 --- /dev/null +++ b/gpu/utils/src/empty.cu @@ -0,0 +1 @@ +// added empty file for Cmake to determine link language. diff --git a/gpu/utils/src/internal.hpp b/gpu/utils/src/internal.hpp index 52245ca7..f1c2fbb6 100644 --- a/gpu/utils/src/internal.hpp +++ b/gpu/utils/src/internal.hpp @@ -37,6 +37,11 @@ #ifndef PCL_GPU_UTILS_INTERNAL_HPP_ #define PCL_GPU_UTILS_INTERNAL_HPP_ +#include + +PCL_DEPRECATED_HEADER(1, 17, "This has been deprecated and will be removed.") + + namespace pcl { namespace device @@ -45,4 +50,4 @@ namespace pcl } } -#endif \ No newline at end of file +#endif diff --git a/gpu/utils/src/repacks.cpp b/gpu/utils/src/repacks.cpp deleted file mode 100644 index eae8e608..00000000 --- a/gpu/utils/src/repacks.cpp +++ /dev/null @@ -1,41 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2011, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com) - */ - -#include - -#include -#include "internal.hpp" - diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt index 7fc86b26..68c10670 100644 --- a/io/CMakeLists.txt +++ b/io/CMakeLists.txt @@ -3,7 +3,6 @@ set(SUBSYS_DESC "Point cloud IO library") set(SUBSYS_DEPS common octree) set(SUBSYS_EXT_DEPS boost eigen3) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) if(WIN32) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS openni openni2 ensenso davidSDK dssdk rssdk rssdk2 pcap png vtk OpenMP EXT_DEPS ${SUBSYS_EXT_DEPS}) @@ -210,9 +209,10 @@ if(MINGW) target_link_libraries(pcl_io_ply ws2_32) endif() PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/ply" ${PLY_INCLUDES}) -target_include_directories(pcl_io_ply PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include") target_link_libraries(pcl_io_ply pcl_common Boost::boost) +PCL_MAKE_PKGCONFIG(pcl_io_ply COMPONENT ${SUBSYS_NAME} DESC "${SUBSYS_DESC}, PLY" PCL_DEPS common) + set(srcs src/debayer.cpp src/pcd_grabber.cpp @@ -257,8 +257,6 @@ if(PCAP_FOUND) endif() set(incs - "include/pcl/${SUBSYS_NAME}/boost.h" - "include/pcl/${SUBSYS_NAME}/eigen.h" "include/pcl/${SUBSYS_NAME}/debayer.h" "include/pcl/${SUBSYS_NAME}/fotonic_grabber.h" "include/pcl/${SUBSYS_NAME}/file_io.h" @@ -266,7 +264,6 @@ set(incs "include/pcl/${SUBSYS_NAME}/low_level_io.h" "include/pcl/${SUBSYS_NAME}/lzf.h" "include/pcl/${SUBSYS_NAME}/lzf_image_io.h" - "include/pcl/${SUBSYS_NAME}/io.h" "include/pcl/${SUBSYS_NAME}/grabber.h" "include/pcl/${SUBSYS_NAME}/file_grabber.h" "include/pcl/${SUBSYS_NAME}/timestamp.h" @@ -341,9 +338,10 @@ add_definitions(${VTK_DEFINES}) PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES}) -target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include") - -target_link_libraries("${LIB_NAME}" Boost::boost Boost::filesystem Boost::iostreams pcl_common pcl_io_ply) +target_link_libraries("${LIB_NAME}" Boost::boost Boost::iostreams pcl_common pcl_io_ply pcl_octree) +if(TARGET Boost::filesystem) + target_link_libraries("${LIB_NAME}" Boost::filesystem) +endif() if(VTK_FOUND) if(${VTK_VERSION} VERSION_GREATER_EQUAL 9.0) @@ -371,6 +369,7 @@ if(VTK_FOUND) endif() if(PNG_FOUND) + target_include_directories("${LIB_NAME}" SYSTEM PRIVATE ${PNG_INCLUDE_DIRS}) target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES}) endif() @@ -431,6 +430,7 @@ endif() if(WITH_ENSENSO) list(APPEND EXT_DEPS ensenso) endif() +list(APPEND EXT_DEPS pcl_io_ply) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS}) diff --git a/io/include/pcl/compression/octree_pointcloud_compression.h b/io/include/pcl/compression/octree_pointcloud_compression.h index d2eae276..4e2178fe 100644 --- a/io/include/pcl/compression/octree_pointcloud_compression.h +++ b/io/include/pcl/compression/octree_pointcloud_compression.h @@ -55,7 +55,7 @@ namespace pcl namespace io { /** \brief @b Octree pointcloud compression class - * \note This class enables compression and decompression of point cloud data based on octree data structures. + * \note This class enables compression and decompression of point cloud data based on octree data structures. It is a lossy compression. See also `PCDWriter` for another way to compress point cloud data. * \note * \note typename: PointT: type of point used in pointcloud * \author Julius Kammerl (julius@kammerl.de) diff --git a/io/include/pcl/io/boost.h b/io/include/pcl/io/boost.h deleted file mode 100644 index a0867796..00000000 --- a/io/include/pcl/io/boost.h +++ /dev/null @@ -1,66 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2011-2012, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#pragma once -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.") -#if defined __GNUC__ -# pragma GCC system_header -#endif -//https://bugreports.qt-project.org/browse/QTBUG-22829 -#ifndef Q_MOC_RUN -#ifndef __CUDACC__ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#define BOOST_PARAMETER_MAX_ARITY 7 -#include -#include -#endif -#include -#include -#endif diff --git a/io/include/pcl/io/eigen.h b/io/include/pcl/io/eigen.h deleted file mode 100644 index 0979ece9..00000000 --- a/io/include/pcl/io/eigen.h +++ /dev/null @@ -1,45 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2011-2012, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#pragma once - -#if defined __GNUC__ -# pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed eigen headers directly.") - -#include diff --git a/io/include/pcl/io/grabber.h b/io/include/pcl/io/grabber.h index ce6f55a0..71f4df82 100644 --- a/io/include/pcl/io/grabber.h +++ b/io/include/pcl/io/grabber.h @@ -300,7 +300,7 @@ namespace pcl boost::signals2::connection ret = signal->connect (callback); connections_[typeid (T).name ()].push_back (ret); - shared_connections_[typeid (T).name ()].push_back (boost::signals2::shared_connection_block (connections_[typeid (T).name ()].back (), false)); + shared_connections_[typeid (T).name ()].emplace_back(connections_[typeid (T).name ()].back (), false); signalsChanged (); return (ret); } diff --git a/io/include/pcl/io/hdl_grabber.h b/io/include/pcl/io/hdl_grabber.h index f149346b..233ff264 100644 --- a/io/include/pcl/io/hdl_grabber.h +++ b/io/include/pcl/io/hdl_grabber.h @@ -274,7 +274,7 @@ namespace pcl boost::asio::ip::udp::endpoint udp_listener_endpoint_; boost::asio::ip::address source_address_filter_; std::uint16_t source_port_filter_; - boost::asio::io_service hdl_read_socket_service_; + boost::asio::io_context hdl_read_socket_service_; boost::asio::ip::udp::socket *hdl_read_socket_; std::string pcap_file_name_; std::thread *queue_consumer_thread_; diff --git a/io/include/pcl/io/impl/auto_io.hpp b/io/include/pcl/io/impl/auto_io.hpp index c45f8860..f8fec231 100644 --- a/io/include/pcl/io/impl/auto_io.hpp +++ b/io/include/pcl/io/impl/auto_io.hpp @@ -40,11 +40,12 @@ #ifndef PCL_IO_AUTO_IO_IMPL_H_ #define PCL_IO_AUTO_IO_IMPL_H_ +#include + #include #include #include #include -#include // for path namespace pcl { @@ -53,7 +54,7 @@ namespace pcl template int load (const std::string& file_name, pcl::PointCloud& cloud) { - boost::filesystem::path p (file_name.c_str ()); + pcl_fs::path p (file_name.c_str ()); std::string extension = p.extension ().string (); int result = -1; if (extension == ".pcd") @@ -75,7 +76,7 @@ namespace pcl template int save (const std::string& file_name, const pcl::PointCloud& cloud) { - boost::filesystem::path p (file_name.c_str ()); + pcl_fs::path p (file_name.c_str ()); std::string extension = p.extension ().string (); int result = -1; if (extension == ".pcd") @@ -94,4 +95,4 @@ namespace pcl } } -#endif //PCL_IO_AUTO_IO_IMPL_H_ \ No newline at end of file +#endif //PCL_IO_AUTO_IO_IMPL_H_ diff --git a/io/include/pcl/io/io.h b/io/include/pcl/io/io.h deleted file mode 100644 index 62b3289d..00000000 --- a/io/include/pcl/io/io.h +++ /dev/null @@ -1,43 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2011, Willow Garage, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ - -#pragma once -#include // for PCL_DEPRECATED_HEADER -PCL_DEPRECATED_HEADER(1, 15, "Please include pcl/common/io.h directly.") -#include diff --git a/io/include/pcl/io/low_level_io.h b/io/include/pcl/io/low_level_io.h index 7cc26fd9..5d82ddf4 100644 --- a/io/include/pcl/io/low_level_io.h +++ b/io/include/pcl/io/low_level_io.h @@ -181,6 +181,12 @@ namespace pcl // All other errors are passed up. if (errno != EINVAL) return -1; +# elif defined(__OpenBSD__) + // OpenBSD has neither posix_fallocate nor fallocate + if (::ftruncate(fd, length) == 0) + return 0; + if (errno != EINVAL) + return -1; # else // Conforming POSIX systems have posix_fallocate. const int res = ::posix_fallocate(fd, 0, length); diff --git a/io/include/pcl/io/openni_camera/openni_device.h b/io/include/pcl/io/openni_camera/openni_device.h index ddda24b0..739d24bd 100644 --- a/io/include/pcl/io/openni_camera/openni_device.h +++ b/io/include/pcl/io/openni_camera/openni_device.h @@ -178,7 +178,7 @@ namespace openni_wrapper void setDepthRegistration (bool on_off); - /** \return whether the depth stream is registered to the RGB camera fram or not. */ + /** \return whether the depth stream is registered to the RGB camera frame or not. */ bool isDepthRegistered () const noexcept; diff --git a/io/include/pcl/io/ply/ply_parser.h b/io/include/pcl/io/ply/ply_parser.h index 3023d566..244f3719 100644 --- a/io/include/pcl/io/ply/ply_parser.h +++ b/io/include/pcl/io/ply/ply_parser.h @@ -49,6 +49,7 @@ #include #include #include +#include #include // for lexical_cast #include // for fold #include // for inherit diff --git a/io/include/pcl/io/ply_io.h b/io/include/pcl/io/ply_io.h index 86e54077..dbad3424 100644 --- a/io/include/pcl/io/ply_io.h +++ b/io/include/pcl/io/ply_io.h @@ -591,7 +591,19 @@ namespace pcl const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (), int precision = 8, bool use_camera = true); - + /** \brief Save point cloud data to a std::ostream containing n-D points, in BINARY format + * \param[in] os the output buffer + * \param[in] cloud the point cloud data message + * \param[in] origin the sensor data acquisition origin + * (translation) \param[in] orientation the sensor data acquisition origin + * (rotation) \param[in] use_camera if set to true then PLY file will use element + * camera else element range_grid will be used + */ + int + writeBinary(std::ostream& os, const pcl::PCLPointCloud2& cloud, + const Eigen::Vector4f& origin = Eigen::Vector4f::Zero (), const Eigen::Quaternionf& orientation= Eigen::Quaternionf::Identity (), + bool use_camera=true); + /** \brief Save point cloud data to a PLY file containing n-D points, in BINARY format * \param[in] file_name the output file name * \param[in] cloud the point cloud data message diff --git a/io/include/pcl/io/robot_eye_grabber.h b/io/include/pcl/io/robot_eye_grabber.h index 52485049..4ed975d5 100644 --- a/io/include/pcl/io/robot_eye_grabber.h +++ b/io/include/pcl/io/robot_eye_grabber.h @@ -131,7 +131,7 @@ namespace pcl boost::asio::ip::address sensor_address_; boost::asio::ip::udp::endpoint sender_endpoint_; - boost::asio::io_service io_service_; + boost::asio::io_context io_service_; std::shared_ptr socket_; std::shared_ptr socket_thread_; std::shared_ptr consumer_thread_; diff --git a/io/include/pcl/io/tim_grabber.h b/io/include/pcl/io/tim_grabber.h index 786e501b..91d8148c 100644 --- a/io/include/pcl/io/tim_grabber.h +++ b/io/include/pcl/io/tim_grabber.h @@ -128,7 +128,7 @@ class PCL_EXPORTS TimGrabber : public Grabber std::vector distances_; boost::asio::ip::tcp::endpoint tcp_endpoint_; - boost::asio::io_service tim_io_service_; + boost::asio::io_context tim_io_service_; boost::asio::ip::tcp::socket tim_socket_; //// wait time for receiving data (on the order of milliseconds) unsigned int wait_time_milliseconds_ = 0; diff --git a/io/include/pcl/io/vtk_lib_io.h b/io/include/pcl/io/vtk_lib_io.h index a7a42ac9..de57bf20 100644 --- a/io/include/pcl/io/vtk_lib_io.h +++ b/io/include/pcl/io/vtk_lib_io.h @@ -92,6 +92,7 @@ namespace pcl /** \brief Load a \ref PolygonMesh object given an input file name, based on the file extension * \param[in] file_name the name of the file containing the polygon data * \param[out] mesh the object that we want to load the data in + * \return Number of points in the point cloud of the mesh. * \ingroup io */ PCL_EXPORTS int @@ -113,6 +114,7 @@ namespace pcl /** \brief Load a VTK file into a \ref PolygonMesh object * \param[in] file_name the name of the file that contains the data * \param[out] mesh the object that we want to load the data in + * \return Number of points in the point cloud of the mesh. * \ingroup io */ PCL_EXPORTS int @@ -122,6 +124,7 @@ namespace pcl /** \brief Load a PLY file into a \ref PolygonMesh object * \param[in] file_name the name of the file that contains the data * \param[out] mesh the object that we want to load the data in + * \return Number of points in the point cloud of the mesh. * \ingroup io */ PCL_EXPORTS int @@ -131,6 +134,7 @@ namespace pcl /** \brief Load an OBJ file into a \ref PolygonMesh object * \param[in] file_name the name of the file that contains the data * \param[out] mesh the object that we want to load the data in + * \return Number of points in the point cloud of the mesh. * \ingroup io */ PCL_EXPORTS int @@ -143,6 +147,7 @@ namespace pcl * load the material information. * \param[in] file_name the name of the file that contains the data * \param[out] mesh the object that we want to load the data in + * \return Number of points in the point cloud of the mesh. * \ingroup io */ PCL_EXPORTS int @@ -153,6 +158,7 @@ namespace pcl /** \brief Load an STL file into a \ref PolygonMesh object * \param[in] file_name the name of the file that contains the data * \param[out] mesh the object that we want to load the data in + * \return Number of points in the point cloud of the mesh. * \ingroup io */ PCL_EXPORTS int diff --git a/io/src/ascii_io.cpp b/io/src/ascii_io.cpp index 486ef5ab..efd6614d 100644 --- a/io/src/ascii_io.cpp +++ b/io/src/ascii_io.cpp @@ -36,11 +36,12 @@ */ #include // for getFieldSize +#include #include // pcl::utils::ignore #include #include #include -#include + #include // for lexical_cast #include // for split #include @@ -88,9 +89,9 @@ pcl::ASCIIReader::readHeader (const std::string& file_name, { pcl::utils::ignore(offset); //offset is not used for ascii file implementation - boost::filesystem::path fpath = file_name; + pcl_fs::path fpath = file_name; - if (!boost::filesystem::exists (fpath)) + if (!pcl_fs::exists (fpath)) { PCL_ERROR ("[%s] File %s does not exist.\n", name_.c_str (), file_name.c_str ()); return (-1); @@ -197,7 +198,7 @@ pcl::ASCIIReader::parse ( #define ASSIGN_TOKEN(CASE_LABEL) \ case CASE_LABEL: { \ *(reinterpret_cast*>(data_target)) = \ - boost::lexical_cast>(token); \ + boost::lexical_cast>(token); \ return sizeof(pcl::traits::asType_t); \ } switch (field.datatype) diff --git a/io/src/auto_io.cpp b/io/src/auto_io.cpp index 86a206be..e5c09e05 100644 --- a/io/src/auto_io.cpp +++ b/io/src/auto_io.cpp @@ -46,7 +46,7 @@ int pcl::io::load (const std::string& file_name, pcl::PCLPointCloud2& blob) { - boost::filesystem::path p (file_name.c_str ()); + pcl_fs::path p (file_name.c_str ()); std::string extension = p.extension ().string (); int result = -1; if (extension == ".pcd") @@ -68,7 +68,7 @@ pcl::io::load (const std::string& file_name, pcl::PCLPointCloud2& blob) int pcl::io::load (const std::string& file_name, pcl::PolygonMesh& mesh) { - boost::filesystem::path p (file_name.c_str ()); + pcl_fs::path p (file_name.c_str ()); std::string extension = p.extension ().string (); int result = -1; if (extension == ".ply") @@ -88,7 +88,7 @@ pcl::io::load (const std::string& file_name, pcl::PolygonMesh& mesh) int pcl::io::load (const std::string& file_name, pcl::TextureMesh& mesh) { - boost::filesystem::path p (file_name.c_str ()); + pcl_fs::path p (file_name.c_str ()); std::string extension = p.extension ().string (); int result = -1; if (extension == ".obj") @@ -104,7 +104,7 @@ pcl::io::load (const std::string& file_name, pcl::TextureMesh& mesh) int pcl::io::save (const std::string& file_name, const pcl::PCLPointCloud2& blob, unsigned precision) { - boost::filesystem::path p (file_name.c_str ()); + pcl_fs::path p (file_name.c_str ()); std::string extension = p.extension ().string (); int result = -1; if (extension == ".pcd") @@ -134,7 +134,7 @@ pcl::io::save (const std::string& file_name, const pcl::PCLPointCloud2& blob, un int pcl::io::save (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision) { - boost::filesystem::path p (file_name.c_str ()); + pcl_fs::path p (file_name.c_str ()); std::string extension = p.extension ().string (); int result = -1; if (extension == ".obj") @@ -150,7 +150,7 @@ pcl::io::save (const std::string &file_name, const pcl::TextureMesh &tex_mesh, u int pcl::io::save (const std::string &file_name, const pcl::PolygonMesh &poly_mesh, unsigned precision) { - boost::filesystem::path p (file_name.c_str ()); + pcl_fs::path p (file_name.c_str ()); std::string extension = p.extension ().string (); int result = -1; if (extension == ".ply") diff --git a/io/src/hdl_grabber.cpp b/io/src/hdl_grabber.cpp index c54f68ed..adce104a 100644 --- a/io/src/hdl_grabber.cpp +++ b/io/src/hdl_grabber.cpp @@ -287,7 +287,7 @@ pcl::HDLGrabber::loadHDL32Corrections () boost::asio::ip::address pcl::HDLGrabber::getDefaultNetworkAddress () { - return (boost::asio::ip::address::from_string ("192.168.3.255")); + return (boost::asio::ip::make_address ("192.168.3.255")); } ///////////////////////////////////////////////////////////////////////////// diff --git a/io/src/ifs_io.cpp b/io/src/ifs_io.cpp index d3bc8c7a..8f9884fd 100644 --- a/io/src/ifs_io.cpp +++ b/io/src/ifs_io.cpp @@ -42,7 +42,6 @@ #include #include -#include // for exists #include // for mapped_file_source /////////////////////////////////////////////////////////////////////////////////////////// @@ -60,15 +59,22 @@ pcl::IFSReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &c //cloud.is_dense = true; std::uint32_t nr_points = 0; + + if (file_name.empty ()) + { + PCL_ERROR ("[pcl::IFSReader::readHeader] No file name given!\n"); + return (-1); + } + std::ifstream fs; + fs.open (file_name.c_str (), std::ios::binary); - if (file_name.empty() || !boost::filesystem::exists (file_name)) + if (!fs.good ()) { PCL_ERROR ("[pcl::IFSReader::readHeader] Could not find file '%s'.\n", file_name.c_str ()); return (-1); } - fs.open (file_name.c_str (), std::ios::binary); if (!fs.is_open () || fs.fail ()) { PCL_ERROR ("[pcl::IFSReader::readHeader] Could not open file '%s'! Error : %s\n", file_name.c_str (), strerror(errno)); diff --git a/io/src/image_grabber.cpp b/io/src/image_grabber.cpp index de32f1f2..780b9fa5 100644 --- a/io/src/image_grabber.cpp +++ b/io/src/image_grabber.cpp @@ -35,6 +35,7 @@ * */ // Looking for PCL_BUILT_WITH_VTK +#include #include #include #include @@ -42,7 +43,7 @@ #include #include #include -#include // for exists, basename, is_directory, ... + #include // for to_upper_copy #ifdef PCL_BUILT_WITH_VTK @@ -255,7 +256,7 @@ pcl::ImageGrabberBase::ImageGrabberImpl::trigger () void pcl::ImageGrabberBase::ImageGrabberImpl::loadDepthAndRGBFiles (const std::string &dir) { - if (!boost::filesystem::exists (dir) || !boost::filesystem::is_directory (dir)) + if (!pcl_fs::exists (dir) || !pcl_fs::is_directory (dir)) { PCL_ERROR ("[pcl::ImageGrabber::loadDepthAndRGBFiles] Error: attempted to instantiate a pcl::ImageGrabber from a path which" " is not a directory: %s\n", dir.c_str ()); @@ -264,13 +265,13 @@ pcl::ImageGrabberBase::ImageGrabberImpl::loadDepthAndRGBFiles (const std::string std::string pathname; std::string extension; std::string basename; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (dir); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (dir); itr != end_itr; ++itr) { extension = boost::algorithm::to_upper_copy (itr->path ().extension ().string ()); pathname = itr->path ().string (); basename = itr->path ().stem ().string (); - if (!boost::filesystem::is_directory (itr->status ()) + if (!pcl_fs::is_directory (itr->status ()) && isValidExtension (extension)) { if (basename.find ("rgb") < std::string::npos) @@ -291,13 +292,13 @@ pcl::ImageGrabberBase::ImageGrabberImpl::loadDepthAndRGBFiles (const std::string void pcl::ImageGrabberBase::ImageGrabberImpl::loadDepthAndRGBFiles (const std::string &depth_dir, const std::string &rgb_dir) { - if (!boost::filesystem::exists (depth_dir) || !boost::filesystem::is_directory (depth_dir)) + if (!pcl_fs::exists (depth_dir) || !pcl_fs::is_directory (depth_dir)) { PCL_ERROR ("[pcl::ImageGrabber::loadDepthAndRGBFiles] Error: attempted to instantiate a pcl::ImageGrabber from a path which" " is not a directory: %s\n", depth_dir.c_str ()); return; } - if (!boost::filesystem::exists (rgb_dir) || !boost::filesystem::is_directory (rgb_dir)) + if (!pcl_fs::exists (rgb_dir) || !pcl_fs::is_directory (rgb_dir)) { PCL_ERROR ("[pcl::ImageGrabber::loadDepthAndRGBFiles] Error: attempted to instantiate a pcl::ImageGrabber from a path which" " is not a directory: %s\n", rgb_dir.c_str ()); @@ -306,14 +307,14 @@ pcl::ImageGrabberBase::ImageGrabberImpl::loadDepthAndRGBFiles (const std::string std::string pathname; std::string extension; std::string basename; - boost::filesystem::directory_iterator end_itr; + pcl_fs::directory_iterator end_itr; // First iterate over depth images - for (boost::filesystem::directory_iterator itr (depth_dir); itr != end_itr; ++itr) + for (pcl_fs::directory_iterator itr (depth_dir); itr != end_itr; ++itr) { extension = boost::algorithm::to_upper_copy (itr->path ().extension ().string ()); pathname = itr->path ().string (); basename = itr->path ().stem ().string (); - if (!boost::filesystem::is_directory (itr->status ()) + if (!pcl_fs::is_directory (itr->status ()) && isValidExtension (extension)) { if (basename.find ("depth") < std::string::npos) @@ -323,12 +324,12 @@ pcl::ImageGrabberBase::ImageGrabberImpl::loadDepthAndRGBFiles (const std::string } } // Then iterate over RGB images - for (boost::filesystem::directory_iterator itr (rgb_dir); itr != end_itr; ++itr) + for (pcl_fs::directory_iterator itr (rgb_dir); itr != end_itr; ++itr) { extension = boost::algorithm::to_upper_copy (itr->path ().extension ().string ()); pathname = itr->path ().string (); basename = itr->path ().stem ().string (); - if (!boost::filesystem::is_directory (itr->status ()) + if (!pcl_fs::is_directory (itr->status ()) && isValidExtension (extension)) { if (basename.find ("rgb") < std::string::npos) @@ -354,7 +355,7 @@ pcl::ImageGrabberBase::ImageGrabberImpl::loadDepthAndRGBFiles (const std::string void pcl::ImageGrabberBase::ImageGrabberImpl::loadPCLZFFiles (const std::string &dir) { - if (!boost::filesystem::exists (dir) || !boost::filesystem::is_directory (dir)) + if (!pcl_fs::exists (dir) || !pcl_fs::is_directory (dir)) { PCL_ERROR ("[pcl::ImageGrabber::loadPCLZFFiles] Error: attempted to instantiate a pcl::ImageGrabber from a path which" " is not a directory: %s\n", dir.c_str ()); @@ -363,13 +364,13 @@ pcl::ImageGrabberBase::ImageGrabberImpl::loadPCLZFFiles (const std::string &dir) std::string pathname; std::string extension; std::string basename; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (dir); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (dir); itr != end_itr; ++itr) { extension = boost::algorithm::to_upper_copy (itr->path ().extension ().string ()); pathname = itr->path ().string (); basename = itr->path ().stem ().string (); - if (!boost::filesystem::is_directory (itr->status ()) + if (!pcl_fs::is_directory (itr->status ()) && isValidExtension (extension)) { if (basename.find ("rgb") < std::string::npos) @@ -429,7 +430,7 @@ pcl::ImageGrabberBase::ImageGrabberImpl::getTimestampFromFilepath ( { // For now, we assume the file is of the form frame_[22-char POSIX timestamp]_* char timestamp_str[256]; - int result = std::sscanf (boost::filesystem::path (filepath).stem ().string ().c_str (), + int result = std::sscanf (pcl_fs::path (filepath).stem ().string ().c_str (), "frame_%22s_%*s", timestamp_str); if (result > 0) @@ -611,7 +612,7 @@ pcl::ImageGrabberBase::ImageGrabberImpl::getCloudPCLZF (std::size_t idx, double &cx, double &cy) const { - if (idx > depth_pclzf_files_.size ()) + if (idx >= depth_pclzf_files_.size ()) { return (false); } @@ -971,7 +972,7 @@ pcl::ImageGrabberBase::getCurrentDepthFileName () const pathname = impl_->depth_pclzf_files_[impl_->cur_frame_]; else pathname = impl_->depth_image_files_[impl_->cur_frame_]; - std::string basename = boost::filesystem::path (pathname).stem ().string (); + std::string basename = pcl_fs::path (pathname).stem ().string (); return (basename); } ////////////////////////////////////////////////////////////////////////////////////////// @@ -983,7 +984,7 @@ pcl::ImageGrabberBase::getPrevDepthFileName () const pathname = impl_->depth_pclzf_files_[impl_->cur_frame_-1]; else pathname = impl_->depth_image_files_[impl_->cur_frame_-1]; - std::string basename = boost::filesystem::path (pathname).stem ().string (); + std::string basename = pcl_fs::path (pathname).stem ().string (); return (basename); } @@ -996,7 +997,7 @@ pcl::ImageGrabberBase::getDepthFileNameAtIndex (std::size_t idx) const pathname = impl_->depth_pclzf_files_[idx]; else pathname = impl_->depth_image_files_[idx]; - std::string basename = boost::filesystem::path (pathname).stem ().string (); + std::string basename = pcl_fs::path (pathname).stem ().string (); return (basename); } diff --git a/io/src/lzf.cpp b/io/src/lzf.cpp index c666f234..2d6443f3 100644 --- a/io/src/lzf.cpp +++ b/io/src/lzf.cpp @@ -75,7 +75,7 @@ using LZF_STATE = unsigned int[1 << (HLOG)]; // IDX works because it is very similar to a multiplicative hash, e.g. // ((h * 57321 >> (3*8 - HLOG)) & ((1 << (HLOG)) - 1)) -#define IDX(h) ((( h >> (3*8 - HLOG)) - h ) & ((1 << (HLOG)) - 1)) +#define IDX(h) ((( (h) >> (3*8 - HLOG)) - (h) ) & ((1 << (HLOG)) - 1)) /////////////////////////////////////////////////////////////////////////////////////////// // diff --git a/io/src/lzf_image_io.cpp b/io/src/lzf_image_io.cpp index ab59a6ee..5c01cfbd 100644 --- a/io/src/lzf_image_io.cpp +++ b/io/src/lzf_image_io.cpp @@ -37,10 +37,11 @@ #include #include #include +#include #include #include #include -#include + #include #include @@ -357,7 +358,7 @@ pcl::io::LZFImageReader::loadImageBlob (const std::string &filename, std::vector &data, std::uint32_t &uncompressed_size) { - if (filename.empty() || !boost::filesystem::exists (filename)) + if (filename.empty() || !pcl_fs::exists (filename)) { PCL_ERROR ("[pcl::io::LZFImageReader::loadImage] Could not find file '%s'.\n", filename.c_str ()); return (false); diff --git a/io/src/obj_io.cpp b/io/src/obj_io.cpp index 9cc1fdc6..095b81e4 100644 --- a/io/src/obj_io.cpp +++ b/io/src/obj_io.cpp @@ -38,11 +38,11 @@ #include #include #include +#include #include #include #include // for lexical_cast -#include // for exists #include // for trim pcl::MTLReader::MTLReader () @@ -146,21 +146,27 @@ int pcl::MTLReader::read (const std::string& obj_file_name, const std::string& mtl_file_name) { - if (obj_file_name.empty() || !boost::filesystem::exists (obj_file_name)) + if (obj_file_name.empty ()) + { + PCL_ERROR ("[pcl::MTLReader::read] No OBJ file name given!\n"); + return (-1); + } + + if (!pcl_fs::exists (obj_file_name)) { PCL_ERROR ("[pcl::MTLReader::read] Could not find file '%s'!\n", obj_file_name.c_str ()); return (-1); } - if (mtl_file_name.empty()) + if (mtl_file_name.empty ()) { PCL_ERROR ("[pcl::MTLReader::read] MTL file name is empty!\n"); return (-1); } - boost::filesystem::path obj_file_path (obj_file_name.c_str ()); - boost::filesystem::path mtl_file_path = obj_file_path.parent_path (); + pcl_fs::path obj_file_path (obj_file_name.c_str ()); + pcl_fs::path mtl_file_path = obj_file_path.parent_path (); mtl_file_path /= mtl_file_name; return (read (mtl_file_path.string ())); } @@ -168,14 +174,23 @@ pcl::MTLReader::read (const std::string& obj_file_name, int pcl::MTLReader::read (const std::string& mtl_file_path) { - if (mtl_file_path.empty() || !boost::filesystem::exists (mtl_file_path)) + if (mtl_file_path.empty ()) { - PCL_ERROR ("[pcl::MTLReader::read] Could not find file '%s'.\n", mtl_file_path.c_str ()); + PCL_ERROR ("[pcl::MTLReader::read] No file name given!\n"); return (-1); } + // Open file in binary mode to avoid problem of + // std::getline() corrupting the result of ifstream::tellg() std::ifstream mtl_file; mtl_file.open (mtl_file_path.c_str (), std::ios::binary); + + if (!mtl_file.good ()) + { + PCL_ERROR ("[pcl::MTLReader::read] Could not find file '%s'.\n", mtl_file_path.c_str ()); + return (-1); + } + if (!mtl_file.is_open () || mtl_file.fail ()) { PCL_ERROR ("[pcl::MTLReader::read] Could not open file '%s'! Error : %s\n", @@ -186,7 +201,7 @@ pcl::MTLReader::read (const std::string& mtl_file_path) std::string line; std::vector st; - boost::filesystem::path parent_path = mtl_file_path.c_str (); + pcl_fs::path parent_path = mtl_file_path.c_str (); parent_path = parent_path.parent_path (); try @@ -200,8 +215,8 @@ pcl::MTLReader::read (const std::string& mtl_file_path) // Tokenize the line pcl::split (st, line, "\t\r "); - // Ignore comments - if (st[0] == "#") + // Ignore comments and lines with only whitespace + if (st.empty() || st[0] == "#") continue; if (st[0] == "newmtl") @@ -307,7 +322,7 @@ pcl::MTLReader::read (const std::string& mtl_file_path) if (st[0] == "map_Kd") { - boost::filesystem::path full_path = parent_path; + pcl_fs::path full_path = parent_path; full_path/= st.back ().c_str (); materials_.back ().tex_file = full_path.string (); continue; @@ -340,18 +355,25 @@ pcl::OBJReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &c data_type = 0; data_idx = offset; - std::ifstream fs; std::string line; - if (file_name.empty() || !boost::filesystem::exists (file_name)) + if (file_name.empty ()) { - PCL_ERROR ("[pcl::OBJReader::readHeader] Could not find file '%s'.\n", file_name.c_str ()); + PCL_ERROR ("[pcl::OBJReader::readHeader] No file name given!\n"); return (-1); } // Open file in binary mode to avoid problem of // std::getline() corrupting the result of ifstream::tellg() + std::ifstream fs; fs.open (file_name.c_str (), std::ios::binary); + + if (!fs.good ()) + { + PCL_ERROR ("[pcl::OBJReader::readHeader] Could not find file '%s'.\n", file_name.c_str ()); + return (-1); + } + if (!fs.is_open () || fs.fail ()) { PCL_ERROR ("[pcl::OBJReader::readHeader] Could not open file '%s'! Error : %s\n", file_name.c_str (), strerror(errno)); @@ -524,10 +546,18 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, // Get normal_x and rgba fields indices int normal_x_field = -1; + std::vector normals; + + //vector[idx of vertex] + std::vector normal_mapping; + bool normal_mapping_used = false; + // std::size_t rgba_field = 0; for (std::size_t i = 0; i < cloud.fields.size (); ++i) if (cloud.fields[i].name == "normal_x") { + normals.reserve(cloud.width); + normal_mapping.resize(cloud.width, Eigen::Vector3f::Zero()); normal_x_field = i; break; } @@ -551,8 +581,8 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, // Tokenize the line pcl::split (st, line, "\t\r "); - // Ignore comments - if (st[0] == "#") + // Ignore comments and lines with only whitespace + if (st.empty() || st[0] == "#") continue; // Vertex @@ -580,22 +610,13 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, // Vertex normal if (st[0] == "vn") { - if (normal_idx >= cloud.width) - { - if (normal_idx == cloud.width) - PCL_WARN ("[pcl:OBJReader] Too many vertex normals (expected %d), skipping remaining normals.\n", cloud.width, normal_idx + 1); - ++normal_idx; - continue; - } try { - for (int i = 1, f = normal_x_field; i < 4; ++i, ++f) - { - float value = boost::lexical_cast (st[i]); - memcpy (&cloud.data[normal_idx * cloud.point_step + cloud.fields[f].offset], - &value, - sizeof (float)); - } + normals.emplace_back( + boost::lexical_cast (st[1]), + boost::lexical_cast (st[2]), + boost::lexical_cast (st[3]) + ); ++normal_idx; } catch (const boost::bad_lexical_cast&) @@ -605,6 +626,48 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, } continue; } + + // Face + if (st[0] == "f") + { + std::vector f_st; + std::string n_st; + + pcl::Vertices face_vertices; face_vertices.vertices.resize(st.size() - 1); + for (std::size_t i = 1; i < st.size (); ++i) + { + if (st[i].find("//") != std::string::npos) + { + //covers format v//vn + pcl::split(f_st, st[i], "//"); + n_st = f_st[1]; + } + else if (st[i].find('/') != std::string::npos) + { + //covers format v/vt/vn and v/vt + pcl::split(f_st, st[i], "/"); + if (f_st.size() > 2) + n_st = f_st[2]; + } + else + f_st = { st[i] }; + + int v = std::stoi(f_st[0]); + v = (v < 0) ? point_idx + v : v - 1; + face_vertices.vertices[i - 1] = v; + + //handle normals + if (!n_st.empty()) + { + int n = std::stoi(n_st); + n = (n < 0) ? normal_idx + n : n - 1; + + normal_mapping[v] += normals[n]; + normal_mapping_used = true; + } + } + continue; + } } } catch (const char *exception) @@ -614,6 +677,27 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, return (-1); } + if (normal_mapping_used && !normal_mapping.empty()) + { + for (uindex_t i = 0, main_offset = 0; i < cloud.width; ++i, main_offset += cloud.point_step) + { + normal_mapping[i].normalize(); + + for (int j = 0, f = normal_x_field; j < 3; ++j, ++f) + memcpy(&cloud.data[main_offset + cloud.fields[f].offset], &normal_mapping[i][j], sizeof(float)); + } + } + else if (cloud.width == normals.size()) + { + // if obj file contains vertex normals (same number as vertices), but does not define faces, + // then associate vertices and vertex normals one-to-one + for (uindex_t i = 0, main_offset = 0; i < cloud.width; ++i, main_offset += cloud.point_step) + { + for (int j = 0, f = normal_x_field; j < 3; ++j, ++f) + memcpy(&cloud.data[main_offset + cloud.fields[f].offset], &normals[i][j], sizeof(float)); + } + } + double total_time = tt.toc (); PCL_DEBUG ("[pcl::OBJReader::read] Loaded %s as a dense cloud in %g ms with %d points. Available dimensions: %s.\n", file_name.c_str (), total_time, @@ -662,16 +746,24 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh, // Get normal_x and rgba fields indices int normal_x_field = -1; + std::vector normals; + + //vector[idx of vertex] + std::vector normal_mapping; + // std::size_t rgba_field = 0; for (std::size_t i = 0; i < mesh.cloud.fields.size (); ++i) if (mesh.cloud.fields[i].name == "normal_x") { + normals.reserve(mesh.cloud.width); + normal_mapping.resize(mesh.cloud.width, Eigen::Vector3f::Zero()); normal_x_field = i; break; } std::size_t v_idx = 0; std::size_t f_idx = 0; + std::size_t vt_idx = 0; std::string line; std::vector st; std::vector > coordinates; @@ -689,8 +781,8 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh, // Tokenize the line pcl::split (st, line, "\t\r "); - // Ignore comments - if (st[0] == "#") + // Ignore comments and lines with only whitespace + if (st.empty() || st[0] == "#") continue; // Vertex if (st[0] == "v") @@ -718,13 +810,11 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh, { try { - for (int i = 1, f = normal_x_field; i < 4; ++i, ++f) - { - float value = boost::lexical_cast (st[i]); - memcpy (&mesh.cloud.data[vn_idx * mesh.cloud.point_step + mesh.cloud.fields[f].offset], - &value, - sizeof (float)); - } + normals.emplace_back( + boost::lexical_cast (st[1]), + boost::lexical_cast (st[2]), + boost::lexical_cast (st[3]) + ); ++vn_idx; } catch (const boost::bad_lexical_cast&) @@ -746,6 +836,7 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh, coordinates.emplace_back(c[0], c[1]); else coordinates.emplace_back(c[0]/c[2], c[1]/c[2]); + ++vt_idx; } catch (const boost::bad_lexical_cast&) { @@ -779,23 +870,55 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh, // Face if (st[0] == "f") { - // TODO read in normal indices properly - pcl::Vertices face_v; face_v.vertices.resize (st.size () - 1); + std::vector f_st; + std::string n_st; + std::string vt_st; + + pcl::Vertices face_vertices; face_vertices.vertices.resize (st.size () - 1); pcl::Vertices tex_indices; tex_indices.vertices.reserve (st.size () - 1); for (std::size_t i = 1; i < st.size (); ++i) { - char* str_end; - int v = std::strtol(st[i].c_str(), &str_end, 10); + if (st[i].find("//") != std::string::npos) + { + //covers format v//vn + pcl::split(f_st, st[i], "//"); + n_st = f_st[1]; + } + else if (st[i].find('/') != std::string::npos) + { + //covers format v/vt/vn and v/vt + pcl::split(f_st, st[i], "/"); + if (f_st.size() > 1) + vt_st = f_st[1]; + + if (f_st.size() > 2) + n_st = f_st[2]; + } + else + f_st = { st[i] }; + + int v = std::stoi(f_st[0]); v = (v < 0) ? v_idx + v : v - 1; - face_v.vertices[i-1] = v; - if (str_end[0] == '/' && str_end[1] != '/' && str_end[1] != '\0') + face_vertices.vertices[i - 1] = v; + + //handle normals + if (!n_st.empty()) { - // texture coordinate indices are optional - int tex_index = std::strtol(str_end+1, &str_end, 10); - tex_indices.vertices.push_back (tex_index - 1); + int n = std::stoi(n_st); + n = (n < 0) ? vn_idx + n : n - 1; + + normal_mapping[v] += normals[n]; + } + + if (!vt_st.empty()) + { + int vt = std::stoi(vt_st); + vt = (vt < 0) ? vt_idx + vt : vt - 1; + + tex_indices.vertices.push_back(vt); } } - mesh.tex_polygons.back ().push_back (face_v); + mesh.tex_polygons.back ().push_back (face_vertices); mesh.tex_coord_indices.back ().push_back (tex_indices); ++f_idx; continue; @@ -809,6 +932,17 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh, return (-1); } + if (!normal_mapping.empty()) + { + for (uindex_t i = 0, main_offset = 0; i < mesh.cloud.width; ++i, main_offset += mesh.cloud.point_step) + { + normal_mapping[i].normalize(); + + for (int j = 0, f = normal_x_field; j < 3; ++j, ++f) + memcpy(&mesh.cloud.data[main_offset + mesh.cloud.fields[f].offset], &normal_mapping[i][j], sizeof(float)); + } + } + double total_time = tt.toc (); PCL_DEBUG ("[pcl::OBJReader::read] Loaded %s as a TextureMesh in %g ms with %zu points, %zu texture materials, %zu polygons.\n", file_name.c_str (), total_time, @@ -857,10 +991,18 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PolygonMesh &mesh, // Get normal_x and rgba fields indices int normal_x_field = -1; + std::vector normals; + + //vector[idx of vertex] + std::vector normal_mapping; + bool normal_mapping_used = false; + // std::size_t rgba_field = 0; for (std::size_t i = 0; i < mesh.cloud.fields.size (); ++i) if (mesh.cloud.fields[i].name == "normal_x") { + normals.reserve(mesh.cloud.width); + normal_mapping.resize(mesh.cloud.width, Eigen::Vector3f::Zero()); normal_x_field = i; break; } @@ -882,8 +1024,8 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PolygonMesh &mesh, // Tokenize the line pcl::split (st, line, "\t\r "); - // Ignore comments - if (st[0] == "#") + // Ignore comments and lines with only whitespace + if (st.empty() || st[0] == "#") continue; // Vertex @@ -913,13 +1055,11 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PolygonMesh &mesh, { try { - for (int i = 1, f = normal_x_field; i < 4; ++i, ++f) - { - float value = boost::lexical_cast (st[i]); - memcpy (&mesh.cloud.data[vn_idx * mesh.cloud.point_step + mesh.cloud.fields[f].offset], - &value, - sizeof (float)); - } + normals.emplace_back( + boost::lexical_cast (st[1]), + boost::lexical_cast (st[2]), + boost::lexical_cast (st[3]) + ); ++vn_idx; } catch (const boost::bad_lexical_cast&) @@ -933,13 +1073,41 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PolygonMesh &mesh, // Face if (st[0] == "f") { + std::vector f_st; + std::string n_st; + pcl::Vertices face_vertices; face_vertices.vertices.resize (st.size () - 1); for (std::size_t i = 1; i < st.size (); ++i) { - int v; - sscanf (st[i].c_str (), "%d", &v); + if (st[i].find("//") != std::string::npos) + { + //covers format v//vn + pcl::split(f_st, st[i], "//"); + n_st = f_st[1]; + } + else if (st[i].find('/') != std::string::npos) + { + //covers format v/vt/vn and v/vt + pcl::split(f_st, st[i], "/"); + if (f_st.size() > 2) + n_st = f_st[2]; + } + else + f_st = { st[i] }; + + int v = std::stoi(f_st[0]); v = (v < 0) ? v_idx + v : v - 1; face_vertices.vertices[i - 1] = v; + + //handle normals + if (!n_st.empty()) + { + int n = std::stoi(n_st); + n = (n < 0) ? vn_idx + n : n - 1; + + normal_mapping[v] += normals[n]; + normal_mapping_used = true; + } } mesh.polygons.push_back (face_vertices); continue; @@ -953,6 +1121,27 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PolygonMesh &mesh, return (-1); } + if (normal_mapping_used && !normal_mapping.empty()) + { + for (uindex_t i = 0, main_offset = 0; i < mesh.cloud.width; ++i, main_offset += mesh.cloud.point_step) + { + normal_mapping[i].normalize(); + + for (int j = 0, f = normal_x_field; j < 3; ++j, ++f) + memcpy(&mesh.cloud.data[main_offset + mesh.cloud.fields[f].offset], &normal_mapping[i][j], sizeof(float)); + } + } + else if (mesh.cloud.width == normals.size()) + { + // if obj file contains vertex normals (same number as vertices), but does not define faces, + // then associate vertices and vertex normals one-to-one + for (uindex_t i = 0, main_offset = 0; i < mesh.cloud.width; ++i, main_offset += mesh.cloud.point_step) + { + for (int j = 0, f = normal_x_field; j < 3; ++j, ++f) + memcpy(&mesh.cloud.data[main_offset + mesh.cloud.fields[f].offset], &normals[i][j], sizeof(float)); + } + } + double total_time = tt.toc (); PCL_DEBUG ("[pcl::OBJReader::read] Loaded %s as a PolygonMesh in %g ms with %zu points and %zu polygons.\n", file_name.c_str (), total_time, diff --git a/io/src/openni2/openni2_device.cpp b/io/src/openni2/openni2_device.cpp index 8d460471..a029e532 100644 --- a/io/src/openni2/openni2_device.cpp +++ b/io/src/openni2/openni2_device.cpp @@ -56,7 +56,7 @@ pcl::io::openni2::OpenNI2Device::OpenNI2Device (const std::string& device_URI) openni_device_.reset (new openni::Device); - if (device_URI.length () > 0) + if (!device_URI.empty()) status = openni_device_->open (device_URI.c_str ()); else status = openni_device_->open (openni::ANY_DEVICE); @@ -215,8 +215,8 @@ pcl::io::openni2::OpenNI2Device::isIRVideoModeSupported (const OpenNI2VideoMode& bool supported = false; - std::vector::const_iterator it = ir_video_modes_.begin (); - std::vector::const_iterator it_end = ir_video_modes_.end (); + auto it = ir_video_modes_.cbegin (); + auto it_end = ir_video_modes_.cend (); while (it != it_end && !supported) { @@ -234,8 +234,8 @@ pcl::io::openni2::OpenNI2Device::isColorVideoModeSupported (const OpenNI2VideoMo bool supported = false; - std::vector::const_iterator it = color_video_modes_.begin (); - std::vector::const_iterator it_end = color_video_modes_.end (); + auto it = color_video_modes_.cbegin (); + auto it_end = color_video_modes_.cend (); while (it != it_end && !supported) { @@ -253,8 +253,8 @@ pcl::io::openni2::OpenNI2Device::isDepthVideoModeSupported (const OpenNI2VideoMo bool supported = false; - std::vector::const_iterator it = depth_video_modes_.begin (); - std::vector::const_iterator it_end = depth_video_modes_.end (); + auto it = depth_video_modes_.cbegin (); + auto it_end = depth_video_modes_.cend (); while (it != it_end && !supported) { diff --git a/io/src/openni2/openni2_timer_filter.cpp b/io/src/openni2/openni2_timer_filter.cpp index 932ff0a2..538c5211 100644 --- a/io/src/openni2/openni2_timer_filter.cpp +++ b/io/src/openni2/openni2_timer_filter.cpp @@ -73,8 +73,8 @@ namespace pcl { double sum = 0; - std::deque::const_iterator it = buffer_.begin (); - std::deque::const_iterator it_end = buffer_.end (); + auto it = buffer_.cbegin (); + auto it_end = buffer_.cend (); while (it != it_end) { diff --git a/io/src/openni2_grabber.cpp b/io/src/openni2_grabber.cpp index 2ce1b603..0cdaa947 100644 --- a/io/src/openni2_grabber.cpp +++ b/io/src/openni2_grabber.cpp @@ -46,11 +46,11 @@ #include #include #include +#include #include #include #include #include -#include // for exists using namespace pcl::io::openni2; @@ -292,7 +292,7 @@ pcl::io::OpenNI2Grabber::setupDevice (const std::string& device_id, const Mode& try { - if (boost::filesystem::exists (device_id)) + if (pcl_fs::exists (device_id)) { device_ = deviceManager->getFileDevice (device_id); // Treat as file path } diff --git a/io/src/openni_camera/openni_driver.cpp b/io/src/openni_camera/openni_driver.cpp index 11e50769..5b58936b 100644 --- a/io/src/openni_camera/openni_driver.cpp +++ b/io/src/openni_camera/openni_driver.cpp @@ -348,7 +348,7 @@ openni_wrapper::OpenNIDriver::getDeviceInfos () noexcept { libusb_device* device = devices[devIdx]; std::uint8_t busId = libusb_get_bus_number (device); - std::map >::const_iterator busIt = bus_map_.find (busId); + auto busIt = bus_map_.find (busId); if (busIt == bus_map_.end ()) continue; diff --git a/io/src/openni_grabber.cpp b/io/src/openni_grabber.cpp index 04d43c76..1ff5887a 100644 --- a/io/src/openni_grabber.cpp +++ b/io/src/openni_grabber.cpp @@ -42,12 +42,12 @@ #include #include #include +#include #include #include #include #include #include -#include // for exists using namespace std::chrono_literals; @@ -303,7 +303,7 @@ pcl::OpenNIGrabber::setupDevice (const std::string& device_id, const Mode& depth try { - if (boost::filesystem::exists (device_id)) + if (pcl_fs::exists (device_id)) { device_ = driver.createVirtualDevice (device_id, true, true); } diff --git a/io/src/pcd_io.cpp b/io/src/pcd_io.cpp index 2a90664c..b811da80 100644 --- a/io/src/pcd_io.cpp +++ b/io/src/pcd_io.cpp @@ -43,6 +43,7 @@ #include #include // pcl::utils::ignore #include +#include #include #include #include @@ -51,7 +52,6 @@ #include #include -#include // for permissions /////////////////////////////////////////////////////////////////////////////////////////// void @@ -69,10 +69,13 @@ pcl::PCDWriter::setLockingPermissions (const std::string &file_name, else PCL_DEBUG ("[pcl::PCDWriter::setLockingPermissions] File %s could not be locked!\n", file_name.c_str ()); - namespace fs = boost::filesystem; try { - fs::permissions (fs::path (file_name), fs::add_perms | fs::set_gid_on_exe); +#ifdef PCL_USING_STD_FILESYSTEM + pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::perms::set_gid, pcl_fs::perm_options::add); +#else + pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::add_perms | pcl_fs::set_gid_on_exe); +#endif } catch (const std::exception &e) { @@ -90,10 +93,13 @@ pcl::PCDWriter::resetLockingPermissions (const std::string &file_name, pcl::utils::ignore(file_name, lock); #ifndef _WIN32 #ifndef NO_MANDATORY_LOCKING - namespace fs = boost::filesystem; try { - fs::permissions (fs::path (file_name), fs::remove_perms | fs::set_gid_on_exe); +#ifdef PCL_USING_STD_FILESYSTEM + pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::perms::set_gid, pcl_fs::perm_options::remove); +#else + pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::remove_perms | pcl_fs::set_gid_on_exe); +#endif } catch (const std::exception &e) { @@ -319,15 +325,19 @@ pcl::PCDReader::readHeader (std::istream &fs, pcl::PCLPointCloud2 &cloud, // Read the header + comments line by line until we get to if (line_type.substr (0, 4) == "DATA") { - data_idx = static_cast (fs.tellg ()); if (st.at (1).substr (0, 17) == "binary_compressed") - data_type = 2; - else - if (st.at (1).substr (0, 6) == "binary") - data_type = 1; - continue; + data_type = 2; + else if (st.at (1).substr (0, 6) == "binary") + data_type = 1; + else if (st.at (1).substr (0, 5) == "ascii") + data_type = 0; + else { + PCL_WARN("[pcl::PCDReader::readHeader] Unknown DATA format: %s\n", line.c_str()); + continue; + } + data_idx = static_cast (fs.tellg ()); } - break; + break; // DATA is the last header entry, everything after it will be interpreted as point cloud data } } catch (const char *exception) @@ -385,9 +395,9 @@ pcl::PCDReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &c Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, int &data_type, unsigned int &data_idx, const int offset) { - if (file_name.empty() || !boost::filesystem::exists (file_name)) + if (file_name.empty ()) { - PCL_ERROR ("[pcl::PCDReader::readHeader] Could not find file '%s'.\n", file_name.c_str ()); + PCL_ERROR ("[pcl::PCDReader::readHeader] No file name given!\n"); return (-1); } @@ -395,6 +405,13 @@ pcl::PCDReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &c // std::getline() corrupting the result of ifstream::tellg() std::ifstream fs; fs.open (file_name.c_str (), std::ios::binary); + + if (!fs.good ()) + { + PCL_ERROR ("[pcl::PCDReader::readHeader] Could not find file '%s'.\n", file_name.c_str ()); + return (-1); + } + if (!fs.is_open () || fs.fail ()) { PCL_ERROR ("[pcl::PCDReader::readHeader] Could not open file '%s'! Error : %s\n", file_name.c_str (), strerror (errno)); @@ -496,7 +513,7 @@ pcl::PCDReader::readBodyASCII (std::istream &fs, pcl::PCLPointCloud2 &cloud, int { #define COPY_STRING(CASE_LABEL) \ case CASE_LABEL: { \ - copyStringValue>( \ + copyStringValue>( \ st.at(total + c), cloud, idx, d, c, is); \ break; \ } @@ -627,11 +644,11 @@ pcl::PCDReader::readBodyBinary (const unsigned char *map, pcl::PCLPointCloud2 &c { for (uindex_t c = 0; c < cloud.fields[d].count; ++c) { -#define SET_CLOUD_DENSE(CASE_LABEL) \ - case CASE_LABEL: { \ - if (!isValueFinite>(cloud, i, point_size, d, c)) \ - cloud.is_dense = false; \ - break; \ +#define SET_CLOUD_DENSE(CASE_LABEL) \ + case CASE_LABEL: { \ + if (!isValueFinite>(cloud, i, point_size, d, c)) \ + cloud.is_dense = false; \ + break; \ } switch (cloud.fields[d].datatype) { @@ -664,7 +681,13 @@ pcl::PCDReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, pcl::console::TicToc tt; tt.tic (); - if (file_name.empty() || !boost::filesystem::exists (file_name)) + if (file_name.empty ()) + { + PCL_ERROR ("[pcl::PCDReader::read] No file name given!\n"); + return (-1); + } + + if (!pcl_fs::exists (file_name)) { PCL_ERROR ("[pcl::PCDReader::read] Could not find file '%s'.\n", file_name.c_str ()); return (-1); @@ -1137,7 +1160,7 @@ pcl::PCDWriter::writeASCII (const std::string &file_name, const pcl::PCLPointClo { #define COPY_VALUE(CASE_LABEL) \ case CASE_LABEL: { \ - copyValueString>( \ + copyValueString>( \ cloud, i, point_size, d, c, stream); \ break; \ } diff --git a/io/src/ply_io.cpp b/io/src/ply_io.cpp index aaedca8f..936e836f 100644 --- a/io/src/ply_io.cpp +++ b/io/src/ply_io.cpp @@ -37,6 +37,7 @@ #include #include +#include #include #include @@ -46,13 +47,8 @@ #include #include -// https://www.boost.org/doc/libs/1_70_0/libs/filesystem/doc/index.htm#Coding-guidelines -#define BOOST_FILESYSTEM_NO_DEPRECATED -#include #include // for split -namespace fs = boost::filesystem; - std::tuple, std::function > pcl::PLYReader::elementDefinitionCallback (const std::string& element_name, std::size_t count) { @@ -413,8 +409,16 @@ void pcl::PLYReader::vertexIntensityCallback (pcl::io::ply::uint8 intensity) { pcl::io::ply::float32 intensity_ (intensity); - cloud_->at(vertex_count_, vertex_offset_before_) = intensity_; - vertex_offset_before_ += static_cast (sizeof (pcl::io::ply::float32)); + try + { + cloud_->at(vertex_count_, vertex_offset_before_) = intensity_; + vertex_offset_before_ += static_cast (sizeof (pcl::io::ply::float32)); + } + catch(const std::out_of_range&) + { + PCL_WARN ("[pcl::PLYReader::vertexIntensityCallback] Incorrect data index specified (%lu)!\n", vertex_count_ * cloud_->point_step + vertex_offset_before_); + assert(false); + } } void @@ -439,7 +443,7 @@ pcl::PLYReader::vertexEndCallback () void pcl::PLYReader::rangeGridBeginCallback () { - range_grid_->push_back (std::vector ()); + range_grid_->emplace_back(); } void @@ -463,7 +467,7 @@ pcl::PLYReader::rangeGridEndCallback () {} void pcl::PLYReader::faceBeginCallback () { - polygons_->push_back (pcl::Vertices ()); + polygons_->emplace_back(); } void @@ -582,7 +586,7 @@ pcl::PLYReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, int data_type; unsigned int data_idx; - if (!fs::exists (file_name)) + if (!pcl_fs::exists (file_name)) { PCL_ERROR ("[pcl::PLYReader::read] File (%s) not found!\n",file_name.c_str ()); return (-1); @@ -682,7 +686,7 @@ pcl::PLYReader::read (const std::string &file_name, pcl::PolygonMesh &mesh, unsigned int data_idx; polygons_ = &(mesh.polygons); - if (!fs::exists (file_name)) + if (!pcl_fs::exists (file_name)) { PCL_ERROR ("[pcl::PLYReader::read] File (%s) not found!\n",file_name.c_str ()); return (-1); @@ -1200,10 +1204,10 @@ pcl::PLYWriter::writeContentWithRangeGridASCII (int nr_points, //////////////////////////////////////////////////////////////////////////////////////// int -pcl::PLYWriter::writeBinary (const std::string &file_name, - const pcl::PCLPointCloud2 &cloud, - const Eigen::Vector4f &origin, - const Eigen::Quaternionf &orientation, +pcl::PLYWriter::writeBinary (const std::string& file_name, + const pcl::PCLPointCloud2& cloud, + const Eigen::Vector4f& origin, + const Eigen::Quaternionf& orientation, bool use_camera) { if (cloud.data.empty ()) @@ -1213,14 +1217,36 @@ pcl::PLYWriter::writeBinary (const std::string &file_name, } std::ofstream fs; - fs.open (file_name.c_str ()); // Open file + fs.open (file_name.c_str (), + std::ios::out | std::ios::binary | + std::ios::trunc); // Open file in binary mode and erase current contents + // if any if (!fs) { - PCL_ERROR ("[pcl::PLYWriter::writeBinary] Error during opening (%s)!\n", file_name.c_str ()); + PCL_ERROR ("[pcl::PLYWriter::writeBinary] Error during opening (%s)!\n", + file_name.c_str ()); return (-1); } - unsigned int nr_points = cloud.width * cloud.height; + if (!(writeBinary (fs, cloud, origin, orientation, use_camera) == 0)) + { + fs.close(); + return -1; + } + fs.close(); + return 0; +} + +int +pcl::PLYWriter::writeBinary (std::ostream& os, + const pcl::PCLPointCloud2& cloud, + const Eigen::Vector4f& origin, + const Eigen::Quaternionf& orientation, + bool use_camera) +{ + os.imbue(std::locale::classic()); + + unsigned int nr_points = cloud.width * cloud.height; // Compute the range_grid, if necessary, and then write out the PLY header bool doRangeGrid = !use_camera && cloud.height > 1; @@ -1237,17 +1263,17 @@ pcl::PLYWriter::writeBinary (const std::string &file_name, // If no x-coordinate field exists, then assume all points are valid if (xfield < 0) { - for (unsigned int i=0; i < nr_points; ++i) + for (unsigned int i = 0; i < nr_points; ++i) rangegrid[i] = i; valid_points = nr_points; } // Otherwise, look at their x-coordinates to determine if points are valid else { - for (std::size_t i=0; i < nr_points; ++i) + for (std::size_t i = 0; i < nr_points; ++i) { - const float& value = cloud.at(i, cloud.fields[xfield].offset); - if (std::isfinite(value)) + const float& value = cloud.at (i, cloud.fields[xfield].offset); + if (std::isfinite (value)) { rangegrid[i] = valid_points; ++valid_points; @@ -1256,21 +1282,11 @@ pcl::PLYWriter::writeBinary (const std::string &file_name, rangegrid[i] = -1; } } - fs << generateHeader (cloud, origin, orientation, true, use_camera, valid_points); + os << generateHeader (cloud, origin, orientation, true, use_camera, valid_points); } else { - fs << generateHeader (cloud, origin, orientation, true, use_camera, nr_points); - } - - // Close the file - fs.close (); - // Open file in binary appendable - std::ofstream fpout (file_name.c_str (), std::ios::app | std::ios::binary); - if (!fpout) - { - PCL_ERROR ("[pcl::PLYWriter::writeBinary] Error during reopening (%s)!\n", file_name.c_str ()); - return (-1); + os << generateHeader (cloud, origin, orientation, true, use_camera, nr_points); } // Iterate through the points @@ -1285,16 +1301,17 @@ pcl::PLYWriter::writeBinary (const std::string &file_name, { int count = cloud.fields[d].count; if (count == 0) - count = 1; //workaround + count = 1; // workaround if (count > 1) { static unsigned int ucount (count); - fpout.write (reinterpret_cast (&ucount), sizeof (unsigned int)); + os.write (reinterpret_cast (&ucount), sizeof (unsigned int)); } // Ignore invalid padded dimensions that are inherited from binary data if (cloud.fields[d].name == "_") { - total += cloud.fields[d].count; // jump over this many elements in the string token + total += + cloud.fields[d].count; // jump over this many elements in the string token continue; } @@ -1302,70 +1319,93 @@ pcl::PLYWriter::writeBinary (const std::string &file_name, { switch (cloud.fields[d].datatype) { - case pcl::PCLPointField::INT8: - { - fpout.write (&cloud.at(i, cloud.fields[d].offset + (total + c) * sizeof (char)), sizeof (char)); - break; - } - case pcl::PCLPointField::UINT8: - { - fpout.write (reinterpret_cast (&cloud.at(i, cloud.fields[d].offset + (total + c) * sizeof (unsigned char))), sizeof (unsigned char)); - break; - } - case pcl::PCLPointField::INT16: - { - fpout.write (reinterpret_cast (&cloud.at(i, cloud.fields[d].offset + (total + c) * sizeof (short))), sizeof (short)); - break; - } - case pcl::PCLPointField::UINT16: - { - fpout.write (reinterpret_cast (&cloud.at(i, cloud.fields[d].offset + (total + c) * sizeof (unsigned short))), sizeof (unsigned short)); - break; - } - case pcl::PCLPointField::INT32: + case pcl::PCLPointField::INT8: + { + os.write ( + &cloud.at (i, cloud.fields[d].offset + (total + c) * sizeof (char)), + sizeof (char)); + break; + } + case pcl::PCLPointField::UINT8: + { + os.write ( + reinterpret_cast (&cloud.at ( + i, cloud.fields[d].offset + (total + c) * sizeof (unsigned char))), + sizeof (unsigned char)); + break; + } + case pcl::PCLPointField::INT16: + { + os.write (reinterpret_cast (&cloud.at ( + i, cloud.fields[d].offset + (total + c) * sizeof (short))), + sizeof (short)); + break; + } + case pcl::PCLPointField::UINT16: + { + os.write ( + reinterpret_cast (&cloud.at ( + i, cloud.fields[d].offset + (total + c) * sizeof (unsigned short))), + sizeof (unsigned short)); + break; + } + case pcl::PCLPointField::INT32: + { + os.write (reinterpret_cast (&cloud.at ( + i, cloud.fields[d].offset + (total + c) * sizeof (int))), + sizeof (int)); + break; + } + case pcl::PCLPointField::UINT32: + { + if (cloud.fields[d].name.find ("rgba") == std::string::npos) { - fpout.write (reinterpret_cast (&cloud.at(i, cloud.fields[d].offset + (total + c) * sizeof (int))), sizeof (int)); - break; + os.write ( + reinterpret_cast (&cloud.at ( + i, cloud.fields[d].offset + (total + c) * sizeof (unsigned int))), + sizeof (unsigned int)); } - case pcl::PCLPointField::UINT32: + else { - if (cloud.fields[d].name.find ("rgba") == std::string::npos) - { - fpout.write (reinterpret_cast (&cloud.at(i, cloud.fields[d].offset + (total + c) * sizeof (unsigned int))), sizeof (unsigned int)); - } - else - { - const auto& color = cloud.at(i, cloud.fields[d].offset + (total + c) * sizeof (pcl::RGB)); - fpout.write (reinterpret_cast (&color.r), sizeof (unsigned char)); - fpout.write (reinterpret_cast (&color.g), sizeof (unsigned char)); - fpout.write (reinterpret_cast (&color.b), sizeof (unsigned char)); - fpout.write (reinterpret_cast (&color.a), sizeof (unsigned char)); - } - break; + const auto& color = cloud.at ( + i, cloud.fields[d].offset + (total + c) * sizeof (pcl::RGB)); + os.write (reinterpret_cast (&color.r), sizeof (unsigned char)); + os.write (reinterpret_cast (&color.g), sizeof (unsigned char)); + os.write (reinterpret_cast (&color.b), sizeof (unsigned char)); + os.write (reinterpret_cast (&color.a), sizeof (unsigned char)); } - case pcl::PCLPointField::FLOAT32: + break; + } + case pcl::PCLPointField::FLOAT32: + { + if (cloud.fields[d].name.find ("rgb") == std::string::npos) { - if (cloud.fields[d].name.find ("rgb") == std::string::npos) - { - fpout.write (reinterpret_cast (&cloud.at(i, cloud.fields[d].offset + (total + c) * sizeof (float))), sizeof (float)); - } - else - { - const auto& color = cloud.at(i, cloud.fields[d].offset + (total + c) * sizeof (pcl::RGB)); - fpout.write (reinterpret_cast (&color.r), sizeof (unsigned char)); - fpout.write (reinterpret_cast (&color.g), sizeof (unsigned char)); - fpout.write (reinterpret_cast (&color.b), sizeof (unsigned char)); - } - break; + os.write (reinterpret_cast (&cloud.at ( + i, cloud.fields[d].offset + (total + c) * sizeof (float))), + sizeof (float)); } - case pcl::PCLPointField::FLOAT64: + else { - fpout.write (reinterpret_cast (&cloud.at(i, cloud.fields[d].offset + (total + c) * sizeof (double))), sizeof (double)); - break; + const auto& color = cloud.at ( + i, cloud.fields[d].offset + (total + c) * sizeof (pcl::RGB)); + os.write (reinterpret_cast (&color.r), sizeof (unsigned char)); + os.write (reinterpret_cast (&color.g), sizeof (unsigned char)); + os.write (reinterpret_cast (&color.b), sizeof (unsigned char)); } - default: - PCL_WARN ("[pcl::PLYWriter::writeBinary] Incorrect field data type specified (%d)!\n", cloud.fields[d].datatype); - break; + break; + } + case pcl::PCLPointField::FLOAT64: + { + os.write (reinterpret_cast (&cloud.at ( + i, cloud.fields[d].offset + (total + c) * sizeof (double))), + sizeof (double)); + break; + } + default: + PCL_WARN ("[pcl::PLYWriter::writeBinary] Incorrect field data type specified " + "(%d)!\n", + cloud.fields[d].datatype); + break; } } } @@ -1378,17 +1418,17 @@ pcl::PLYWriter::writeBinary (const std::string &file_name, for (int i = 0; i < 3; ++i) { if (origin[3] != 0) - t = origin[i]/origin[3]; + t = origin[i] / origin[3]; else t = origin[i]; - fpout.write (reinterpret_cast (&t), sizeof (float)); + os.write (reinterpret_cast (&t), sizeof (float)); } Eigen::Matrix3f R = orientation.toRotationMatrix (); for (int i = 0; i < 3; ++i) for (int j = 0; j < 3; ++j) - { - fpout.write (reinterpret_cast (&R (i, j)),sizeof (float)); - } + { + os.write (reinterpret_cast (&R (i, j)), sizeof (float)); + } ///////////////////////////////////////////////////// // Append those properties directly. // @@ -1406,41 +1446,44 @@ pcl::PLYWriter::writeBinary (const std::string &file_name, const float zerof = 0; for (int i = 0; i < 5; ++i) - fpout.write (reinterpret_cast (&zerof), sizeof (float)); + os.write (reinterpret_cast (&zerof), sizeof (float)); // width and height int width = cloud.width; - fpout.write (reinterpret_cast (&width), sizeof (int)); + os.write (reinterpret_cast (&width), sizeof (int)); int height = cloud.height; - fpout.write (reinterpret_cast (&height), sizeof (int)); + os.write (reinterpret_cast (&height), sizeof (int)); for (int i = 0; i < 2; ++i) - fpout.write (reinterpret_cast (&zerof), sizeof (float)); + os.write (reinterpret_cast (&zerof), sizeof (float)); } else if (doRangeGrid) { // Write out range_grid - for (std::size_t i=0; i < nr_points; ++i) + for (std::size_t i = 0; i < nr_points; ++i) { pcl::io::ply::uint8 listlen; if (rangegrid[i] >= 0) { listlen = 1; - fpout.write (reinterpret_cast (&listlen), sizeof (pcl::io::ply::uint8)); - fpout.write (reinterpret_cast (&rangegrid[i]), sizeof (pcl::io::ply::int32)); + os.write (reinterpret_cast (&listlen), + sizeof (pcl::io::ply::uint8)); + os.write (reinterpret_cast (&rangegrid[i]), + sizeof (pcl::io::ply::int32)); } else { listlen = 0; - fpout.write (reinterpret_cast (&listlen), sizeof (pcl::io::ply::uint8)); + os.write (reinterpret_cast (&listlen), + sizeof (pcl::io::ply::uint8)); } } } // Close file - fpout.close (); + return (0); } diff --git a/io/src/real_sense_2_grabber.cpp b/io/src/real_sense_2_grabber.cpp index b034501b..798b6cd9 100644 --- a/io/src/real_sense_2_grabber.cpp +++ b/io/src/real_sense_2_grabber.cpp @@ -86,6 +86,10 @@ namespace pcl signal_PointXYZRGBA->num_slots () == 0) return; + // cache stream options + const bool color_requested = signal_PointXYZRGB->num_slots () > 0 || signal_PointXYZRGBA->num_slots () > 0; + const bool ir_requested = signal_PointXYZI->num_slots () > 0; + running_ = true; quit_ = false; @@ -96,30 +100,30 @@ namespace pcl { cfg.enable_device_from_file ( file_name_or_serial_number_, repeat_playback_ ); } + // capture from camera else { + // find by serial number if provided if (!file_name_or_serial_number_.empty ()) cfg.enable_device ( file_name_or_serial_number_ ); - if (signal_PointXYZRGB->num_slots () > 0 || signal_PointXYZRGBA->num_slots () > 0) - { + // enable camera streams as requested + if (color_requested) cfg.enable_stream ( RS2_STREAM_COLOR, device_width_, device_height_, RS2_FORMAT_RGB8, target_fps_ ); - } cfg.enable_stream ( RS2_STREAM_DEPTH, device_width_, device_height_, RS2_FORMAT_Z16, target_fps_ ); - if (signal_PointXYZI->num_slots () > 0) - { + if (ir_requested) cfg.enable_stream ( RS2_STREAM_INFRARED, device_width_, device_height_, RS2_FORMAT_Y8, target_fps_ ); - } } rs2::pipeline_profile prof = pipe_.start ( cfg ); - if ( prof.get_stream ( RS2_STREAM_COLOR ).format ( ) != RS2_FORMAT_RGB8 || + // check all requested streams started properly + if ( (color_requested && prof.get_stream ( RS2_STREAM_COLOR ).format ( ) != RS2_FORMAT_RGB8) || prof.get_stream ( RS2_STREAM_DEPTH ).format ( ) != RS2_FORMAT_Z16 || - prof.get_stream ( RS2_STREAM_INFRARED ).format ( ) != RS2_FORMAT_Y8 ) + (ir_requested && prof.get_stream (RS2_STREAM_INFRARED ).format ( ) != RS2_FORMAT_Y8) ) THROW_IO_EXCEPTION ( "This stream type or format not supported." ); thread_ = std::thread ( &RealSense2Grabber::threadFunction, this ); diff --git a/io/src/robot_eye_grabber.cpp b/io/src/robot_eye_grabber.cpp index 2db6da17..22574a2b 100644 --- a/io/src/robot_eye_grabber.cpp +++ b/io/src/robot_eye_grabber.cpp @@ -269,7 +269,7 @@ void pcl::RobotEyeGrabber::socketThreadLoop () { asyncSocketReceive(); - io_service_.reset(); + io_service_.restart(); io_service_.run(); } diff --git a/io/src/tim_grabber.cpp b/io/src/tim_grabber.cpp index a97b9e37..953f7bc3 100644 --- a/io/src/tim_grabber.cpp +++ b/io/src/tim_grabber.cpp @@ -184,8 +184,8 @@ pcl::TimGrabber::start () try { boost::asio::ip::tcp::resolver resolver (tim_io_service_); - tcp_endpoint_ = *resolver.resolve (tcp_endpoint_); - tim_socket_.connect (tcp_endpoint_); + boost::asio::ip::tcp::resolver::results_type endpoints = resolver.resolve (tcp_endpoint_); + boost::asio::connect(tim_socket_, endpoints); } catch (std::exception& e) { diff --git a/io/src/vlp_grabber.cpp b/io/src/vlp_grabber.cpp index b35087b7..8e95b981 100644 --- a/io/src/vlp_grabber.cpp +++ b/io/src/vlp_grabber.cpp @@ -92,7 +92,7 @@ pcl::VLPGrabber::loadVLP16Corrections () boost::asio::ip::address pcl::VLPGrabber::getDefaultNetworkAddress () { - return (boost::asio::ip::address::from_string ("255.255.255.255")); + return (boost::asio::ip::make_address ("255.255.255.255")); } ///////////////////////////////////////////////////////////////////////////// diff --git a/io/src/vtk_lib_io.cpp b/io/src/vtk_lib_io.cpp index bb5a5cfe..9c1bc519 100644 --- a/io/src/vtk_lib_io.cpp +++ b/io/src/vtk_lib_io.cpp @@ -252,7 +252,7 @@ pcl::io::vtk2mesh (const vtkSmartPointer& poly_data, pcl::PolygonMe if (poly_data->GetPoints () == nullptr) { - PCL_ERROR ("[pcl::io::vtk2mesh] Given vtkPolyData is misformed (contains nullpointer instead of points).\n"); + PCL_ERROR ("[pcl::io::vtk2mesh] Given vtkPolyData is malformed (contains nullpointer instead of points).\n"); return (0); } vtkSmartPointer mesh_points = poly_data->GetPoints (); @@ -410,7 +410,7 @@ pcl::io::vtk2mesh (const vtkSmartPointer& poly_data, pcl::TextureMe { float tex[2]; texture_coords->GetTupleValue (i, tex); - mesh.tex_coordinates.front ().push_back (Eigen::Vector2f (tex[0], tex[1])); + mesh.tex_coordinates.front ().emplace_back(tex[0], tex[1]); } } else @@ -531,7 +531,7 @@ pcl::io::saveRangeImagePlanarFilePNG ( for (int x = 0; x < dims[0]; x++) { float* pixel = static_cast(image->GetScalarPointer(x,y,0)); - pixel[0] = range_image(y,x).range; + *pixel = range_image(x,y).range; } } diff --git a/kdtree/CMakeLists.txt b/kdtree/CMakeLists.txt index d9c94bbe..9487af14 100644 --- a/kdtree/CMakeLists.txt +++ b/kdtree/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME kdtree) set(SUBSYS_DESC "Point cloud kd-tree library") set(SUBSYS_DEPS common) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS flann) @@ -28,7 +27,6 @@ set(impl_incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) target_link_libraries("${LIB_NAME}" pcl_common FLANN::FLANN) set(EXT_DEPS flann) diff --git a/kdtree/include/pcl/kdtree/kdtree.h b/kdtree/include/pcl/kdtree/kdtree.h index fd5e357f..5638c76e 100644 --- a/kdtree/include/pcl/kdtree/kdtree.h +++ b/kdtree/include/pcl/kdtree/kdtree.h @@ -332,6 +332,15 @@ namespace pcl return (min_pts_); } + /** \brief Gets whether the results should be sorted (ascending in the distance) or not + * Otherwise the results may be returned in any order. + */ + inline bool + getSortedResults () const + { + return (sorted_); + } + protected: /** \brief The input point cloud dataset containing the points we need to use. */ PointCloudConstPtr input_; diff --git a/kdtree/include/pcl/kdtree/kdtree_flann.h b/kdtree/include/pcl/kdtree/kdtree_flann.h index 4396cb8b..73a84d4d 100644 --- a/kdtree/include/pcl/kdtree/kdtree_flann.h +++ b/kdtree/include/pcl/kdtree/kdtree_flann.h @@ -70,7 +70,7 @@ using NotCompatWithFlann = std::enable_if_t::value, b } // namespace detail /** - * @brief Comaptibility template function to allow use of various types of indices with + * @brief Compatibility template function to allow use of various types of indices with * FLANN * @details Template is used for all params to not constrain any FLANN side capability * @param[in,out] index A index searcher, of type ::flann::Index or similar, where @@ -96,7 +96,7 @@ radius_search(const FlannIndex& index, const SearchParams& params); /** - * @brief Comaptibility template function to allow use of various types of indices with + * @brief Compatibility template function to allow use of various types of indices with * FLANN * @details Template is used for all params to not constrain any FLANN side capability * @param[in,out] index A index searcher, of type ::flann::Index or similar, where diff --git a/keypoints/CMakeLists.txt b/keypoints/CMakeLists.txt index 480e022f..30419d7c 100644 --- a/keypoints/CMakeLists.txt +++ b/keypoints/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME keypoints) set(SUBSYS_DESC "Point cloud keypoints library") set(SUBSYS_DEPS common search kdtree octree features filters) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP) @@ -30,7 +29,6 @@ set(incs "include/pcl/${SUBSYS_NAME}/keypoint.h" "include/pcl/${SUBSYS_NAME}/narf_keypoint.h" "include/pcl/${SUBSYS_NAME}/sift_keypoint.h" - "include/pcl/${SUBSYS_NAME}/uniform_sampling.h" "include/pcl/${SUBSYS_NAME}/smoothed_surfaces_keypoint.h" "include/pcl/${SUBSYS_NAME}/agast_2d.h" "include/pcl/${SUBSYS_NAME}/harris_2d.h" @@ -59,7 +57,6 @@ set(impl_incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) target_link_libraries("${LIB_NAME}" pcl_features pcl_filters) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) diff --git a/keypoints/include/pcl/keypoints/uniform_sampling.h b/keypoints/include/pcl/keypoints/uniform_sampling.h deleted file mode 100644 index 66596274..00000000 --- a/keypoints/include/pcl/keypoints/uniform_sampling.h +++ /dev/null @@ -1,44 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2011, Willow Garage, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ - -#pragma once - -PCL_DEPRECATED_HEADER(1, 15, "UniformSampling is not a Keypoint anymore, use instead.") - -#include diff --git a/keypoints/src/brisk_2d.cpp b/keypoints/src/brisk_2d.cpp index 4b3d52c9..3c58354f 100644 --- a/keypoints/src/brisk_2d.cpp +++ b/keypoints/src/brisk_2d.cpp @@ -1192,7 +1192,7 @@ pcl::keypoints::brisk::ScaleSpace::subpixel2D ( return (static_cast(coeff6) / 18.0f); } - if (!(H_det > 0 && coeff1 < 0)) + if (H_det <= 0 || coeff1 >= 0) { // The maximum must be at the one of the 4 patch corners. int tmp_max = coeff3 + coeff4 + coeff5; diff --git a/keypoints/src/narf_keypoint.cpp b/keypoints/src/narf_keypoint.cpp index 35d5811d..c8073cf6 100644 --- a/keypoints/src/narf_keypoint.cpp +++ b/keypoints/src/narf_keypoint.cpp @@ -555,7 +555,7 @@ NarfKeypoint::calculateSparseInterestImage () static_cast (pcl_lrint (std::floor ( (angle+deg2rad (90.0f))/deg2rad (180.0f) * angle_histogram_size)))); float& histogram_value = angle_histogram[histogram_cell]; histogram_value = (std::max) (histogram_value, surface_change_score); - angle_elements[histogram_cell].push_back (std::make_pair(index2, surface_change_score)); + angle_elements[histogram_cell].emplace_back(index2, surface_change_score); } // Reset was_touched to false diff --git a/ml/CMakeLists.txt b/ml/CMakeLists.txt index 98209bea..7c4c112a 100644 --- a/ml/CMakeLists.txt +++ b/ml/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME ml) set(SUBSYS_DESC "Point cloud machine learning library") set(SUBSYS_DEPS common) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) @@ -75,7 +74,6 @@ set(srcs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) SET_TARGET_PROPERTIES("${LIB_NAME}" PROPERTIES LINKER_LANGUAGE CXX) target_link_libraries("${LIB_NAME}" pcl_common) diff --git a/ml/include/pcl/ml/svm_wrapper.h b/ml/include/pcl/ml/svm_wrapper.h index b125b700..8190cc22 100644 --- a/ml/include/pcl/ml/svm_wrapper.h +++ b/ml/include/pcl/ml/svm_wrapper.h @@ -47,6 +47,7 @@ #include // for numeric_limits #include // for string #include +// NOLINTNEXTLINE(bugprone-macro-parentheses) #define Malloc(type, n) static_cast(malloc((n) * sizeof(type))) namespace pcl { diff --git a/ml/src/svm.cpp b/ml/src/svm.cpp index 1a27bf9a..59e8dfcf 100644 --- a/ml/src/svm.cpp +++ b/ml/src/svm.cpp @@ -104,8 +104,10 @@ powi(double base, int times) #define INF HUGE_VAL #define TAU 1e-12 +// NOLINTBEGIN(bugprone-macro-parentheses) #define Malloc(type, n) static_cast(malloc((n) * sizeof(type))) #define Realloc(var, type, n) static_cast(realloc(var, (n) * sizeof(type))) +// NOLINTEND(bugprone-macro-parentheses) static void print_string_stdout(const char* s) diff --git a/octree/CMakeLists.txt b/octree/CMakeLists.txt index b5c58434..43e07b9a 100644 --- a/octree/CMakeLists.txt +++ b/octree/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME octree) set(SUBSYS_DESC "Point cloud octree library") set(SUBSYS_DEPS common) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) @@ -17,7 +16,6 @@ set(srcs ) set(incs - "include/pcl/${SUBSYS_NAME}/boost.h" "include/pcl/${SUBSYS_NAME}/octree_base.h" "include/pcl/${SUBSYS_NAME}/octree_container.h" "include/pcl/${SUBSYS_NAME}/octree_impl.h" @@ -51,7 +49,6 @@ set(impl_incs set(LIB_NAME "pcl_${SUBSYS_NAME}") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) target_link_libraries("${LIB_NAME}" pcl_common) -target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) # Install include files diff --git a/octree/include/pcl/octree/boost.h b/octree/include/pcl/octree/boost.h deleted file mode 100644 index b3680aab..00000000 --- a/octree/include/pcl/octree/boost.h +++ /dev/null @@ -1,48 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2011, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * - */ - -#pragma once - -#ifdef __GNUC__ -#pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.") - -// Marking all Boost headers as system headers to remove warnings -#include diff --git a/octree/include/pcl/octree/impl/octree2buf_base.hpp b/octree/include/pcl/octree/impl/octree2buf_base.hpp index b91b03ba..f56fa2d2 100644 --- a/octree/include/pcl/octree/impl/octree2buf_base.hpp +++ b/octree/include/pcl/octree/impl/octree2buf_base.hpp @@ -279,8 +279,8 @@ Octree2BufBase::deserializeTree( leaf_count_ = 0; // iterator for binary tree structure vector - std::vector::const_iterator binary_tree_in_it = binary_tree_in_arg.begin(); - std::vector::const_iterator binary_tree_in_it_end = binary_tree_in_arg.end(); + auto binary_tree_in_it = binary_tree_in_arg.cbegin(); + auto binary_tree_in_it_end = binary_tree_in_arg.cend(); deserializeTreeRecursive(root_node_, depth_mask_, @@ -307,19 +307,17 @@ Octree2BufBase::deserializeTree( OctreeKey new_key; // set data iterator to first element - typename std::vector::const_iterator leaf_container_vector_it = - leaf_container_vector_arg.begin(); + auto leaf_container_vector_it = leaf_container_vector_arg.cbegin(); // set data iterator to last element - typename std::vector::const_iterator leaf_container_vector_it_end = - leaf_container_vector_arg.end(); + auto leaf_container_vector_it_end = leaf_container_vector_arg.cend(); // we will rebuild an octree -> reset leafCount leaf_count_ = 0; // iterator for binary tree structure vector - std::vector::const_iterator binary_tree_in_it = binary_tree_in_arg.begin(); - std::vector::const_iterator binary_tree_in_it_end = binary_tree_in_arg.end(); + auto binary_tree_in_it = binary_tree_in_arg.cbegin(); + auto binary_tree_in_it_end = binary_tree_in_arg.cend(); deserializeTreeRecursive(root_node_, depth_mask_, diff --git a/octree/include/pcl/octree/impl/octree_base.hpp b/octree/include/pcl/octree/impl/octree_base.hpp index 92b0489e..ab440f67 100644 --- a/octree/include/pcl/octree/impl/octree_base.hpp +++ b/octree/include/pcl/octree/impl/octree_base.hpp @@ -244,8 +244,8 @@ OctreeBase::deserializeTree( deleteTree(); // iterator for binary tree structure vector - std::vector::const_iterator binary_tree_out_it = binary_tree_out_arg.begin(); - std::vector::const_iterator binary_tree_out_it_end = binary_tree_out_arg.end(); + auto binary_tree_out_it = binary_tree_out_arg.cbegin(); + auto binary_tree_out_it_end = binary_tree_out_arg.cend(); deserializeTreeRecursive(root_node_, depth_mask_, @@ -266,19 +266,17 @@ OctreeBase::deserializeTree( OctreeKey new_key; // set data iterator to first element - typename std::vector::const_iterator leaf_vector_it = - leaf_container_vector_arg.begin(); + auto leaf_vector_it = leaf_container_vector_arg.cbegin(); // set data iterator to last element - typename std::vector::const_iterator leaf_vector_it_end = - leaf_container_vector_arg.end(); + auto leaf_vector_it_end = leaf_container_vector_arg.cend(); // free existing tree before tree rebuild deleteTree(); // iterator for binary tree structure vector - std::vector::const_iterator binary_tree_input_it = binary_tree_in_arg.begin(); - std::vector::const_iterator binary_tree_input_it_end = binary_tree_in_arg.end(); + auto binary_tree_input_it = binary_tree_in_arg.cbegin(); + auto binary_tree_input_it_end = binary_tree_in_arg.cend(); deserializeTreeRecursive(root_node_, depth_mask_, diff --git a/octree/include/pcl/octree/impl/octree_pointcloud.hpp b/octree/include/pcl/octree/impl/octree_pointcloud.hpp index ae370081..fcabeca1 100644 --- a/octree/include/pcl/octree/impl/octree_pointcloud.hpp +++ b/octree/include/pcl/octree/impl/octree_pointcloud.hpp @@ -886,12 +886,9 @@ pcl::octree::OctreePointCloud min_pt(2) = static_cast(static_cast(key_arg.z) * voxel_side_len + this->min_z_); - max_pt(0) = static_cast(static_cast(key_arg.x + 1) * voxel_side_len + - this->min_x_); - max_pt(1) = static_cast(static_cast(key_arg.y + 1) * voxel_side_len + - this->min_y_); - max_pt(2) = static_cast(static_cast(key_arg.z + 1) * voxel_side_len + - this->min_z_); + max_pt(0) = min_pt(0) + voxel_side_len; + max_pt(1) = min_pt(1) + voxel_side_len; + max_pt(2) = min_pt(2) + voxel_side_len; } ////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/octree/include/pcl/octree/impl/octree_search.hpp b/octree/include/pcl/octree/impl/octree_search.hpp index b0b5b54b..31a84656 100644 --- a/octree/include/pcl/octree/impl/octree_search.hpp +++ b/octree/include/pcl/octree/impl/octree_search.hpp @@ -97,6 +97,7 @@ OctreePointCloudSearch::nearestKSearch prioPointQueueEntry point_entry; std::vector point_candidates; + point_candidates.reserve(k); OctreeKey key; key.x = key.y = key.z = 0; @@ -305,21 +306,26 @@ OctreePointCloudSearch:: // calculate point distance to search point float squared_dist = pointSquaredDist(candidate_point, point); - // check if a closer match is found - if (squared_dist < smallest_squared_dist) { - prioPointQueueEntry point_entry; - - point_entry.point_distance_ = squared_dist; - point_entry.point_idx_ = point_index; - point_candidates.push_back(point_entry); + const auto insert_into_queue = [&] { + point_candidates.emplace( + std::upper_bound(point_candidates.begin(), + point_candidates.end(), + squared_dist, + [](float dist, const prioPointQueueEntry& ent) { + return dist < ent.point_distance_; + }), + point_index, + squared_dist); + }; + if (point_candidates.size() < K) { + insert_into_queue(); + } + else if (point_candidates.back().point_distance_ > squared_dist) { + point_candidates.pop_back(); + insert_into_queue(); } } - std::sort(point_candidates.begin(), point_candidates.end()); - - if (point_candidates.size() > K) - point_candidates.resize(K); - if (point_candidates.size() == K) smallest_squared_dist = point_candidates.back().point_distance_; } @@ -342,9 +348,6 @@ OctreePointCloudSearch:: std::vector& k_sqr_distances, uindex_t max_nn) const { - // get spatial voxel information - double voxel_squared_diameter = this->getVoxelSquaredDiameter(tree_depth); - // iterate over all children for (unsigned char child_idx = 0; child_idx < 8; child_idx++) { if (!this->branchHasChild(*node, child_idx)) @@ -354,7 +357,6 @@ OctreePointCloudSearch:: child_node = this->getBranchChildPtr(*node, child_idx); OctreeKey new_key; - PointT voxel_center; float squared_dist; // generate new key for current branch voxel @@ -362,17 +364,24 @@ OctreePointCloudSearch:: new_key.y = (key.y << 1) + (!!(child_idx & (1 << 1))); new_key.z = (key.z << 1) + (!!(child_idx & (1 << 0))); - // generate voxel center point for voxel at key - this->genVoxelCenterFromOctreeKey(new_key, tree_depth, voxel_center); - - // calculate distance to search point - squared_dist = pointSquaredDist(static_cast(voxel_center), point); - - // if distance is smaller than search radius - if (squared_dist + this->epsilon_ <= - voxel_squared_diameter / 4.0 + radiusSquared + - sqrt(voxel_squared_diameter * radiusSquared)) { - + // compute min distance between query point and any point in this child node, to + // decide whether we can skip it + Eigen::Vector3f min_pt, max_pt; + this->genVoxelBoundsFromOctreeKey(new_key, tree_depth, min_pt, max_pt); + squared_dist = 0.0f; + if (point.x < min_pt.x()) + squared_dist += std::pow(point.x - min_pt.x(), 2); + else if (point.x > max_pt.x()) + squared_dist += std::pow(point.x - max_pt.x(), 2); + if (point.y < min_pt.y()) + squared_dist += std::pow(point.y - min_pt.y(), 2); + else if (point.y > max_pt.y()) + squared_dist += std::pow(point.y - max_pt.y(), 2); + if (point.z < min_pt.z()) + squared_dist += std::pow(point.z - min_pt.z(), 2); + else if (point.z > max_pt.z()) + squared_dist += std::pow(point.z - max_pt.z(), 2); + if (squared_dist < (radiusSquared + this->epsilon_)) { if (child_node->getNodeType() == BRANCH_NODE) { // we have not reached maximum tree depth getNeighborsWithinRadiusRecursive(point, @@ -548,9 +557,9 @@ OctreePointCloudSearch::boxSearchRecur // test if search region overlap with voxel space - if (!((lower_voxel_corner(0) > max_pt(0)) || (min_pt(0) > upper_voxel_corner(0)) || - (lower_voxel_corner(1) > max_pt(1)) || (min_pt(1) > upper_voxel_corner(1)) || - (lower_voxel_corner(2) > max_pt(2)) || (min_pt(2) > upper_voxel_corner(2)))) { + if ((lower_voxel_corner(0) <= max_pt(0)) && (min_pt(0) <= upper_voxel_corner(0)) && + (lower_voxel_corner(1) <= max_pt(1)) && (min_pt(1) <= upper_voxel_corner(1)) && + (lower_voxel_corner(2) <= max_pt(2)) && (min_pt(2) <= upper_voxel_corner(2))) { if (child_node->getNodeType() == BRANCH_NODE) { // we have not reached maximum tree depth diff --git a/octree/include/pcl/octree/octree_search.h b/octree/include/pcl/octree/octree_search.h index c22fa854..da69f80c 100644 --- a/octree/include/pcl/octree/octree_search.h +++ b/octree/include/pcl/octree/octree_search.h @@ -159,7 +159,6 @@ public: * \param[in] query_index the index in \a cloud representing the query point * \param[out] result_index the resultant index of the neighbor point * \param[out] sqr_distance the resultant squared distance to the neighboring point - * \return number of neighbors found */ inline void approxNearestSearch(const PointCloud& cloud, @@ -184,7 +183,6 @@ public: * position in the indices vector. * \param[out] result_index the resultant index of the neighbor point * \param[out] sqr_distance the resultant squared distance to the neighboring point - * \return number of neighbors found */ void approxNearestSearch(uindex_t query_index, index_t& result_index, float& sqr_distance); diff --git a/octree/octree.doxy b/octree/octree.doxy index a68de546..9083ed43 100644 --- a/octree/octree.doxy +++ b/octree/octree.doxy @@ -14,7 +14,7 @@ The pcl_octree implementation provides efficient nearest neighbor search such as "Neighbors within Voxel Search”, “K Nearest Neighbor Search” and “Neighbors within Radius Search”. It automatically adjusts its dimension to the point data set. A set of leaf node classes provide additional functionality, such as -spacial "occupancy" and "point density per voxel" checks. Functions for serialization +spatial "occupancy" and "point density per voxel" checks. Functions for serialization and deserialization enable to efficiently encode the octree structure into a binary format. Furthermore, a memory pool implementation reduces expensive memory allocation and deallocation operations in scenarios where octrees needs to be created at high rate. diff --git a/outofcore/CMakeLists.txt b/outofcore/CMakeLists.txt index fbc515d0..416669b8 100644 --- a/outofcore/CMakeLists.txt +++ b/outofcore/CMakeLists.txt @@ -2,8 +2,14 @@ set(SUBSYS_NAME outofcore) set(SUBSYS_DESC "Point cloud outofcore library") set(SUBSYS_DEPS common io filters octree visualization) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) +if(NOT TARGET Boost::filesystem) + set(DEFAULT FALSE) + set(REASON "Boost filesystem is not available.") +else() + set(DEFAULT TRUE) +endif() + +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) PCL_ADD_DOC("${SUBSYS_NAME}") @@ -13,7 +19,6 @@ if(NOT build) endif() set(srcs - src/cJSON.cpp src/outofcore_node_data.cpp src/outofcore_base_data.cpp ) @@ -26,7 +31,6 @@ set(incs "include/pcl/${SUBSYS_NAME}/outofcore_breadth_first_iterator.h" "include/pcl/${SUBSYS_NAME}/outofcore_depth_first_iterator.h" "include/pcl/${SUBSYS_NAME}/boost.h" - "include/pcl/${SUBSYS_NAME}/cJSON.h" "include/pcl/${SUBSYS_NAME}/octree_base.h" "include/pcl/${SUBSYS_NAME}/octree_base_node.h" "include/pcl/${SUBSYS_NAME}/octree_abstract_node_container.h" @@ -59,12 +63,19 @@ set(visualization_incs "include/pcl/${SUBSYS_NAME}/visualization/viewport.h" ) +if(NOT HAVE_CJSON) + list(APPEND srcs src/cJSON.cpp) + list(APPEND incs "include/pcl/${SUBSYS_NAME}/cJSON.h") +endif() + set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${visualization_incs}) #PCL_ADD_SSE_FLAGS("${LIB_NAME}") target_link_libraries("${LIB_NAME}" pcl_common pcl_visualization ${Boost_SYSTEM_LIBRARY}) +if(HAVE_CJSON) + target_link_libraries("${LIB_NAME}" ${CJSON_LIBRARIES}) +endif() PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) # Install include files diff --git a/outofcore/include/pcl/outofcore/cJSON.h b/outofcore/include/pcl/outofcore/cJSON.h deleted file mode 100644 index ba75a01f..00000000 --- a/outofcore/include/pcl/outofcore/cJSON.h +++ /dev/null @@ -1,133 +0,0 @@ -/* - Copyright (c) 2009 Dave Gamble - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. -*/ - -#pragma once - -#include - -//make interop with c++ string easier -#include - -#ifdef __cplusplus -extern "C" -{ -#endif - -/* cJSON Types: */ -#define cJSON_False 0 -#define cJSON_True 1 -#define cJSON_NULL 2 -#define cJSON_Number 3 -#define cJSON_String 4 -#define cJSON_Array 5 -#define cJSON_Object 6 - -#define cJSON_IsReference 256 - -/* The cJSON structure: */ -typedef struct cJSON { // NOLINT - struct cJSON *next,*prev; /* next/prev allow you to walk array/object chains. Alternatively, use GetArraySize/GetArrayItem/GetObjectItem */ - struct cJSON *child; /* An array or object item will have a child pointer pointing to a chain of the items in the array/object. */ - - int type; /* The type of the item, as above. */ - - char *valuestring; /* The item's string, if type==cJSON_String */ - int valueint; /* The item's number, if type==cJSON_Number */ - double valuedouble; /* The item's number, if type==cJSON_Number */ - - char *string; /* The item's name string, if this item is the child of, or is in the list of subitems of an object. */ -} cJSON; - -typedef struct cJSON_Hooks { // NOLINT - void *(*malloc_fn)(std::size_t sz); - void (*free_fn)(void *ptr); -} cJSON_Hooks; - -/* Supply malloc, realloc and free functions to cJSON */ -PCLAPI(void) cJSON_InitHooks(cJSON_Hooks* hooks); - - -/* Supply a block of JSON, and this returns a cJSON object you can interrogate. Call cJSON_Delete when finished. */ -PCLAPI(cJSON *) cJSON_Parse(const char *value); -/* Render a cJSON entity to text for transfer/storage. Free the char* when finished. */ -PCLAPI(char *) cJSON_Print(cJSON *item); -/* Render a cJSON entity to text for transfer/storage without any formatting. Free the char* when finished. */ -PCLAPI(char *) cJSON_PrintUnformatted(cJSON *item); -/* Delete a cJSON entity and all subentities. */ -PCLAPI(void) cJSON_Delete(cJSON *c); -/* Render a cJSON entity to text for transfer/storage. */ -PCLAPI(void) cJSON_PrintStr(cJSON *item, std::string& s); -/* Render a cJSON entity to text for transfer/storage without any formatting. */ -PCLAPI(void) cJSON_PrintUnformattedStr(cJSON *item, std::string& s); - -/* Returns the number of items in an array (or object). */ -PCLAPI(int) cJSON_GetArraySize(cJSON *array); -/* Retrieve item number "item" from array "array". Returns NULL if unsuccessful. */ -PCLAPI(cJSON *) cJSON_GetArrayItem(cJSON *array,int item); -/* Get item "string" from object. Case insensitive. */ -PCLAPI(cJSON *) cJSON_GetObjectItem(cJSON *object,const char *string); - -/* For analysing failed parses. This returns a pointer to the parse error. You'll probably need to look a few chars back to make sense of it. Defined when cJSON_Parse() returns 0. 0 when cJSON_Parse() succeeds. */ -PCLAPI(const char *) cJSON_GetErrorPtr(); - -/* These calls create a cJSON item of the appropriate type. */ -PCLAPI(cJSON *) cJSON_CreateNull(); -PCLAPI(cJSON *) cJSON_CreateTrue(); -PCLAPI(cJSON *) cJSON_CreateFalse(); -PCLAPI(cJSON *) cJSON_CreateBool(int b); -PCLAPI(cJSON *) cJSON_CreateNumber(double num); -PCLAPI(cJSON *) cJSON_CreateString(const char *string); -PCLAPI(cJSON *) cJSON_CreateArray(); -PCLAPI(cJSON *) cJSON_CreateObject(); - -/* These utilities create an Array of count items. */ -PCLAPI(cJSON *) cJSON_CreateIntArray(int *numbers,int count); -PCLAPI(cJSON *) cJSON_CreateFloatArray(float *numbers,int count); -PCLAPI(cJSON *) cJSON_CreateDoubleArray(double *numbers,int count); -PCLAPI(cJSON *) cJSON_CreateStringArray(const char **strings,int count); - -/* Append item to the specified array/object. */ -PCLAPI(void) cJSON_AddItemToArray(cJSON *array, cJSON *item); -PCLAPI(void) cJSON_AddItemToObject(cJSON *object,const char *string,cJSON *item); -/* Append reference to item to the specified array/object. Use this when you want to add an existing cJSON to a new cJSON, but don't want to corrupt your existing cJSON. */ -PCLAPI(void) cJSON_AddItemReferenceToArray(cJSON *array, cJSON *item); -PCLAPI(void) cJSON_AddItemReferenceToObject(cJSON *object,const char *string,cJSON *item); - -/* Remove/Detach items from Arrays/Objects. */ -PCLAPI(cJSON *) cJSON_DetachItemFromArray(cJSON *array,int which); -PCLAPI(void) cJSON_DeleteItemFromArray(cJSON *array,int which); -PCLAPI(cJSON *) cJSON_DetachItemFromObject(cJSON *object,const char *string); -PCLAPI(void) cJSON_DeleteItemFromObject(cJSON *object,const char *string); - -/* Update array items. */ -PCLAPI(void) cJSON_ReplaceItemInArray(cJSON *array,int which,cJSON *newitem); -PCLAPI(void) cJSON_ReplaceItemInObject(cJSON *object,const char *string,cJSON *newitem); - -#define cJSON_AddNullToObject(object,name) cJSON_AddItemToObject(object, name, cJSON_CreateNull()) -#define cJSON_AddTrueToObject(object,name) cJSON_AddItemToObject(object, name, cJSON_CreateTrue()) -#define cJSON_AddFalseToObject(object,name) cJSON_AddItemToObject(object, name, cJSON_CreateFalse()) -#define cJSON_AddNumberToObject(object,name,n) cJSON_AddItemToObject(object, name, cJSON_CreateNumber(n)) -#define cJSON_AddStringToObject(object,name,s) cJSON_AddItemToObject(object, name, cJSON_CreateString(s)) - -#ifdef __cplusplus -} -#endif diff --git a/outofcore/include/pcl/outofcore/impl/octree_base.hpp b/outofcore/include/pcl/outofcore/impl/octree_base.hpp index f3a8e6f3..6ae31492 100644 --- a/outofcore/include/pcl/outofcore/impl/octree_base.hpp +++ b/outofcore/include/pcl/outofcore/impl/octree_base.hpp @@ -44,7 +44,12 @@ #include // JSON +#include // for HAVE_CJSON +#if defined(HAVE_CJSON) +#include +#else #include +#endif #include #include diff --git a/outofcore/include/pcl/outofcore/impl/octree_base_node.hpp b/outofcore/include/pcl/outofcore/impl/octree_base_node.hpp index 53778768..b86c7d79 100644 --- a/outofcore/include/pcl/outofcore/impl/octree_base_node.hpp +++ b/outofcore/include/pcl/outofcore/impl/octree_base_node.hpp @@ -57,7 +57,12 @@ #include // JSON +#include // for HAVE_CJSON +#if defined(HAVE_CJSON) +#include +#else #include +#endif namespace pcl { diff --git a/outofcore/include/pcl/outofcore/impl/octree_disk_container.hpp b/outofcore/include/pcl/outofcore/impl/octree_disk_container.hpp index 28b25de7..642aced2 100644 --- a/outofcore/include/pcl/outofcore/impl/octree_disk_container.hpp +++ b/outofcore/include/pcl/outofcore/impl/octree_disk_container.hpp @@ -48,6 +48,7 @@ // Boost #include #include +#include // for boost::variate_generator #include // PCL diff --git a/outofcore/include/pcl/outofcore/impl/outofcore_depth_first_iterator.hpp b/outofcore/include/pcl/outofcore/impl/outofcore_depth_first_iterator.hpp index a7d15386..b5744d52 100644 --- a/outofcore/include/pcl/outofcore/impl/outofcore_depth_first_iterator.hpp +++ b/outofcore/include/pcl/outofcore/impl/outofcore_depth_first_iterator.hpp @@ -107,10 +107,10 @@ namespace pcl if (!stack_.empty ()) { std::pair*, unsigned char>& stackEntry = stack_.back (); - stack_.pop_back (); this->currentNode_ = stackEntry.first; currentChildIdx_ = stackEntry.second; + stack_.pop_back (); // stackEntry is a reference, so pop_back after accessing it! //don't do anything with the keys here... this->currentOctreeDepth_--; diff --git a/outofcore/include/pcl/outofcore/octree_base.h b/outofcore/include/pcl/outofcore/octree_base.h index e3c53680..1a7c8778 100644 --- a/outofcore/include/pcl/outofcore/octree_base.h +++ b/outofcore/include/pcl/outofcore/octree_base.h @@ -63,6 +63,7 @@ #include #include +#include namespace pcl { @@ -93,7 +94,7 @@ namespace pcl * recursively in this state. This class provides an the interface * for: * -# Point/Region insertion methods - * -# Frustrum/box/region queries + * -# Frustum/box/region queries * -# Parameterization of resolution, container type, etc... * * For lower-level node access, there is a Depth-First iterator @@ -294,7 +295,7 @@ namespace pcl std::uint64_t addDataToLeaf_and_genLOD (AlignedPointTVector &p); - // Frustrum/Box/Region REQUESTS/QUERIES: DB Accessors + // Frustum/Box/Region REQUESTS/QUERIES: DB Accessors // ----------------------------------------------------------------------- void queryFrustum (const double *planes, std::list& file_names) const; @@ -347,7 +348,7 @@ namespace pcl /** \brief Returns a random subsample of points within the given bounding box at \c query_depth. * - * \param[in] min The minimum corner of the boudning box to query. + * \param[in] min The minimum corner of the bounding box to query. * \param[out] max The maximum corner of the bounding box to query. * \param[in] query_depth The depth in the tree at which to look for the points. Only returns points within the given bounding box at the specified \c query_depth. * \param percent diff --git a/outofcore/include/pcl/outofcore/octree_base_node.h b/outofcore/include/pcl/outofcore/octree_base_node.h index 7085d530..dba76d4f 100644 --- a/outofcore/include/pcl/outofcore/octree_base_node.h +++ b/outofcore/include/pcl/outofcore/octree_base_node.h @@ -42,6 +42,7 @@ #include #include #include +#include #include #include diff --git a/outofcore/include/pcl/outofcore/octree_disk_container.h b/outofcore/include/pcl/outofcore/octree_disk_container.h index 0f9c0acf..9ca3d5d9 100644 --- a/outofcore/include/pcl/outofcore/octree_disk_container.h +++ b/outofcore/include/pcl/outofcore/octree_disk_container.h @@ -44,6 +44,7 @@ #include // Boost +#include // for boost::mt19937 #include #include // pcl::utils::ignore diff --git a/outofcore/include/pcl/outofcore/outofcore_base_data.h b/outofcore/include/pcl/outofcore/outofcore_base_data.h index 67f41e43..16ef0a84 100644 --- a/outofcore/include/pcl/outofcore/outofcore_base_data.h +++ b/outofcore/include/pcl/outofcore/outofcore_base_data.h @@ -40,7 +40,12 @@ #include #include +#include // for HAVE_CJSON +#if defined(HAVE_CJSON) +#include +#else #include +#endif #include diff --git a/outofcore/include/pcl/outofcore/outofcore_node_data.h b/outofcore/include/pcl/outofcore/outofcore_node_data.h index 09a85876..26997a96 100644 --- a/outofcore/include/pcl/outofcore/outofcore_node_data.h +++ b/outofcore/include/pcl/outofcore/outofcore_node_data.h @@ -40,7 +40,12 @@ #include #include +#include // for HAVE_CJSON +#if defined(HAVE_CJSON) +#include +#else #include +#endif #include diff --git a/outofcore/src/cJSON.cpp b/outofcore/src/cJSON.cpp deleted file mode 100644 index f60e8707..00000000 --- a/outofcore/src/cJSON.cpp +++ /dev/null @@ -1,556 +0,0 @@ -/* - Copyright (c) 2009 Dave Gamble - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. -*/ - -/* cJSON */ -/* JSON parser in C. */ - -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -static const char *ep; - -const char *cJSON_GetErrorPtr() {return ep;} - -static int cJSON_strcasecmp(const char *s1,const char *s2) -{ - if (!s1) return (s1==s2)?0:1; - if (!s2) return 1; - for(; tolower(*s1) == tolower(*s2); ++s1, ++s2) if(*s1 == 0) return 0; - return tolower(* reinterpret_cast (s1) ) - tolower(* reinterpret_cast (s2) ); -} - -static void *(*cJSON_malloc)(std::size_t sz) = malloc; -static void (*cJSON_free)(void *ptr) = free; - -static char* cJSON_strdup(const char* str) -{ - std::size_t len; - char* copy; - - len = strlen(str) + 1; - if (!(copy = static_cast ( cJSON_malloc(len)))) - { - return (nullptr); - } - - std::copy(str, str + len, copy); - return (copy); -} - -void cJSON_InitHooks(cJSON_Hooks* hooks) -{ - if (!hooks) { /* Reset hooks */ - cJSON_malloc = malloc; - cJSON_free = free; - return; - } - - cJSON_malloc = (hooks->malloc_fn)?hooks->malloc_fn:malloc; - cJSON_free = (hooks->free_fn)?hooks->free_fn:free; -} - -/* Internal constructor. */ -static cJSON *cJSON_New_Item() -{ - cJSON* node = static_cast (cJSON_malloc(sizeof(cJSON))); - if (node) { - *node = cJSON{}; - } - return node; -} - -/* Delete a cJSON structure. */ -void cJSON_Delete(cJSON *c) -{ - cJSON *next; - while (c) - { - next=c->next; - if (!(c->type&cJSON_IsReference) && c->child) cJSON_Delete(c->child); - if (!(c->type&cJSON_IsReference) && c->valuestring) cJSON_free(c->valuestring); - if (c->string) cJSON_free(c->string); - cJSON_free(c); - c=next; - } -} - -/* Parse the input text to generate a number, and populate the result into item. */ -static const char *parse_number(cJSON *item,const char *num) -{ - double n=0,sign=1,scale=0;int subscale=0,signsubscale=1; - - /* Could use sscanf for this? */ - if (*num=='-') sign=-1,num++; /* Has sign? */ - if (*num=='0') num++; /* is zero */ - if (*num>='1' && *num<='9') do n=(n*10.0)+(*num++ -'0'); while (*num>='0' && *num<='9'); /* Number? */ - if (*num=='.') {num++; do n=(n*10.0)+(*num++ -'0'),scale--; while (*num>='0' && *num<='9');} /* Fractional part? */ - if (*num=='e' || *num=='E') /* Exponent? */ - { num++;if (*num=='+') num++; else if (*num=='-') signsubscale=-1,num++; /* With sign? */ - while (*num>='0' && *num<='9') subscale=(subscale*10)+(*num++ - '0'); /* Number? */ - } - - n=sign*n*pow(10.0,(scale+subscale*signsubscale)); /* number = +/- number.fraction * 10^+/- exponent */ - - item->valuedouble=n; - item->valueint=static_cast (n); - item->type=cJSON_Number; - return num; -} - -/* Render the number nicely from the given item into a string. */ -static char *print_number(cJSON *item) -{ - char *str; - double d=item->valuedouble; - if (std::abs((static_cast(item->valueint)-d))<=std::numeric_limits::epsilon() && - d <= std::numeric_limits::max() && d >= std::numeric_limits::min()) - { - str=static_cast(cJSON_malloc(21)); /* 2^64+1 can be represented in 21 chars. */ - if (str) sprintf(str,"%d",item->valueint); - } - else - { - str=static_cast(cJSON_malloc(64)); /* This is a nice tradeoff. */ - if (str) - { - if (std::abs(std::floor(d)-d)<=std::numeric_limits::epsilon()) sprintf(str,"%.0f",d); - else sprintf(str,"%.16g",d); - } - } - return str; -} - -/* Parse the input text into an unescaped cstring, and populate item. */ -static const unsigned char firstByteMark[7] = { 0x00, 0x00, 0xC0, 0xE0, 0xF0, 0xF8, 0xFC }; -static const char *parse_string(cJSON *item,const char *str) -{ - const char *ptr=str+1; char *ptr2; char *out; int len=0; unsigned uc; - if (*str!='\"') {ep=str;return nullptr;} /* not a string! */ - - while (*ptr!='\"' && *ptr && ++len) if (*ptr++ == '\\') ptr++; /* Skip escaped quotes. */ - - out=static_cast (cJSON_malloc(len+1)); /* This is how long we need for the string, roughly. */ - if (!out) return nullptr; - - ptr=str+1;ptr2=out; - while (*ptr!='\"' && *ptr) - { - if (*ptr!='\\') *ptr2++=*ptr++; - else - { - ptr++; - switch (*ptr) - { - case 'b': *ptr2++='\b'; break; - case 'f': *ptr2++='\f'; break; - case 'n': *ptr2++='\n'; break; - case 'r': *ptr2++='\r'; break; - case 't': *ptr2++='\t'; break; - case 'u': /* transcode utf16 to utf8. DOES NOT SUPPORT SURROGATE PAIRS CORRECTLY. */ - sscanf(ptr+1,"%4x",&uc); /* get the unicode char. */ - len=3;if (uc<0x80) len=1;else if (uc<0x800) len=2;ptr2+=len; - - switch (len) { - case 3: *--ptr2 = static_cast(( (uc) | 0x80) & 0xBF ); - uc >>= 6; - PCL_FALLTHROUGH - case 2: *--ptr2 = static_cast(( (uc) | 0x80) & 0xBF ); - uc >>= 6; - PCL_FALLTHROUGH - case 1: *--ptr2 = static_cast( (uc) | firstByteMark[len] ); - } - ptr2+=len;ptr+=4; - break; - default: *ptr2++=*ptr; break; - } - ptr++; - } - } - *ptr2=0; - if (*ptr=='\"') ptr++; - item->valuestring=out; - item->type=cJSON_String; - return ptr; -} - -/* Render the cstring provided to an escaped version that can be printed. */ -static char *print_string_ptr(const char *str) -{ - const char *ptr;char *ptr2,*out;int len=0;unsigned char token; - - if (!str) return cJSON_strdup(""); - ptr=str;while ((token=*ptr) && ++len) {if (strchr("\"\\\b\f\n\r\t",token)) len++; else if (token<32) len+=5;ptr++;} - - out=static_cast(cJSON_malloc(len+3)); - if (!out) return nullptr; - - ptr2=out;ptr=str; - *ptr2++='\"'; - while (*ptr) - { - if (static_cast(*ptr)>31 && *ptr!='\"' && *ptr!='\\') *ptr2++=*ptr++; - else - { - *ptr2++='\\'; - switch (token=*ptr++) - { - case '\\': *ptr2++='\\'; break; - case '\"': *ptr2++='\"'; break; - case '\b': *ptr2++='b'; break; - case '\f': *ptr2++='f'; break; - case '\n': *ptr2++='n'; break; - case '\r': *ptr2++='r'; break; - case '\t': *ptr2++='t'; break; - default: sprintf(ptr2,"u%04x",token);ptr2+=5; break; /* escape and print */ - } - } - } - *ptr2++='\"';*ptr2++=0; - return out; -} -/* Invote print_string_ptr (which is useful) on an item. */ -static char *print_string(cJSON *item) {return print_string_ptr(item->valuestring);} - -/* Predeclare these prototypes. */ -static const char *parse_value(cJSON *item,const char *value); -static char *print_value(cJSON *item,int depth,int fmt); -static const char *parse_array(cJSON *item,const char *value); -static char *print_array(cJSON *item,int depth,int fmt); -static const char *parse_object(cJSON *item,const char *value); -static char *print_object(cJSON *item,int depth,int fmt); - -/* Utility to jump whitespace and cr/lf */ -static const char *skip(const char *in) {while (in && *in && static_cast(*in)<=32) in++; return in;} - -/* Parse an object - create a new root, and populate. */ -cJSON *cJSON_Parse(const char *value) -{ - cJSON *c=cJSON_New_Item(); - ep=nullptr; - if (!c) return nullptr; /* memory fail */ - - if (!parse_value(c,skip(value))) {cJSON_Delete(c);return nullptr;} - return c; -} - -/* Render a cJSON item/entity/structure to text. */ -char *cJSON_Print(cJSON *item) {return print_value(item,0,1);} -char *cJSON_PrintUnformatted(cJSON *item) {return print_value(item,0,0);} - -void cJSON_PrintStr(cJSON *item, std::string& s) -{ - char* c = cJSON_Print(item); - s.assign(c); - free(c); -} - -void cJSON_PrintUnformattedStr(cJSON *item, std::string& s) -{ - char* c = cJSON_PrintUnformatted(item); - s.assign(c); - free(c); -} - -/* Parser core - when encountering text, process appropriately. */ -static const char *parse_value(cJSON *item,const char *value) -{ - if (!value) return nullptr; /* Fail on null. */ - if (!strncmp(value,"null",4)) { item->type=cJSON_NULL; return value+4; } - if (!strncmp(value,"false",5)) { item->type=cJSON_False; return value+5; } - if (!strncmp(value,"true",4)) { item->type=cJSON_True; item->valueint=1; return value+4; } - if (*value=='\"') { return parse_string(item,value); } - if (*value=='-' || (*value>='0' && *value<='9')) { return parse_number(item,value); } - if (*value=='[') { return parse_array(item,value); } - if (*value=='{') { return parse_object(item,value); } - - ep=value;return nullptr; /* failure. */ -} - -/* Render a value to text. */ -static char *print_value(cJSON *item,int depth,int fmt) -{ - char *out=nullptr; - if (!item) return nullptr; - switch ((item->type)&255) - { - case cJSON_NULL: out=cJSON_strdup("null"); break; - case cJSON_False: out=cJSON_strdup("false");break; - case cJSON_True: out=cJSON_strdup("true"); break; - case cJSON_Number: out=print_number(item);break; - case cJSON_String: out=print_string(item);break; - case cJSON_Array: out=print_array(item,depth,fmt);break; - case cJSON_Object: out=print_object(item,depth,fmt);break; - } - return out; -} - -/* Build an array from input text. */ -static const char *parse_array(cJSON *item,const char *value) -{ - cJSON *child; - if (*value!='[') {ep=value;return nullptr;} /* not an array! */ - - item->type=cJSON_Array; - value=skip(value+1); - if (*value==']') return value+1; /* empty array. */ - - item->child=child=cJSON_New_Item(); - if (!item->child) return nullptr; /* memory fail */ - value=skip(parse_value(child,skip(value))); /* skip any spacing, get the value. */ - if (!value) return nullptr; - - while (*value==',') - { - cJSON *new_item; - if (!(new_item=cJSON_New_Item())) return nullptr; /* memory fail */ - child->next=new_item;new_item->prev=child;child=new_item; - value=skip(parse_value(child,skip(value+1))); - if (!value) return nullptr; /* memory fail */ - } - - if (*value==']') return value+1; /* end of array */ - ep=value;return nullptr; /* malformed. */ -} - -/* Render an array to text */ -static char *print_array(cJSON *item,int depth,int fmt) -{ - char **entries; - char *out=nullptr,*ptr,*ret;std::size_t len=5; - cJSON *child=item->child; - int numentries=0,i=0,fail=0; - - /* How many entries in the array? */ - while (child) numentries++,child=child->next; - /* Allocate an array to hold the values for each */ - entries=static_cast(cJSON_malloc(numentries*sizeof(char*))); - if (!entries) return nullptr; - std::fill_n(entries, numentries, nullptr); - /* Retrieve all the results: */ - child=item->child; - while (child && !fail) - { - ret=print_value(child,depth+1,fmt); - entries[i++]=ret; - if (ret) len+=strlen(ret)+2+(fmt?1:0); else fail=1; - child=child->next; - } - - /* If we didn't fail, try to malloc the output string */ - if (!fail) out=static_cast(cJSON_malloc(len)); - /* If that fails, we fail. */ - if (!out) fail=1; - - /* Handle failure. */ - if (fail) - { - for (i=0;itype=cJSON_Object; - value=skip(value+1); - if (*value=='}') return value+1; /* empty array. */ - - item->child=child=cJSON_New_Item(); - if (!item->child) return nullptr; - value=skip(parse_string(child,skip(value))); - if (!value) return nullptr; - child->string=child->valuestring;child->valuestring=nullptr; - if (*value!=':') {ep=value;return nullptr;} /* fail! */ - value=skip(parse_value(child,skip(value+1))); /* skip any spacing, get the value. */ - if (!value) return nullptr; - - while (*value==',') - { - cJSON *new_item; - if (!(new_item=cJSON_New_Item())) return nullptr; /* memory fail */ - child->next=new_item;new_item->prev=child;child=new_item; - value=skip(parse_string(child,skip(value+1))); - if (!value) return nullptr; - child->string=child->valuestring;child->valuestring=nullptr; - if (*value!=':') {ep=value;return nullptr;} /* fail! */ - value=skip(parse_value(child,skip(value+1))); /* skip any spacing, get the value. */ - if (!value) return nullptr; - } - - if (*value=='}') return value+1; /* end of array */ - ep=value;return nullptr; /* malformed. */ -} - -/* Render an object to text. */ -static char *print_object(cJSON *item,int depth,int fmt) -{ - char *out=nullptr; - std::size_t len=7; - cJSON *child=item->child; - std::size_t numentries=0,fail=0; - /* Count the number of entries. */ - while (child) numentries++,child=child->next; - /* Allocate space for the names and the objects */ - char **entries = static_cast(cJSON_malloc(numentries*sizeof(char*))); - if (!entries) return nullptr; - char **names=static_cast(cJSON_malloc(numentries*sizeof(char*))); - if (!names) {cJSON_free(entries);return nullptr;} - std::fill_n(entries, numentries, nullptr); - std::fill_n(names, numentries, nullptr); - - /* Collect all the results into our arrays: */ - child=item->child;depth++;if (fmt) len+=depth; - int childId = 0; - while (child) - { - char *str = print_string_ptr(child->string); - names[childId] = str; - char *ret = print_value(child,depth,fmt); - entries[childId++] = ret; - if (str && ret) len+=strlen(ret)+strlen(str)+2+(fmt?2+depth:0); else fail=1; - child=child->next; - } - - /* Try to allocate the output string */ - if (!fail) out=static_cast (cJSON_malloc(len)); - if (!out) fail=1; - - /* Handle failure */ - if (fail) - { - for (std::size_t i=0;ichild;int i=0;while(c)i++,c=c->next;return i;} -cJSON *cJSON_GetArrayItem(cJSON *array,int item) {cJSON *c=array->child; while (c && item>0) item--,c=c->next; return c;} -cJSON *cJSON_GetObjectItem(cJSON *object,const char *string) {cJSON *c=object->child; while (c && cJSON_strcasecmp(c->string,string)) c=c->next; return c;} - -/* Utility for array list handling. */ -static void suffix_object(cJSON *prev,cJSON *item) {prev->next=item;item->prev=prev;} -/* Utility for handling references. */ -static cJSON* -create_reference(cJSON* item) -{ - cJSON* ref = cJSON_New_Item(); - if (!ref) { - return nullptr; - } - *ref = *item; - ref->string = nullptr; - ref->type |= cJSON_IsReference; - ref->next = ref->prev = nullptr; - return ref; -} - -/* Add item to array/object. */ -void cJSON_AddItemToArray(cJSON *array, cJSON *item) {cJSON *c=array->child;if (!item) return; if (!c) {array->child=item;} else {while (c && c->next) c=c->next; suffix_object(c,item);}} -void cJSON_AddItemToObject(cJSON *object,const char *string,cJSON *item) {if (!item) return; if (item->string) cJSON_free(item->string);item->string=cJSON_strdup(string);cJSON_AddItemToArray(object,item);} -void cJSON_AddItemReferenceToArray(cJSON *array, cJSON *item) {cJSON_AddItemToArray(array,create_reference(item));} -void cJSON_AddItemReferenceToObject(cJSON *object,const char *string,cJSON *item) {cJSON_AddItemToObject(object,string,create_reference(item));} - -cJSON *cJSON_DetachItemFromArray(cJSON *array,int which) { - cJSON *c=array->child; - while (c && which>0) c=c->next,which--; - if (!c) return nullptr; - if (c->prev) c->prev->next=c->next; - if (c->next) c->next->prev=c->prev; - if (c==array->child) array->child=c->next; - c->prev=c->next=nullptr; - return c; -} -void cJSON_DeleteItemFromArray(cJSON *array,int which) {cJSON_Delete(cJSON_DetachItemFromArray(array,which));} -cJSON *cJSON_DetachItemFromObject(cJSON *object,const char *string) {int i=0;cJSON *c=object->child;while (c && cJSON_strcasecmp(c->string,string)) i++,c=c->next;if (c) return cJSON_DetachItemFromArray(object,i);return nullptr;} -void cJSON_DeleteItemFromObject(cJSON *object,const char *string) {cJSON_Delete(cJSON_DetachItemFromObject(object,string));} - -/* Replace array/object items with new ones. */ -void cJSON_ReplaceItemInArray(cJSON *array,int which,cJSON *newitem) {cJSON *c=array->child;while (c && which>0) c=c->next,which--;if (!c) return; - newitem->next=c->next;newitem->prev=c->prev;if (newitem->next) newitem->next->prev=newitem; - if (c==array->child) array->child=newitem; else newitem->prev->next=newitem;c->next=c->prev=nullptr;cJSON_Delete(c);} -void cJSON_ReplaceItemInObject(cJSON *object,const char *string,cJSON *newitem){int i=0;cJSON *c=object->child;while(c && cJSON_strcasecmp(c->string,string))i++,c=c->next;if(c){newitem->string=cJSON_strdup(string);cJSON_ReplaceItemInArray(object,i,newitem);}} - -/* Create basic types: */ -cJSON *cJSON_CreateNull() {cJSON *item=cJSON_New_Item();if(item)item->type=cJSON_NULL;return item;} -cJSON *cJSON_CreateTrue() {cJSON *item=cJSON_New_Item();if(item)item->type=cJSON_True;return item;} -cJSON *cJSON_CreateFalse() {cJSON *item=cJSON_New_Item();if(item)item->type=cJSON_False;return item;} -cJSON *cJSON_CreateBool(int b) {cJSON *item=cJSON_New_Item();if(item)item->type=b?cJSON_True:cJSON_False;return item;} -cJSON *cJSON_CreateNumber(double num) {cJSON *item=cJSON_New_Item();if(item){item->type=cJSON_Number;item->valuedouble=num;item->valueint=static_cast(num);}return item;} -cJSON *cJSON_CreateString(const char *string) {cJSON *item=cJSON_New_Item();if(item){item->type=cJSON_String;item->valuestring=cJSON_strdup(string);}return item;} -cJSON *cJSON_CreateArray() {cJSON *item=cJSON_New_Item();if(item)item->type=cJSON_Array;return item;} -cJSON *cJSON_CreateObject() {cJSON *item=cJSON_New_Item();if(item)item->type=cJSON_Object;return item;} - -/* Create Arrays: */ -cJSON *cJSON_CreateIntArray(int *numbers,int count) {cJSON *p=nullptr,*a=cJSON_CreateArray();for(int i=0;a && ichild=n;else suffix_object(p,n);p=n;}return a;} -cJSON *cJSON_CreateFloatArray(float *numbers,int count) {cJSON *p=nullptr,*a=cJSON_CreateArray();for(int i=0;a && ichild=n;else suffix_object(p,n);p=n;}return a;} -cJSON *cJSON_CreateDoubleArray(double *numbers,int count) {cJSON *p=nullptr,*a=cJSON_CreateArray();for(int i=0;a && ichild=n;else suffix_object(p,n);p=n;}return a;} -cJSON *cJSON_CreateStringArray(const char **strings,int count) {cJSON *p=nullptr,*a=cJSON_CreateArray();for(int i=0;a && ichild=n;else suffix_object(p,n);p=n;}return a;} diff --git a/outofcore/tools/CMakeLists.txt b/outofcore/tools/CMakeLists.txt index f33e8b44..8f353c84 100644 --- a/outofcore/tools/CMakeLists.txt +++ b/outofcore/tools/CMakeLists.txt @@ -13,7 +13,6 @@ if(NOT VTK_FOUND) else() set(DEFAULT TRUE) set(REASON) - include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") set(srcs outofcore_viewer.cpp ../src/visualization/camera.cpp diff --git a/pcl_config.h.in b/pcl_config.h.in index 13d04c3f..5b07e0d7 100644 --- a/pcl_config.h.in +++ b/pcl_config.h.in @@ -3,18 +3,19 @@ // Ensure the compiler is meeting the minimum C++ standard // MSVC is not checked via __cplusplus due to // https://developercommunity.visualstudio.com/content/problem/120156/-cplusplus-macro-still-defined-as-pre-c11-value.html -#if (!defined(_MSC_VER) && __cplusplus < 201402L) || (defined(_MSC_VER) && _MSC_VER < 1900) - #error PCL requires C++14 or above +#if defined(__cplusplus) && ((!defined(_MSC_VER) && __cplusplus < ${PCL__cplusplus}) || (defined(_MSC_VER) && _MSC_VER < ${PCL_REQUIRES_MSC_VER}) || (defined(_MSVC_LANG) && _MSVC_LANG < ${PCL__cplusplus})) + #error C++ standard too low (PCL requires ${PCL__cplusplus} or above) #endif #define BUILD_@CMAKE_BUILD_TYPE@ +#cmakedefine PCL_SYMBOL_VISIBILITY_HIDDEN /* PCL version information */ #define PCL_MAJOR_VERSION ${PCL_VERSION_MAJOR} #define PCL_MINOR_VERSION ${PCL_VERSION_MINOR} #define PCL_REVISION_VERSION ${PCL_VERSION_PATCH} #define PCL_DEV_VERSION ${PCL_DEV_VERSION} #define PCL_VERSION_PRETTY "${PCL_VERSION_PRETTY}" -#define PCL_VERSION_CALC(MAJ, MIN, PATCH) (MAJ*100000+MIN*100+PATCH) +#define PCL_VERSION_CALC(MAJ, MIN, PATCH) ((MAJ)*100000+(MIN)*100+(PATCH)) #define PCL_VERSION \ PCL_VERSION_CALC(PCL_MAJOR_VERSION, PCL_MINOR_VERSION, PCL_REVISION_VERSION) #define PCL_VERSION_COMPARE(OP, MAJ, MIN, PATCH) \ @@ -34,6 +35,8 @@ #endif //PCL_MINOR_VERSION #endif +#define PCL_USES_EIGEN_HANDMADE_ALIGNED_MALLOC ${PCL_USES_EIGEN_HANDMADE_ALIGNED_MALLOC} + #cmakedefine HAVE_OPENNI 1 #cmakedefine HAVE_OPENNI2 1 @@ -54,9 +57,17 @@ #cmakedefine HAVE_ZLIB +#cmakedefine HAVE_CJSON + +#cmakedefine PCL_PREFER_BOOST_FILESYSTEM + /* Precompile for a minimal set of point types instead of all. */ #cmakedefine PCL_ONLY_CORE_POINT_TYPES +#define PCL_XYZ_POINT_TYPES @PCL_XYZ_POINT_TYPES@ + +#define PCL_NORMAL_POINT_TYPES @PCL_NORMAL_POINT_TYPES@ + /* Do not precompile for any point types at all. */ #cmakedefine PCL_NO_PRECOMPILE diff --git a/people/CMakeLists.txt b/people/CMakeLists.txt index dca32d66..f2b11e83 100644 --- a/people/CMakeLists.txt +++ b/people/CMakeLists.txt @@ -2,16 +2,6 @@ set(SUBSYS_NAME people) set(SUBSYS_DESC "Point cloud people library") set(SUBSYS_DEPS common kdtree search sample_consensus filters io visualization geometry segmentation octree) -if(NOT VTK_FOUND) - set(DEFAULT FALSE) - set(REASON "VTK was not found.") -else() - set(DEFAULT TRUE) - set(REASON) - include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") -endif() - -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) @@ -43,8 +33,6 @@ set(srcs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") - PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) target_link_libraries(${LIB_NAME} pcl_common pcl_filters pcl_kdtree pcl_sample_consensus pcl_segmentation pcl_visualization) @@ -53,8 +41,6 @@ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs}) PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs}) -#SET_TARGET_PROPERTIES("${LIB_NAME}" PROPERTIES LINKER_LANGUAGE CXX) - if(WITH_OPENNI) PCL_ADD_EXECUTABLE(pcl_ground_based_rgbd_people_detector COMPONENT ${SUBSYS_NAME} SOURCES apps/main_ground_based_people_detection.cpp BUNDLE) target_link_libraries(pcl_ground_based_rgbd_people_detector pcl_common pcl_kdtree pcl_search pcl_sample_consensus pcl_filters pcl_io pcl_visualization pcl_segmentation pcl_people) diff --git a/people/include/pcl/people/impl/head_based_subcluster.hpp b/people/include/pcl/people/impl/head_based_subcluster.hpp index 7c9866fc..950f5685 100644 --- a/people/include/pcl/people/impl/head_based_subcluster.hpp +++ b/people/include/pcl/people/impl/head_based_subcluster.hpp @@ -136,7 +136,7 @@ pcl::people::HeadBasedSubclustering::mergeClustersCloseInFloorCoordinate { float min_distance_between_cluster_centers = 0.4; // meters float normalize_factor = std::pow(sqrt_ground_coeffs_, 2); // sqrt_ground_coeffs ^ 2 (precomputed for speed) - Eigen::Vector3f head_ground_coeffs = ground_coeffs_.head(3); // ground plane normal (precomputed for speed) + Eigen::Vector3f head_ground_coeffs = ground_coeffs_.head<3>(); // ground plane normal (precomputed for speed) std::vector > connected_clusters; connected_clusters.resize(input_clusters.size()); std::vector used_clusters; // 0 in correspondence of clusters remained to process, 1 for already used clusters @@ -196,7 +196,7 @@ pcl::people::HeadBasedSubclustering::createSubClusters (pcl::people::Per { // create new clusters from the current cluster and put corresponding indices into sub_clusters_indices: float normalize_factor = std::pow(sqrt_ground_coeffs_, 2); // sqrt_ground_coeffs ^ 2 (precomputed for speed) - Eigen::Vector3f head_ground_coeffs = ground_coeffs_.head(3); // ground plane normal (precomputed for speed) + Eigen::Vector3f head_ground_coeffs = ground_coeffs_.head<3>(); // ground plane normal (precomputed for speed) Eigen::Matrix3Xf maxima_projected(3,maxima_number); // matrix containing the projection of maxima onto the ground plane Eigen::VectorXi subclusters_number_of_points(maxima_number); // subclusters number of points std::vector sub_clusters_indices; // vector of vectors with the cluster indices for every maximum diff --git a/people/include/pcl/people/impl/height_map_2d.hpp b/people/include/pcl/people/impl/height_map_2d.hpp index e8640ebd..df93b822 100644 --- a/people/include/pcl/people/impl/height_map_2d.hpp +++ b/people/include/pcl/people/impl/height_map_2d.hpp @@ -213,16 +213,16 @@ pcl::people::HeightMap2D::filterMaxima () PointT* p_current = &(*cloud_)[maxima_cloud_indices_[i]]; // pointcloud point referring to the current maximum Eigen::Vector3f p_current_eigen(p_current->x, p_current->y, p_current->z); // conversion to eigen - float t = p_current_eigen.dot(ground_coeffs_.head(3)) / std::pow(sqrt_ground_coeffs_, 2); // height from the ground - p_current_eigen -= ground_coeffs_.head(3) * t; // projection of the point on the groundplane + float t = p_current_eigen.dot(ground_coeffs_.head<3>()) / std::pow(sqrt_ground_coeffs_, 2); // height from the ground + p_current_eigen -= ground_coeffs_.head<3>() * t; // projection of the point on the groundplane int j = i-1; while ((j >= 0) && (good_maximum)) { PointT* p_previous = &(*cloud_)[maxima_cloud_indices_[j]]; // pointcloud point referring to an already validated maximum Eigen::Vector3f p_previous_eigen(p_previous->x, p_previous->y, p_previous->z); // conversion to eigen - float t = p_previous_eigen.dot(ground_coeffs_.head(3)) / std::pow(sqrt_ground_coeffs_, 2); // height from the ground - p_previous_eigen -= ground_coeffs_.head(3) * t; // projection of the point on the groundplane + float t = p_previous_eigen.dot(ground_coeffs_.head<3>()) / std::pow(sqrt_ground_coeffs_, 2); // height from the ground + p_previous_eigen -= ground_coeffs_.head<3>() * t; // projection of the point on the groundplane // distance of the projection of the points on the groundplane: float distance = (p_current_eigen-p_previous_eigen).norm(); diff --git a/recognition/CMakeLists.txt b/recognition/CMakeLists.txt index 84158dc6..db1de1bf 100644 --- a/recognition/CMakeLists.txt +++ b/recognition/CMakeLists.txt @@ -2,8 +2,9 @@ set(SUBSYS_NAME recognition) set(SUBSYS_DESC "Point cloud recognition library") set(SUBSYS_DEPS common io search kdtree octree features filters registration sample_consensus ml) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) +set(DEFAULT ON) + +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) PCL_ADD_DOC("${SUBSYS_NAME}") @@ -21,7 +22,6 @@ set(LINEMOD_IMPLS ) set(incs - "include/pcl/${SUBSYS_NAME}/boost.h" "include/pcl/${SUBSYS_NAME}/color_gradient_dot_modality.h" "include/pcl/${SUBSYS_NAME}/color_gradient_modality.h" "include/pcl/${SUBSYS_NAME}/color_modality.h" @@ -38,20 +38,7 @@ set(incs "include/pcl/${SUBSYS_NAME}/dense_quantized_multi_mod_template.h" "include/pcl/${SUBSYS_NAME}/sparse_quantized_multi_mod_template.h" "include/pcl/${SUBSYS_NAME}/surface_normal_modality.h" - "include/pcl/${SUBSYS_NAME}/line_rgbd.h" "include/pcl/${SUBSYS_NAME}/implicit_shape_model.h" - "include/pcl/${SUBSYS_NAME}/auxiliary.h" - "include/pcl/${SUBSYS_NAME}/hypothesis.h" - "include/pcl/${SUBSYS_NAME}/model_library.h" - "include/pcl/${SUBSYS_NAME}/rigid_transform_space.h" - "include/pcl/${SUBSYS_NAME}/obj_rec_ransac.h" - "include/pcl/${SUBSYS_NAME}/orr_graph.h" - "include/pcl/${SUBSYS_NAME}/orr_octree_zprojection.h" - "include/pcl/${SUBSYS_NAME}/trimmed_icp.h" - "include/pcl/${SUBSYS_NAME}/orr_octree.h" - "include/pcl/${SUBSYS_NAME}/simple_octree.h" - "include/pcl/${SUBSYS_NAME}/voxel_structure.h" - "include/pcl/${SUBSYS_NAME}/bvh.h" ) set(ransac_based_incs @@ -91,9 +78,6 @@ set(cg_incs ) set(impl_incs - "include/pcl/${SUBSYS_NAME}/impl/line_rgbd.hpp" - "include/pcl/${SUBSYS_NAME}/impl/simple_octree.hpp" - "include/pcl/${SUBSYS_NAME}/impl/voxel_structure.hpp" "include/pcl/${SUBSYS_NAME}/impl/implicit_shape_model.hpp" ) @@ -135,24 +119,19 @@ set(srcs src/implicit_shape_model.cpp ) -if(HAVE_METSLIB) - set(metslib_incs "") -else() - set(metslib_incs - "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/abstract-search.hh" - "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/local-search.hh" - "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/mets.hh" - "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/metslib_config.hh" - "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/model.hh" - "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/observer.hh" - "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/simulated-annealing.hh" - "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/tabu-search.hh" - "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/termination-criteria.hh" - ) -endif() +set(metslib_incs + "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/abstract-search.hh" + "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/local-search.hh" + "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/mets.hh" + "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/metslib_config.hh" + "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/model.hh" + "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/observer.hh" + "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/simulated-annealing.hh" + "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/tabu-search.hh" + "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/termination-criteria.hh" +) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${face_detection_incs} ${ransac_based_incs} ${ransac_based_impl_incs} ${hv_incs} ${hv_impl_incs} ${cg_incs} ${cg_impl_incs} ${metslib_incs}) target_link_libraries("${LIB_NAME}" pcl_common pcl_kdtree pcl_octree pcl_search pcl_features pcl_registration pcl_sample_consensus pcl_filters pcl_ml pcl_io) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) @@ -169,7 +148,4 @@ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/hv" ${hv_impl_incs}) PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/cg" ${cg_impl_incs}) PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/linemod" ${LINEMOD_INCLUDES}) PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/linemod" ${LINEMOD_IMPLS}) - -if(NOT HAVE_METSLIB) - PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/3rdparty/metslib" ${metslib_incs}) -endif() +PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/3rdparty/metslib" ${metslib_incs}) diff --git a/recognition/include/pcl/recognition/auxiliary.h b/recognition/include/pcl/recognition/auxiliary.h deleted file mode 100644 index 0e364add..00000000 --- a/recognition/include/pcl/recognition/auxiliary.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/boost.h b/recognition/include/pcl/recognition/boost.h deleted file mode 100644 index 44e705be..00000000 --- a/recognition/include/pcl/recognition/boost.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: lmeds.h 1370 2011-06-19 01:06:01Z jspricke $ - * - */ - -#pragma once - -#if defined __GNUC__ -# pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.") - -#include diff --git a/recognition/include/pcl/recognition/bvh.h b/recognition/include/pcl/recognition/bvh.h deleted file mode 100644 index 12374a20..00000000 --- a/recognition/include/pcl/recognition/bvh.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/color_gradient_modality.h b/recognition/include/pcl/recognition/color_gradient_modality.h index 89ca02cb..986b22b9 100644 --- a/recognition/include/pcl/recognition/color_gradient_modality.h +++ b/recognition/include/pcl/recognition/color_gradient_modality.h @@ -368,7 +368,7 @@ processInputData () convolution.setInputCloud (rgb_input_); convolution.setKernel (gaussian_kernel); - + convolution.setBordersPolicy(pcl::filters::Convolution::BORDERS_POLICY_DUPLICATE); convolution.convolve (*smoothed_input_); // extract color gradients diff --git a/recognition/include/pcl/recognition/dotmod.h b/recognition/include/pcl/recognition/dotmod.h index b1c64519..be0e5661 100644 --- a/recognition/include/pcl/recognition/dotmod.h +++ b/recognition/include/pcl/recognition/dotmod.h @@ -59,6 +59,7 @@ namespace pcl /** * \brief Template matching using the DOTMOD approach. * \author Stefan Holzer, Stefan Hinterstoisser + * \ingroup recognition */ class PCL_EXPORTS DOTMOD { diff --git a/recognition/include/pcl/recognition/face_detection/face_detector_data_provider.h b/recognition/include/pcl/recognition/face_detection/face_detector_data_provider.h index 7b4a929d..6bf66dc9 100644 --- a/recognition/include/pcl/recognition/face_detection/face_detector_data_provider.h +++ b/recognition/include/pcl/recognition/face_detection/face_detector_data_provider.h @@ -7,19 +7,17 @@ #pragma once +#include #include #include #include #include -#include #include #include -namespace bf = boost::filesystem; - namespace pcl { namespace face_detection @@ -35,15 +33,15 @@ namespace pcl int patches_per_image_; int min_images_per_bin_; - void getFilesInDirectory(bf::path & dir, std::string & rel_path_so_far, std::vector & relative_paths, std::string & ext) + void getFilesInDirectory(pcl_fs::path & dir, std::string & rel_path_so_far, std::vector & relative_paths, std::string & ext) { - for (const auto& dir_entry : bf::directory_iterator(dir)) + for (const auto& dir_entry : pcl_fs::directory_iterator(dir)) { //check if its a directory, then get models in it - if (bf::is_directory (dir_entry)) + if (pcl_fs::is_directory (dir_entry)) { std::string so_far = rel_path_so_far + (dir_entry.path ().filename ()).string () + "/"; - bf::path curr_path = dir_entry.path (); + pcl_fs::path curr_path = dir_entry.path (); getFilesInDirectory (curr_path, so_far, relative_paths, ext); } else { diff --git a/recognition/include/pcl/recognition/hv/greedy_verification.h b/recognition/include/pcl/recognition/hv/greedy_verification.h index 40c874d7..fb7f0e95 100644 --- a/recognition/include/pcl/recognition/hv/greedy_verification.h +++ b/recognition/include/pcl/recognition/hv/greedy_verification.h @@ -47,6 +47,7 @@ namespace pcl /** * \brief A greedy hypothesis verification method * \author Aitor Aldoma + * \ingroup recognition */ template diff --git a/recognition/include/pcl/recognition/hypothesis.h b/recognition/include/pcl/recognition/hypothesis.h deleted file mode 100644 index ad8f5b64..00000000 --- a/recognition/include/pcl/recognition/hypothesis.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/impl/hv/hv_go.hpp b/recognition/include/pcl/recognition/impl/hv/hv_go.hpp index 4783f701..3db2df82 100644 --- a/recognition/include/pcl/recognition/impl/hv/hv_go.hpp +++ b/recognition/include/pcl/recognition/impl/hv/hv_go.hpp @@ -61,6 +61,8 @@ inline void extractEuclideanClustersSmooth(const typename pcl::PointCloudgetSortedResults () ? 1 : 0; // Create a bool vector of processed point indices, and initialize it to false std::vector processed (cloud.size (), false); @@ -96,7 +98,7 @@ inline void extractEuclideanClustersSmooth(const typename pcl::PointCloud::addModel(typename pcl::P Eigen::Vector3f scene_p_normal = (*scene_normals_)[it->first].getNormalVector3fMap (); Eigen::Vector3f model_p_normal = (*recog_model->normals_)[it->second->at(closest).first].getNormalVector3fMap(); - float dotp = scene_p_normal.dot (model_p_normal) * 1.f; //[-1,1] from antiparallel trough perpendicular to parallel + float dotp = scene_p_normal.dot (model_p_normal) * 1.f; //[-1,1] from antiparallel through perpendicular to parallel if (dotp < 0.f) dotp = 0.f; @@ -725,7 +727,7 @@ void pcl::GlobalHypothesesVerification::computeClutterCue(Recogn //using normals to weight clutter points Eigen::Vector3f scene_p_normal = (*scene_normals_)[neighborhood_index.first].getNormalVector3fMap (); Eigen::Vector3f model_p_normal = (*scene_normals_)[recog_model->explained_[neighborhood_index.second]].getNormalVector3fMap (); - float dotp = scene_p_normal.dot (model_p_normal); //[-1,1] from antiparallel trough perpendicular to parallel + float dotp = scene_p_normal.dot (model_p_normal); //[-1,1] from antiparallel through perpendicular to parallel if (dotp < 0) dotp = 0.f; diff --git a/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp b/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp index 3830bdbe..fdd87b78 100644 --- a/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp +++ b/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp @@ -32,7 +32,7 @@ * POSSIBILITY OF SUCH DAMAGE. * * - * Implementation of the ISM algorithm described in "Hough Transforms and 3D SURF for robust three dimensional classication" + * Implementation of the ISM algorithm described in "Hough Transforms and 3D SURF for robust three dimensional classification" * by Jan Knopp, Mukta Prasad, Geert Willems, Radu Timofte, and Luc Van Gool * * Authors: Roman Shapovalov, Alexander Velizhev, Sergey Ushakov diff --git a/recognition/include/pcl/recognition/impl/line_rgbd.hpp b/recognition/include/pcl/recognition/impl/line_rgbd.hpp deleted file mode 100644 index 53d67119..00000000 --- a/recognition/include/pcl/recognition/impl/line_rgbd.hpp +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/impl/simple_octree.hpp b/recognition/include/pcl/recognition/impl/simple_octree.hpp deleted file mode 100644 index 0c8c0ccb..00000000 --- a/recognition/include/pcl/recognition/impl/simple_octree.hpp +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/impl/voxel_structure.hpp b/recognition/include/pcl/recognition/impl/voxel_structure.hpp deleted file mode 100644 index 44697e8e..00000000 --- a/recognition/include/pcl/recognition/impl/voxel_structure.hpp +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/implicit_shape_model.h b/recognition/include/pcl/recognition/implicit_shape_model.h index 0347eff9..ea02007e 100644 --- a/recognition/include/pcl/recognition/implicit_shape_model.h +++ b/recognition/include/pcl/recognition/implicit_shape_model.h @@ -226,12 +226,12 @@ namespace pcl namespace ism { /** \brief This class implements Implicit Shape Model algorithm described in - * "Hough Transforms and 3D SURF for robust three dimensional classication" + * "Hough Transforms and 3D SURF for robust three dimensional classification" * by Jan Knopp, Mukta Prasad, Geert Willems, Radu Timofte, and Luc Van Gool. * It has two main member functions. One for training, using the data for which we know * which class it belongs to. And second for investigating a cloud for the presence * of the class of interest. - * Implementation of the ISM algorithm described in "Hough Transforms and 3D SURF for robust three dimensional classication" + * Implementation of the ISM algorithm described in "Hough Transforms and 3D SURF for robust three dimensional classification" * by Jan Knopp, Mukta Prasad, Geert Willems, Radu Timofte, and Luc Van Gool * * Authors: Roman Shapovalov, Alexander Velizhev, Sergey Ushakov diff --git a/recognition/include/pcl/recognition/line_rgbd.h b/recognition/include/pcl/recognition/line_rgbd.h deleted file mode 100644 index 5d526ad3..00000000 --- a/recognition/include/pcl/recognition/line_rgbd.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/linemod/line_rgbd.h b/recognition/include/pcl/recognition/linemod/line_rgbd.h index d9f9cd5d..b955f385 100644 --- a/recognition/include/pcl/recognition/linemod/line_rgbd.h +++ b/recognition/include/pcl/recognition/linemod/line_rgbd.h @@ -67,6 +67,7 @@ namespace pcl /** \brief High-level class for template matching using the LINEMOD approach based on RGB and Depth data. * \author Stefan Holzer + * \ingroup recognition */ template class PCL_EXPORTS LineRGBD diff --git a/recognition/include/pcl/recognition/model_library.h b/recognition/include/pcl/recognition/model_library.h deleted file mode 100644 index 4b4ee334..00000000 --- a/recognition/include/pcl/recognition/model_library.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/obj_rec_ransac.h b/recognition/include/pcl/recognition/obj_rec_ransac.h deleted file mode 100644 index 52b96362..00000000 --- a/recognition/include/pcl/recognition/obj_rec_ransac.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/orr_graph.h b/recognition/include/pcl/recognition/orr_graph.h deleted file mode 100644 index a43e35c9..00000000 --- a/recognition/include/pcl/recognition/orr_graph.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/orr_octree.h b/recognition/include/pcl/recognition/orr_octree.h deleted file mode 100644 index b0f43fc2..00000000 --- a/recognition/include/pcl/recognition/orr_octree.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/orr_octree_zprojection.h b/recognition/include/pcl/recognition/orr_octree_zprojection.h deleted file mode 100644 index 536f8a53..00000000 --- a/recognition/include/pcl/recognition/orr_octree_zprojection.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/ransac_based/bvh.h b/recognition/include/pcl/recognition/ransac_based/bvh.h index 1ca6ef34..43276a24 100644 --- a/recognition/include/pcl/recognition/ransac_based/bvh.h +++ b/recognition/include/pcl/recognition/ransac_based/bvh.h @@ -190,8 +190,8 @@ namespace pcl inline bool intersect(const float box[6]) const { - return !(box[1] < bounds_[0] || box[3] < bounds_[2] || box[5] < bounds_[4] || - box[0] > bounds_[1] || box[2] > bounds_[3] || box[4] > bounds_[5]); + return (box[1] >= bounds_[0] && box[3] >= bounds_[2] && box[5] >= bounds_[4] && + box[0] <= bounds_[1] && box[2] <= bounds_[3] && box[4] <= bounds_[5]); } /** \brief Computes and returns the volume of the bounding box of this node. */ diff --git a/recognition/include/pcl/recognition/rigid_transform_space.h b/recognition/include/pcl/recognition/rigid_transform_space.h deleted file mode 100644 index 2cc30436..00000000 --- a/recognition/include/pcl/recognition/rigid_transform_space.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/simple_octree.h b/recognition/include/pcl/recognition/simple_octree.h deleted file mode 100644 index aa47e0d8..00000000 --- a/recognition/include/pcl/recognition/simple_octree.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/trimmed_icp.h b/recognition/include/pcl/recognition/trimmed_icp.h deleted file mode 100644 index cabf17ba..00000000 --- a/recognition/include/pcl/recognition/trimmed_icp.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/include/pcl/recognition/voxel_structure.h b/recognition/include/pcl/recognition/voxel_structure.h deleted file mode 100644 index a78e541c..00000000 --- a/recognition/include/pcl/recognition/voxel_structure.h +++ /dev/null @@ -1,2 +0,0 @@ -#include -PCL_DEPRECATED_HEADER(1, 15, "Please use instead") diff --git a/recognition/src/face_detection/face_detector_data_provider.cpp b/recognition/src/face_detection/face_detector_data_provider.cpp index 558c7f10..c6baab4b 100644 --- a/recognition/src/face_detection/face_detector_data_provider.cpp +++ b/recognition/src/face_detection/face_detector_data_provider.cpp @@ -50,7 +50,7 @@ void pcl::face_detection::FaceDetectorDataProvider files; getFilesInDirectory (dir, start, files, ext); @@ -93,7 +93,7 @@ void pcl::face_detection::FaceDetectorDataProvider (0, 0).eulerAngles (0, 1, 2); + Eigen::Vector3f ea = pose_mat.topLeftCorner<3, 3> ().eulerAngles (0, 1, 2); ea *= 57.2957795f; //transform it to degrees to do the binning int y = static_cast(pcl_round ((ea[0] + static_cast(std::abs (min_yaw))) / res_yaw)); int p = static_cast(pcl_round ((ea[1] + static_cast(std::abs (min_pitch))) / res_pitch)); @@ -354,7 +354,7 @@ void pcl::face_detection::FaceDetectorDataProvider (0, 0).eulerAngles (0, 1, 2); + Eigen::Vector3f ea = pose_mat.topLeftCorner<3, 3> ().eulerAngles (0, 1, 2); Eigen::Vector3f trans_vector = Eigen::Vector3f (pose_mat (0, 3), pose_mat (1, 3), pose_mat (2, 3)); pcl::PointXYZ center_point; diff --git a/recognition/src/face_detection/rf_face_detector_trainer.cpp b/recognition/src/face_detection/rf_face_detector_trainer.cpp index e4a447b4..327c132c 100644 --- a/recognition/src/face_detection/rf_face_detector_trainer.cpp +++ b/recognition/src/face_detection/rf_face_detector_trainer.cpp @@ -479,7 +479,7 @@ void pcl::RFFaceDetectorTrainer::detectFaces() Eigen::Matrix4f guess; guess.setIdentity (); - guess.block<3, 3> (0, 0) = matrixxx; + guess.topLeftCorner<3, 3> () = matrixxx; guess (0, 3) = head_clusters_centers_[i][0]; guess (1, 3) = head_clusters_centers_[i][1]; guess (2, 3) = head_clusters_centers_[i][2]; @@ -519,7 +519,7 @@ void pcl::RFFaceDetectorTrainer::detectFaces() head_clusters_centers_[i][1] = icp_trans (1, 3); head_clusters_centers_[i][2] = icp_trans (2, 3); - Eigen::Vector3f ea = icp_trans.block<3, 3> (0, 0).eulerAngles (0, 1, 2); + Eigen::Vector3f ea = icp_trans.topLeftCorner<3, 3> ().eulerAngles (0, 1, 2); head_clusters_rotation_[i][0] = ea[0]; head_clusters_rotation_[i][1] = ea[1]; head_clusters_rotation_[i][2] = ea[2]; diff --git a/recognition/src/implicit_shape_model.cpp b/recognition/src/implicit_shape_model.cpp index ed851c35..9efa48f4 100644 --- a/recognition/src/implicit_shape_model.cpp +++ b/recognition/src/implicit_shape_model.cpp @@ -43,6 +43,6 @@ #include // Instantiations of specific point types -template class pcl::features::ISMVoteList; +template class PCL_EXPORTS pcl::features::ISMVoteList; -template class pcl::ism::ImplicitShapeModelEstimation<153, pcl::PointXYZ, pcl::Normal>; +template class PCL_EXPORTS pcl::ism::ImplicitShapeModelEstimation<153, pcl::PointXYZ, pcl::Normal>; diff --git a/recognition/src/ransac_based/model_library.cpp b/recognition/src/ransac_based/model_library.cpp index dd3d3efd..6efba154 100644 --- a/recognition/src/ransac_based/model_library.cpp +++ b/recognition/src/ransac_based/model_library.cpp @@ -173,7 +173,7 @@ ModelLibrary::addToHashTable (Model* model, const ORROctree::Node::Data* data1, HashTableCell* cell = hash_table_.getVoxel (key); // Insert the pair (data1,data2) belonging to 'model' - (*cell)[model].push_back (std::pair (data1, data2)); + (*cell)[model].emplace_back(data1, data2); return (true); } diff --git a/recognition/src/ransac_based/obj_rec_ransac.cpp b/recognition/src/ransac_based/obj_rec_ransac.cpp index a57b2d4b..25aba5c0 100644 --- a/recognition/src/ransac_based/obj_rec_ransac.cpp +++ b/recognition/src/ransac_based/obj_rec_ransac.cpp @@ -420,7 +420,7 @@ pcl::recognition::ObjRecRANSAC::buildGraphOfCloseHypotheses (HypothesisOctree& h i = 0; // Now create the graph connectivity such that each two neighboring rotation spaces are neighbors in the graph - for ( std::vector::const_iterator hypo = hypo_leaves.begin () ; hypo != hypo_leaves.end () ; ++hypo, ++i ) + for ( auto hypo = hypo_leaves.cbegin () ; hypo != hypo_leaves.cend () ; ++hypo, ++i ) { // Compute the fitness of the graph node graph.getNodes ()[i]->setFitness (static_cast ((*hypo)->getData ().explained_pixels_.size ())); diff --git a/registration/CMakeLists.txt b/registration/CMakeLists.txt index 7dce51a2..ab15ffc2 100644 --- a/registration/CMakeLists.txt +++ b/registration/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME registration) set(SUBSYS_DESC "Point cloud registration library") set(SUBSYS_DEPS common octree kdtree search sample_consensus features filters) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP) @@ -13,8 +12,6 @@ if(NOT build) endif() set(incs - "include/pcl/${SUBSYS_NAME}/eigen.h" - "include/pcl/${SUBSYS_NAME}/boost.h" "include/pcl/${SUBSYS_NAME}/boost_graph.h" "include/pcl/${SUBSYS_NAME}/convergence_criteria.h" "include/pcl/${SUBSYS_NAME}/default_convergence_criteria.h" @@ -52,7 +49,6 @@ set(incs "include/pcl/${SUBSYS_NAME}/pyramid_feature_matching.h" "include/pcl/${SUBSYS_NAME}/registration.h" - "include/pcl/${SUBSYS_NAME}/transforms.h" "include/pcl/${SUBSYS_NAME}/transformation_estimation.h" "include/pcl/${SUBSYS_NAME}/transformation_estimation_2D.h" "include/pcl/${SUBSYS_NAME}/transformation_estimation_svd.h" @@ -87,17 +83,10 @@ set(impl_incs "include/pcl/${SUBSYS_NAME}/impl/correspondence_estimation_normal_shooting.hpp" "include/pcl/${SUBSYS_NAME}/impl/correspondence_estimation_backprojection.hpp" "include/pcl/${SUBSYS_NAME}/impl/correspondence_estimation_organized_projection.hpp" - "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_distance.hpp" - "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_median_distance.hpp" - "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_surface_normal.hpp" "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_features.hpp" - "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_one_to_one.hpp" "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_poly.hpp" "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_sample_consensus.hpp" "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_sample_consensus_2d.hpp" - "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_trimmed.hpp" - "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_var_trimmed.hpp" - "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_organized_boundary.hpp" "include/pcl/${SUBSYS_NAME}/impl/correspondence_types.hpp" "include/pcl/${SUBSYS_NAME}/impl/ia_ransac.hpp" "include/pcl/${SUBSYS_NAME}/impl/icp.hpp" @@ -173,7 +162,6 @@ set(srcs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) target_link_libraries("${LIB_NAME}" pcl_kdtree pcl_search pcl_sample_consensus pcl_features pcl_filters) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) diff --git a/registration/include/pcl/registration/correspondence_estimation.h b/registration/include/pcl/registration/correspondence_estimation.h index bb1db6aa..7dcffc25 100644 --- a/registration/include/pcl/registration/correspondence_estimation.h +++ b/registration/include/pcl/registration/correspondence_estimation.h @@ -137,6 +137,23 @@ public: return (target_); } + /** \brief Set the number of threads to use. + * \param nr_threads the number of hardware threads to use (0 sets the value back to + * automatic) + */ + void + setNumberOfThreads(unsigned int nr_threads) + { +#ifdef _OPENMP + num_threads_ = nr_threads != 0 ? nr_threads : omp_get_num_procs(); +#else + if (nr_threads != 1) { + PCL_WARN("OpenMP is not available. Keeping number of threads unchanged at 1\n"); + } + num_threads_ = 1; +#endif + } + /** \brief See if this rejector requires source normals */ virtual bool requiresSourceNormals() const @@ -362,11 +379,13 @@ protected: /** \brief A flag which, if set, means the tree operating on the source cloud * will never be recomputed*/ bool force_no_recompute_reciprocal_{false}; + + unsigned int num_threads_{1}; }; -/** \brief @b CorrespondenceEstimation represents the base class for +/** \brief @b CorrespondenceEstimation represents a simple class for * determining correspondences between target and query point - * sets/features. + * sets/features, using nearest neighbor search. * * Code example: * @@ -479,6 +498,9 @@ public: Ptr copy(new CorrespondenceEstimation(*this)); return (copy); } + +protected: + using CorrespondenceEstimationBase::num_threads_; }; } // namespace registration } // namespace pcl diff --git a/registration/include/pcl/registration/correspondence_rejection_features.h b/registration/include/pcl/registration/correspondence_rejection_features.h index 44835c37..f3bab8fe 100644 --- a/registration/include/pcl/registration/correspondence_rejection_features.h +++ b/registration/include/pcl/registration/correspondence_rejection_features.h @@ -269,9 +269,9 @@ protected: // Check if the representations are valid if (!feature_representation_->isValid(feat_src) || !feature_representation_->isValid(feat_tgt)) { - PCL_ERROR("[pcl::registration::%s::getCorrespondenceScore] Invalid feature " - "representation given!\n", - this->getClassName().c_str()); + PCL_ERROR( + "[pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer::" + "getCorrespondenceScore] Invalid feature representation given!\n"); return (std::numeric_limits::max()); } diff --git a/registration/include/pcl/registration/eigen.h b/registration/include/pcl/registration/eigen.h deleted file mode 100644 index 5712e8fc..00000000 --- a/registration/include/pcl/registration/eigen.h +++ /dev/null @@ -1,50 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: lmeds.h 1370 2011-06-19 01:06:01Z jspricke $ - * - */ - -#pragma once - -#if defined __GNUC__ -#pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed eigen headers directly.") - -#include -#include -#include -#include diff --git a/registration/include/pcl/registration/gicp.h b/registration/include/pcl/registration/gicp.h index 4084c644..99a92882 100644 --- a/registration/include/pcl/registration/gicp.h +++ b/registration/include/pcl/registration/gicp.h @@ -52,6 +52,22 @@ namespace pcl { * The original code uses GSL and ANN while in ours we use FLANN and Newton's method * for optimization (call `useBFGS` to switch to BFGS optimizer, however Newton * is usually faster and more accurate). + * Basic usage example: + * \code + * pcl::GeneralizedIterativeClosestPoint reg; + * reg.setInputSource(src); + * reg.setInputTarget(tgt); + * // use default parameters or set them yourself, for example: + * // reg.setMaximumIterations(...); + * // reg.setTransformationEpsilon(...); + * // reg.setRotationEpsilon(...); + * // reg.setCorrespondenceRandomness(...); + * pcl::PointCloud::Ptr output(new pcl::PointCloud); + * // supply a better guess, if possible: + * Eigen::Matrix4f guess = Eigen::Matrix4f::Identity(); + * reg.align(*output, guess); + * std::cout << reg.getFinalTransformation() << std::endl; + * \endcode * \author Nizar Sallem * \ingroup registration */ @@ -125,6 +141,7 @@ public: max_iterations_ = 200; transformation_epsilon_ = 5e-4; corr_dist_threshold_ = 5.; + setNumberOfThreads(0); rigid_transformation_estimation_ = [this](const PointCloudSource& cloud_src, const pcl::Indices& indices_src, const PointCloudTarget& cloud_tgt, @@ -355,6 +372,13 @@ public: return rotation_gradient_tolerance_; } + /** \brief Initialize the scheduler and set the number of threads to use. + * \param nr_threads the number of hardware threads to use (0 sets the value back to + * automatic) + */ + void + setNumberOfThreads(unsigned int nr_threads = 0); + protected: /** \brief The number of neighbors used for covariances computation. * default: 20 @@ -508,6 +532,9 @@ private: Eigen::Matrix3d& ddR_dTheta_dTheta, Eigen::Matrix3d& ddR_dTheta_dPsi, Eigen::Matrix3d& ddR_dPsi_dPsi) const; + + /** \brief The number of threads the scheduler should use. */ + unsigned int threads_; }; } // namespace pcl diff --git a/registration/include/pcl/registration/ia_fpcs.h b/registration/include/pcl/registration/ia_fpcs.h index abff434f..afb9f252 100644 --- a/registration/include/pcl/registration/ia_fpcs.h +++ b/registration/include/pcl/registration/ia_fpcs.h @@ -415,6 +415,7 @@ protected: * \param[in] match_indices indices of match M * \param[out] correspondences resulting correspondences */ + PCL_DEPRECATED(1, 18, "this function has a bug and is generally not needed") virtual void linkMatchWithBase(const pcl::Indices& base_indices, pcl::Indices& match_indices, @@ -427,7 +428,7 @@ protected: * * \param[in] base_indices indices of base B * \param[in] match_indices indices of match M - * \param[in] correspondences corresondences between source and target + * \param[in] correspondences correspondences between source and target * \param[out] transformation resulting transformation matrix * \return * * < 0 MSE bigger than max_mse_ diff --git a/registration/include/pcl/registration/ia_kfpcs.h b/registration/include/pcl/registration/ia_kfpcs.h index ac32c58b..8f3136c0 100644 --- a/registration/include/pcl/registration/ia_kfpcs.h +++ b/registration/include/pcl/registration/ia_kfpcs.h @@ -44,8 +44,18 @@ namespace registration { * on keypoints as described in: "Markerless point cloud registration with * keypoint-based 4-points congruent sets", Pascal Theiler, Jan Dirk Wegner, Konrad * Schindler. ISPRS Annals II-5/W2, 2013. Presented at ISPRS Workshop Laser Scanning, - * Antalya, Turkey, 2013. \note Method has since been improved and some variations to - * the paper exist. \author P.W.Theiler \ingroup registration + * Antalya, Turkey, 2013. + * \note Method has since been improved and some variations to the paper exist. + * + * The main differences to FPCSInitialAlignment are: + *
    + *
  1. KFPCSInitialAlignment stores all solution candidates instead of only the best + * one + *
  2. KFPCSInitialAlignment uses an MSAC approach to score candidates instead of + * counting inliers + *
+ * \author P.W.Theiler + * \ingroup registration */ template ::fitness_score_; using FPCSInitialAlignment:: score_threshold_; - using FPCSInitialAlignment:: - linkMatchWithBase; using FPCSInitialAlignment::validateMatch; /** \brief Internal computation initialization. */ diff --git a/registration/include/pcl/registration/icp.h b/registration/include/pcl/registration/icp.h index 8127b10d..dbba3109 100644 --- a/registration/include/pcl/registration/icp.h +++ b/registration/include/pcl/registration/icp.h @@ -261,6 +261,16 @@ public: return (use_reciprocal_correspondence_); } + /** \brief Set the number of threads to use. + * \param nr_threads the number of hardware threads to use (0 sets the value back to + * automatic) + */ + void + setNumberOfThreads(unsigned int nr_threads) + { + correspondence_estimation_->setNumberOfThreads(nr_threads); + } + protected: /** \brief Apply a rigid transform to a given dataset. Here we check whether * the dataset has surface normals in addition to XYZ, and rotate normals as well. diff --git a/registration/include/pcl/registration/impl/correspondence_estimation.hpp b/registration/include/pcl/registration/impl/correspondence_estimation.hpp index 50eb5b0f..676c1787 100644 --- a/registration/include/pcl/registration/impl/correspondence_estimation.hpp +++ b/registration/include/pcl/registration/impl/correspondence_estimation.hpp @@ -43,6 +43,7 @@ #include #include +#include // for isXYZFinite namespace pcl { @@ -153,27 +154,66 @@ CorrespondenceEstimation::determineCorresponde pcl::Indices index(1); std::vector distance(1); - pcl::Correspondence corr; - unsigned int nr_valid_correspondences = 0; + std::vector per_thread_correspondences(num_threads_); + for (auto& corrs : per_thread_correspondences) { + corrs.reserve(2 * indices_->size() / num_threads_); + } double max_dist_sqr = max_distance * max_distance; +#pragma omp parallel for default(none) \ + shared(max_dist_sqr, per_thread_correspondences) firstprivate(index, distance) \ + num_threads(num_threads_) // Iterate over the input set of source indices - for (const auto& idx : (*indices_)) { + for (int i = 0; i < static_cast(indices_->size()); i++) { + const auto& idx = (*indices_)[i]; // Check if the template types are the same. If true, avoid a copy. // Both point types MUST be registered using the POINT_CLOUD_REGISTER_POINT_STRUCT // macro! const auto& pt = detail::pointCopyOrRef(input_, idx); + if (!input_->is_dense && !pcl::isXYZFinite(pt)) + continue; tree_->nearestKSearch(pt, 1, index, distance); if (distance[0] > max_dist_sqr) continue; + pcl::Correspondence corr; corr.index_query = idx; corr.index_match = index[0]; corr.distance = distance[0]; - correspondences[nr_valid_correspondences++] = corr; + +#ifdef _OPENMP + const int thread_num = omp_get_thread_num(); +#else + const int thread_num = 0; +#endif + + per_thread_correspondences[thread_num].emplace_back(corr); } - correspondences.resize(nr_valid_correspondences); + if (num_threads_ == 1) { + correspondences = std::move(per_thread_correspondences.front()); + } + else { + const unsigned int nr_correspondences = std::accumulate( + per_thread_correspondences.begin(), + per_thread_correspondences.end(), + static_cast(0), + [](const auto sum, const auto& corr) { return sum + corr.size(); }); + correspondences.resize(nr_correspondences); + + // Merge per-thread correspondences while keeping them ordered + auto insert_loc = correspondences.begin(); + for (const auto& corrs : per_thread_correspondences) { + const auto new_insert_loc = std::move(corrs.begin(), corrs.end(), insert_loc); + std::inplace_merge(correspondences.begin(), + insert_loc, + insert_loc + corrs.size(), + [](const auto& lhs, const auto& rhs) { + return lhs.index_query < rhs.index_query; + }); + insert_loc = new_insert_loc; + } + } deinitCompute(); } @@ -197,23 +237,30 @@ CorrespondenceEstimation:: std::vector distance(1); pcl::Indices index_reciprocal(1); std::vector distance_reciprocal(1); - pcl::Correspondence corr; - unsigned int nr_valid_correspondences = 0; - int target_idx = 0; + std::vector per_thread_correspondences(num_threads_); + for (auto& corrs : per_thread_correspondences) { + corrs.reserve(2 * indices_->size() / num_threads_); + } +#pragma omp parallel for default(none) \ + shared(max_dist_sqr, per_thread_correspondences) \ + firstprivate(index, distance, index_reciprocal, distance_reciprocal) \ + num_threads(num_threads_) // Iterate over the input set of source indices - for (const auto& idx : (*indices_)) { + for (int i = 0; i < static_cast(indices_->size()); i++) { + const auto& idx = (*indices_)[i]; // Check if the template types are the same. If true, avoid a copy. // Both point types MUST be registered using the POINT_CLOUD_REGISTER_POINT_STRUCT // macro! const auto& pt_src = detail::pointCopyOrRef(input_, idx); - + if (!input_->is_dense && !pcl::isXYZFinite(pt_src)) + continue; tree_->nearestKSearch(pt_src, 1, index, distance); if (distance[0] > max_dist_sqr) continue; - target_idx = index[0]; + const auto target_idx = index[0]; const auto& pt_tgt = detail::pointCopyOrRef(target_, target_idx); @@ -221,12 +268,45 @@ CorrespondenceEstimation:: if (distance_reciprocal[0] > max_dist_sqr || idx != index_reciprocal[0]) continue; + pcl::Correspondence corr; corr.index_query = idx; corr.index_match = index[0]; corr.distance = distance[0]; - correspondences[nr_valid_correspondences++] = corr; + +#ifdef _OPENMP + const int thread_num = omp_get_thread_num(); +#else + const int thread_num = 0; +#endif + + per_thread_correspondences[thread_num].emplace_back(corr); } - correspondences.resize(nr_valid_correspondences); + + if (num_threads_ == 1) { + correspondences = std::move(per_thread_correspondences.front()); + } + else { + const unsigned int nr_correspondences = std::accumulate( + per_thread_correspondences.begin(), + per_thread_correspondences.end(), + static_cast(0), + [](const auto sum, const auto& corr) { return sum + corr.size(); }); + correspondences.resize(nr_correspondences); + + // Merge per-thread correspondences while keeping them ordered + auto insert_loc = correspondences.begin(); + for (const auto& corrs : per_thread_correspondences) { + const auto new_insert_loc = std::move(corrs.begin(), corrs.end(), insert_loc); + std::inplace_merge(correspondences.begin(), + insert_loc, + insert_loc + corrs.size(), + [](const auto& lhs, const auto& rhs) { + return lhs.index_query < rhs.index_query; + }); + insert_loc = new_insert_loc; + } + } + deinitCompute(); } diff --git a/registration/include/pcl/registration/impl/correspondence_rejection_distance.hpp b/registration/include/pcl/registration/impl/correspondence_rejection_distance.hpp deleted file mode 100644 index 680ed690..00000000 --- a/registration/include/pcl/registration/impl/correspondence_rejection_distance.hpp +++ /dev/null @@ -1,43 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2011, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ -#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_ -#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_ -PCL_DEPRECATED_HEADER(1, 15, "") -#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_ */ diff --git a/registration/include/pcl/registration/impl/correspondence_rejection_median_distance.hpp b/registration/include/pcl/registration/impl/correspondence_rejection_median_distance.hpp deleted file mode 100644 index eaa5364e..00000000 --- a/registration/include/pcl/registration/impl/correspondence_rejection_median_distance.hpp +++ /dev/null @@ -1,43 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2011, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ -#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_HPP_ -#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_HPP_ -PCL_DEPRECATED_HEADER(1, 15, "") -#endif // PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_HPP_ diff --git a/registration/include/pcl/registration/impl/correspondence_rejection_one_to_one.hpp b/registration/include/pcl/registration/impl/correspondence_rejection_one_to_one.hpp deleted file mode 100644 index 3f256839..00000000 --- a/registration/include/pcl/registration/impl/correspondence_rejection_one_to_one.hpp +++ /dev/null @@ -1,43 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2011, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ -#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_ -#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_ -PCL_DEPRECATED_HEADER(1, 15, "") -#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_ */ diff --git a/registration/include/pcl/registration/impl/correspondence_rejection_organized_boundary.hpp b/registration/include/pcl/registration/impl/correspondence_rejection_organized_boundary.hpp deleted file mode 100644 index c70ea72b..00000000 --- a/registration/include/pcl/registration/impl/correspondence_rejection_organized_boundary.hpp +++ /dev/null @@ -1,42 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2009-2012, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * Copyright (c) Alexandru-Eugen Ichim - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_HPP_ -#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_HPP_ -PCL_DEPRECATED_HEADER(1, 15, "") -#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ORGANIZED_BOUNDARY_HPP_ */ diff --git a/registration/include/pcl/registration/impl/correspondence_rejection_surface_normal.hpp b/registration/include/pcl/registration/impl/correspondence_rejection_surface_normal.hpp deleted file mode 100644 index 65e8bbc1..00000000 --- a/registration/include/pcl/registration/impl/correspondence_rejection_surface_normal.hpp +++ /dev/null @@ -1,42 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ -#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_HPP_ -#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_HPP_ -PCL_DEPRECATED_HEADER(1, 15, "") -#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_HPP_ */ diff --git a/registration/include/pcl/registration/impl/correspondence_rejection_trimmed.hpp b/registration/include/pcl/registration/impl/correspondence_rejection_trimmed.hpp deleted file mode 100644 index 9aee8cda..00000000 --- a/registration/include/pcl/registration/impl/correspondence_rejection_trimmed.hpp +++ /dev/null @@ -1,43 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2011, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ -#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_ -#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_ -PCL_DEPRECATED_HEADER(1, 15, "") -#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_ */ diff --git a/registration/include/pcl/registration/impl/correspondence_rejection_var_trimmed.hpp b/registration/include/pcl/registration/impl/correspondence_rejection_var_trimmed.hpp deleted file mode 100644 index 201c6d4a..00000000 --- a/registration/include/pcl/registration/impl/correspondence_rejection_var_trimmed.hpp +++ /dev/null @@ -1,42 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ -#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_VAR_TRIMMED_HPP_ -#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_VAR_TRIMMED_HPP_ -PCL_DEPRECATED_HEADER(1, 15, "") -#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_VAR_TRIMMED_HPP_ */ diff --git a/registration/include/pcl/registration/impl/default_convergence_criteria.hpp b/registration/include/pcl/registration/impl/default_convergence_criteria.hpp index 9b4c940b..d7eb1353 100644 --- a/registration/include/pcl/registration/impl/default_convergence_criteria.hpp +++ b/registration/include/pcl/registration/impl/default_convergence_criteria.hpp @@ -91,10 +91,17 @@ DefaultConvergenceCriteria::hasConverged() } correspondences_cur_mse_ = calculateMSE(correspondences_); - PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Previous / Current MSE " - "for correspondences distances is: %f / %f.\n", - correspondences_prev_mse_, - correspondences_cur_mse_); + if (std::numeric_limits::max() == correspondences_prev_mse_) { + PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Previous / Current MSE " + "for correspondences distances is: INIT / %f.\n", + correspondences_cur_mse_); + } + else { + PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Previous / Current MSE " + "for correspondences distances is: %f / %f.\n", + correspondences_prev_mse_, + correspondences_cur_mse_); + } // 3. The relative sum of Euclidean squared errors is smaller than a user defined // threshold Absolute diff --git a/registration/include/pcl/registration/impl/elch.hpp b/registration/include/pcl/registration/impl/elch.hpp index 647386cf..b1dc7535 100644 --- a/registration/include/pcl/registration/impl/elch.hpp +++ b/registration/include/pcl/registration/impl/elch.hpp @@ -192,7 +192,7 @@ pcl::registration::ELCH::initCompute() PointCloudPtr tmp(new PointCloud); // Eigen::Vector4f diff = pose_start - pose_end; - // Eigen::Translation3f translation (diff.head (3)); + // Eigen::Translation3f translation (diff.head<3> ()); // Eigen::Affine3f trans = translation * Eigen::Quaternionf::Identity (); // pcl::transformPointCloud (*(*loop_graph_)[loop_end_].cloud, *tmp, trans); @@ -240,7 +240,7 @@ pcl::registration::ELCH::compute() // TODO use pose // Eigen::Vector4f cend; // pcl::compute3DCentroid (*((*loop_graph_)[loop_end_].cloud), cend); - // Eigen::Translation3f tend (cend.head (3)); + // Eigen::Translation3f tend (cend.head<3> ()); // Eigen::Affine3f aend (tend); // Eigen::Affine3f aendI = aend.inverse (); diff --git a/registration/include/pcl/registration/impl/gicp.hpp b/registration/include/pcl/registration/impl/gicp.hpp index 3e1bcb62..93fb7c81 100644 --- a/registration/include/pcl/registration/impl/gicp.hpp +++ b/registration/include/pcl/registration/impl/gicp.hpp @@ -45,6 +45,28 @@ namespace pcl { +template +void +GeneralizedIterativeClosestPoint::setNumberOfThreads( + unsigned int nr_threads) +{ +#ifdef _OPENMP + if (nr_threads == 0) + threads_ = omp_get_num_procs(); + else + threads_ = nr_threads; + PCL_DEBUG("[pcl::GeneralizedIterativeClosestPoint::setNumberOfThreads] Setting " + "number of threads to %u.\n", + threads_); +#else + threads_ = 1; + if (nr_threads != 1) + PCL_WARN("[pcl::GeneralizedIterativeClosestPoint::setNumberOfThreads] " + "Parallelization is requested, but OpenMP is not available! Continuing " + "without parallelization.\n"); +#endif // _OPENMP +} + template template void @@ -62,6 +84,7 @@ GeneralizedIterativeClosestPoint::computeCovar } Eigen::Vector3d mean; + Eigen::Matrix3d cov; pcl::Indices nn_indices(k_correspondences_); std::vector nn_dist_sq(k_correspondences_); @@ -69,11 +92,10 @@ GeneralizedIterativeClosestPoint::computeCovar if (cloud_covariances.size() < cloud->size()) cloud_covariances.resize(cloud->size()); - auto matrices_iterator = cloud_covariances.begin(); - for (auto points_iterator = cloud->begin(); points_iterator != cloud->end(); - ++points_iterator, ++matrices_iterator) { - const PointT& query_point = *points_iterator; - Eigen::Matrix3d& cov = *matrices_iterator; +#pragma omp parallel for num_threads(threads_) schedule(dynamic, 32) \ + shared(cloud, cloud_covariances) firstprivate(mean, cov, nn_indices, nn_dist_sq) + for (std::ptrdiff_t i = 0; i < static_cast(cloud->size()); ++i) { + const PointT& query_point = (*cloud)[i]; // Zero out the cov and mean cov.setZero(); mean.setZero(); @@ -124,6 +146,7 @@ GeneralizedIterativeClosestPoint::computeCovar v = gicp_epsilon_; cov += v * col * col.transpose(); } + cloud_covariances[i] = cov; } } @@ -635,9 +658,9 @@ GeneralizedIterativeClosestPoint:: p_trans_src[1] - p_tgt[1], p_trans_src[2] - p_tgt[2]); const Eigen::Matrix3d& M = gicp_->mahalanobis(src_idx); - const Eigen::Vector3d Md(M * d); // Md = M*d - gradient.head<3>() += Md; // translation gradient - hessian.block<3, 3>(0, 0) += M; // translation-translation hessian + const Eigen::Vector3d Md(M * d); // Md = M*d + gradient.head<3>() += Md; // translation gradient + hessian.topLeftCorner<3, 3>() += M; // translation-translation hessian p_trans_src = base_transformation_float * p_src; const Eigen::Vector3d p_base_src(p_trans_src[0], p_trans_src[1], p_trans_src[2]); dCost_dR_T.noalias() += p_base_src * Md.transpose(); @@ -657,7 +680,7 @@ GeneralizedIterativeClosestPoint:: gradient.head<3>() *= 2.0 / m; // translation gradient dCost_dR_T *= 2.0 / m; gicp_->computeRDerivative(x, dCost_dR_T, gradient); // rotation gradient - hessian.block<3, 3>(0, 0) *= 2.0 / m; // translation-translation hessian + hessian.topLeftCorner<3, 3>() *= 2.0 / m; // translation-translation hessian // translation-rotation hessian dCost_dR_T1.row(0) = dCost_dR_T1b.col(0); dCost_dR_T1.row(1) = dCost_dR_T2b.col(0); diff --git a/registration/include/pcl/registration/impl/ia_fpcs.hpp b/registration/include/pcl/registration/impl/ia_fpcs.hpp index d73e56c3..31533621 100644 --- a/registration/include/pcl/registration/impl/ia_fpcs.hpp +++ b/registration/include/pcl/registration/impl/ia_fpcs.hpp @@ -41,6 +41,7 @@ #include #include #include +#include #include #include #include @@ -189,9 +190,19 @@ pcl::registration::FPCSInitialAlignment max_runtime_); + if (!candidates.empty() && candidates[0].fitness_score < score_threshold_) { + PCL_DEBUG("[%s::computeTransformation] Terminating because fitness score " + "(%g) is below threshold (%g).\n", + reg_name_.c_str(), + candidates[0].fitness_score, + score_threshold_); + abort = true; + } + else if (timer.getTimeSeconds() > max_runtime_) { + PCL_DEBUG("[%s::computeTransformation] Terminating because time exceeded.\n", + reg_name_.c_str()); + abort = true; + } #pragma omp flush(abort) } @@ -238,14 +249,14 @@ pcl::registration::FPCSInitialAlignment(indices_->size()); - const int sample_fraction_src = std::max(1, static_cast(ss / nr_samples_)); - + if (nr_samples_ > 0 && static_cast(nr_samples_) < indices_->size()) { source_indices_ = pcl::IndicesPtr(new pcl::Indices); - for (int i = 0; i < ss; i++) - if (rand() % sample_fraction_src == 0) - source_indices_->push_back((*indices_)[i]); + pcl::RandomSample random_sampling; + random_sampling.setInputCloud(input_); + random_sampling.setIndices(indices_); + random_sampling.setSample(nr_samples_); + random_sampling.setSeed(seed); + random_sampling.filter(*source_indices_); } else source_indices_ = indices_; @@ -274,6 +285,15 @@ pcl::registration::FPCSInitialAlignment( @@ -289,6 +309,9 @@ pcl::registration::FPCSInitialAlignment(min_iterations))); max_iterations_ = static_cast(first_est / (diameter_fraction * approx_overlap_ * 2.f)); + PCL_DEBUG("[%s::initCompute] Estimated max iterations as %i\n", + reg_name_.c_str(), + max_iterations_); } // set further parameter @@ -307,6 +330,14 @@ pcl::registration::FPCSInitialAlignment::max(); @@ -350,7 +381,7 @@ pcl::registration::FPCSInitialAlignmentgetVector3fMap() - centre_pt.head(3)).squaredNorm(); + float d4 = (pt4->getVector3fMap() - centre_pt.head<3>()).squaredNorm(); // check distance between points w.r.t minimum sampling distance; EDITED -> 4th // point now also limited by max base line @@ -590,8 +621,8 @@ pcl::registration::FPCSInitialAlignment(std::floor((id / 2.f)))].index_query; match_indices[2] = pair.index_match; match_indices[3] = pair.index_query; + if (match_indices[0] == match_indices[2] || + match_indices[0] == match_indices[3] || + match_indices[1] == match_indices[2] || + match_indices[1] == match_indices[3]) + continue; // EDITED: added coarse check of match based on edge length (due to rigid-body ) if (checkBaseMatch(match_indices, dist_base) < 0) @@ -679,7 +715,16 @@ pcl::registration::FPCSInitialAlignment((1.f - fitness_score) * nr_points); float inlier_score_temp = 0; - pcl::Indices ids; - std::vector dists_sqr; + pcl::Indices ids(1); + std::vector dists_sqr(1); auto it = source_transformed.begin(); for (std::size_t i = 0; i < nr_points; it++, i++) { @@ -888,6 +933,12 @@ pcl::registration::FPCSInitialAlignment::initCompute() // generate a subset of indices of size ransac_iterations_ on which to evaluate // candidates on - std::size_t nr_indices = indices_->size(); - if (nr_indices < static_cast(ransac_iterations_)) + if (indices_->size() <= static_cast(ransac_iterations_) || + ransac_iterations_ <= 0) indices_validation_ = indices_; - else - for (int i = 0; i < ransac_iterations_; i++) - indices_validation_->push_back((*indices_)[rand() % nr_indices]); + else { + indices_validation_.reset(new pcl::Indices); + pcl::RandomSample random_sampling; + random_sampling.setInputCloud(input_); + random_sampling.setIndices(indices_); + random_sampling.setSample(ransac_iterations_); + random_sampling.filter(*indices_validation_); + } + PCL_DEBUG("[%s::initCompute] delta_=%g, max_inlier_dist_sqr_=%g, " + "coincidation_limit_=%g, max_edge_diff_=%g, max_pair_diff_=%g\n", + reg_name_.c_str(), + delta_, + max_inlier_dist_sqr_, + coincidation_limit_, + max_edge_diff_, + max_pair_diff_); return (true); } @@ -117,9 +130,10 @@ KFPCSInitialAlignment::handleMatches( std::numeric_limits::max(); // reset to std::numeric_limits::max() // to accept all candidates and not only best - // determine corresondences between base and match according to their distance to - // centroid - linkMatchWithBase(base_indices, match, correspondences_temp); + correspondences_temp.emplace_back(match[0], base_indices[0], 0.0); + correspondences_temp.emplace_back(match[1], base_indices[1], 0.0); + correspondences_temp.emplace_back(match[2], base_indices[2], 0.0); + correspondences_temp.emplace_back(match[3], base_indices[3], 0.0); // check match based on residuals of the corresponding points after transformation if (validateMatch(base_indices, match, correspondences_temp, transformation_temp) < @@ -131,8 +145,17 @@ KFPCSInitialAlignment::handleMatches( validateTransformation(transformation_temp, fitness_score); // store all valid match as well as associated score and transformation - candidates.push_back( - MatchingCandidate(fitness_score, correspondences_temp, transformation_temp)); + candidates.emplace_back(fitness_score, correspondences_temp, transformation_temp); + } + // make sure that candidate with best fitness score is at the front, for early + // termination check + if (!candidates.empty()) { + auto best_candidate = candidates.begin(); + for (auto iter = candidates.begin(); iter < candidates.end(); ++iter) + if (iter->fitness_score < best_candidate->fitness_score) + best_candidate = iter; + if (best_candidate != candidates.begin()) + std::swap(*best_candidate, *candidates.begin()); } } @@ -150,8 +173,8 @@ KFPCSInitialAlignment:: float score_a = 0.f, score_b = 0.f; // residual costs based on mse - pcl::Indices ids; - std::vector dists_sqr; + pcl::Indices ids(1); + std::vector dists_sqr(1); for (const auto& source : source_transformed) { // search for nearest point using kd tree search tree_->nearestKSearch(source, 1, ids, dists_sqr); @@ -166,7 +189,7 @@ KFPCSInitialAlignment:: // translation score (solutions with small translation are down-voted) float scale = 1.f; if (use_trl_score_) { - float trl = transformation.rightCols<1>().head(3).norm(); + float trl = transformation.rightCols<1>().head<3>().norm(); float trl_ratio = (trl - lower_trl_boundary_) / (upper_trl_boundary_ - lower_trl_boundary_); @@ -220,6 +243,10 @@ KFPCSInitialAlignment::finalCompute( fitness_score_ = candidates_[0].fitness_score; final_transformation_ = candidates_[0].transformation; *correspondences_ = candidates_[0].correspondences; + PCL_DEBUG("[%s::finalCompute] best score is %g, out of %zu candidate solutions.\n", + reg_name_.c_str(), + fitness_score_, + candidates_.size()); // here we define convergence if resulting score is above threshold converged_ = fitness_score_ < score_threshold_; @@ -244,7 +271,7 @@ KFPCSInitialAlignment::getNBestCandid for (const auto& c2 : candidates) { Eigen::Matrix4f diff = candidate.transformation.colPivHouseholderQr().solve(c2.transformation); - const float angle3d = Eigen::AngleAxisf(diff.block<3, 3>(0, 0)).angle(); + const float angle3d = Eigen::AngleAxisf(diff.topLeftCorner<3, 3>()).angle(); const float translation3d = diff.block<3, 1>(0, 3).norm(); unique = angle3d > min_angle3d && translation3d > min_translation3d; if (!unique) { @@ -281,7 +308,7 @@ KFPCSInitialAlignment::getTBestCandid for (const auto& c2 : candidates) { Eigen::Matrix4f diff = candidate.transformation.colPivHouseholderQr().solve(c2.transformation); - const float angle3d = Eigen::AngleAxisf(diff.block<3, 3>(0, 0)).angle(); + const float angle3d = Eigen::AngleAxisf(diff.topLeftCorner<3, 3>()).angle(); const float translation3d = diff.block<3, 1>(0, 3).norm(); unique = angle3d > min_angle3d && translation3d > min_translation3d; if (!unique) { diff --git a/registration/include/pcl/registration/impl/icp_nl.hpp b/registration/include/pcl/registration/impl/icp_nl.hpp index 3e01b981..b7357385 100644 --- a/registration/include/pcl/registration/impl/icp_nl.hpp +++ b/registration/include/pcl/registration/impl/icp_nl.hpp @@ -37,7 +37,4 @@ * $Id$ * */ -#ifndef PCL_REGISTRATION_ICP_NL_HPP_ -#define PCL_REGISTRATION_ICP_NL_HPP_ - -#endif /* PCL_REGISTRATION_ICP_NL_HPP_ */ +PCL_DEPRECATED_HEADER(1, 18, "Do not include icp_nl.hpp, it is empty.") diff --git a/registration/include/pcl/registration/impl/lum.hpp b/registration/include/pcl/registration/impl/lum.hpp index faa1d6f5..852759ee 100644 --- a/registration/include/pcl/registration/impl/lum.hpp +++ b/registration/include/pcl/registration/impl/lum.hpp @@ -254,8 +254,8 @@ LUM::compute() // Fill in elements of G and B if (vj > 0) - G.block(6 * (vi - 1), 6 * (vj - 1), 6, 6) = -(*slam_graph_)[e].cinv_; - G.block(6 * (vi - 1), 6 * (vi - 1), 6, 6) += (*slam_graph_)[e].cinv_; + G.block<6, 6>(6 * (vi - 1), 6 * (vj - 1)) = -(*slam_graph_)[e].cinv_; + G.block<6, 6>(6 * (vi - 1), 6 * (vi - 1)) += (*slam_graph_)[e].cinv_; B.segment(6 * (vi - 1), 6) += (present1 ? 1 : -1) * (*slam_graph_)[e].cinvd_; } } @@ -268,7 +268,7 @@ LUM::compute() // Update the poses float sum = 0.0; for (int vi = 1; vi != n; ++vi) { - Eigen::Vector6f difference_pose = static_cast( + auto difference_pose = static_cast( -incidenceCorrection(getPose(vi)).inverse() * X.segment(6 * (vi - 1), 6)); sum += difference_pose.norm(); setPose(vi, getPose(vi) + difference_pose); diff --git a/registration/include/pcl/registration/impl/ndt.hpp b/registration/include/pcl/registration/impl/ndt.hpp index 15ac5d68..b6df6802 100644 --- a/registration/include/pcl/registration/impl/ndt.hpp +++ b/registration/include/pcl/registration/impl/ndt.hpp @@ -730,8 +730,8 @@ NormalDistributionsTransform::computeStepLengt // the sufficient decrease, Equation 1.1, and curvature condition, Equation 1.2 [More, // Thuente 1994] while (!interval_converged && step_iterations < max_step_iterations && - !(psi_t <= 0 /*Sufficient Decrease*/ && - d_phi_t <= -nu * d_phi_0 /*Curvature Condition*/)) { + (psi_t > 0 /*Sufficient Decrease*/ || + d_phi_t > -nu * d_phi_0 /*Curvature Condition*/)) { // Use auxiliary function if interval I is not closed if (open_interval) { a_t = trialValueSelectionMT(a_l, f_l, g_l, a_u, f_u, g_u, a_t, psi_t, d_psi_t); diff --git a/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp b/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp index ba7b4eeb..4ced722e 100644 --- a/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp +++ b/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp @@ -299,8 +299,8 @@ PyramidFeatureHistogram::compute() if (!initializeHistogram()) return; + std::vector feature_vector; // put here to reuse memory for (const auto& point : *input_) { - std::vector feature_vector; // NaN is converted to very high number that gives out of bound exception. if (!pcl::isFinite(point)) continue; diff --git a/registration/include/pcl/registration/impl/registration.hpp b/registration/include/pcl/registration/impl/registration.hpp index 24a454ef..db0faef5 100644 --- a/registration/include/pcl/registration/impl/registration.hpp +++ b/registration/include/pcl/registration/impl/registration.hpp @@ -145,6 +145,8 @@ Registration::getFitnessScore(double max_range // For each point in the source dataset int nr = 0; for (const auto& point : input_transformed) { + if (!input_->is_dense && !pcl::isXYZFinite(point)) + continue; // Find its nearest neighbor in the target tree_->nearestKSearch(point, 1, nn_indices, nn_dists); @@ -214,4 +216,4 @@ Registration::align(PointCloudSource& output, deinitCompute(); } -} // namespace pcl +} // namespace pcl \ No newline at end of file diff --git a/registration/include/pcl/registration/impl/sample_consensus_prerejective.hpp b/registration/include/pcl/registration/impl/sample_consensus_prerejective.hpp index 6f853a06..5a84f870 100644 --- a/registration/include/pcl/registration/impl/sample_consensus_prerejective.hpp +++ b/registration/include/pcl/registration/impl/sample_consensus_prerejective.hpp @@ -94,7 +94,7 @@ SampleConsensusPrerejective::selectSamples( // Select a random number sample_indices[i] = getRandomIndex(static_cast(cloud.size()) - i); - // Run trough list of numbers, starting at the lowest, to avoid duplicates + // Run through list of numbers, starting at the lowest, to avoid duplicates for (int j = 0; j < i; j++) { // Move value up if it is higher than previous selections to ensure true // randomness diff --git a/registration/include/pcl/registration/impl/transformation_estimation_2D.hpp b/registration/include/pcl/registration/impl/transformation_estimation_2D.hpp index c2aae92c..1140880b 100644 --- a/registration/include/pcl/registration/impl/transformation_estimation_2D.hpp +++ b/registration/include/pcl/registration/impl/transformation_estimation_2D.hpp @@ -166,7 +166,7 @@ TransformationEstimation2D:: // Assemble the correlation matrix H = source * target' Eigen::Matrix H = - (cloud_src_demean * cloud_tgt_demean.transpose()).topLeftCorner(3, 3); + (cloud_src_demean * cloud_tgt_demean.transpose()).template topLeftCorner<3, 3>(); float angle = std::atan2((H(0, 1) - H(1, 0)), (H(0, 0) + H(1, 1))); @@ -176,9 +176,10 @@ TransformationEstimation2D:: R(1, 0) = std::sin(angle); // Return the correct transformation - transformation_matrix.topLeftCorner(3, 3).matrix() = R; - const Eigen::Matrix Rc(R * centroid_src.head(3).matrix()); - transformation_matrix.block(0, 3, 3, 1).matrix() = centroid_tgt.head(3) - Rc; + transformation_matrix.template topLeftCorner<3, 3>().matrix() = R; + const Eigen::Matrix Rc(R * centroid_src.template head<3>().matrix()); + transformation_matrix.template block<3, 1>(0, 3).matrix() = + centroid_tgt.template head<3>() - Rc; } } // namespace registration diff --git a/registration/include/pcl/registration/impl/transformation_estimation_3point.hpp b/registration/include/pcl/registration/impl/transformation_estimation_3point.hpp index cceac553..c4cf1671 100644 --- a/registration/include/pcl/registration/impl/transformation_estimation_3point.hpp +++ b/registration/include/pcl/registration/impl/transformation_estimation_3point.hpp @@ -155,11 +155,11 @@ pcl::registration::TransformationEstimation3Point s1 = - source_demean.col(1).head(3) - source_demean.col(0).head(3); + source_demean.col(1).template head<3>() - source_demean.col(0).template head<3>(); s1.normalize(); Eigen::Matrix s2 = - source_demean.col(2).head(3) - source_demean.col(0).head(3); + source_demean.col(2).template head<3>() - source_demean.col(0).template head<3>(); s2 -= s2.dot(s1) * s1; s2.normalize(); @@ -169,11 +169,11 @@ pcl::registration::TransformationEstimation3Point t1 = - target_demean.col(1).head(3) - target_demean.col(0).head(3); + target_demean.col(1).template head<3>() - target_demean.col(0).template head<3>(); t1.normalize(); Eigen::Matrix t2 = - target_demean.col(2).head(3) - target_demean.col(0).head(3); + target_demean.col(2).template head<3>() - target_demean.col(0).template head<3>(); t2 -= t2.dot(t1) * t1; t2.normalize(); @@ -184,11 +184,11 @@ pcl::registration::TransformationEstimation3Point R = source_rot * target_rot.transpose (); Eigen::Matrix R = target_rot * source_rot.transpose(); - transformation_matrix.topLeftCorner(3, 3) = R; - // transformation_matrix.block (0, 3, 3, 1) = source_mean.head (3) - R * - // target_mean.head (3); - transformation_matrix.block(0, 3, 3, 1) = - target_mean.head(3) - R * source_mean.head(3); + transformation_matrix.template topLeftCorner<3, 3>() = R; + // transformation_matrix.block<3, 1>(0, 3) = source_mean.head<3>() - R * + // target_mean.head<3>(); + transformation_matrix.template block<3, 1>(0, 3) = + target_mean.template head<3>() - R * source_mean.template head<3>(); } //#define PCL_INSTANTIATE_TransformationEstimation3Point(T,U) template class PCL_EXPORTS diff --git a/registration/include/pcl/registration/impl/transformation_estimation_dq.hpp b/registration/include/pcl/registration/impl/transformation_estimation_dq.hpp deleted file mode 100644 index fce6079d..00000000 --- a/registration/include/pcl/registration/impl/transformation_estimation_dq.hpp +++ /dev/null @@ -1,225 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * - */ - -#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_ -#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_ - -#include -PCL_DEPRECATED_HEADER(1, - 15, - "TransformationEstimationDQ has been renamed to " - "TransformationEstimationDualQuaternion."); - -namespace pcl { - -namespace registration { - -template -inline void -TransformationEstimationDQ:: - estimateRigidTransformation(const pcl::PointCloud& cloud_src, - const pcl::PointCloud& cloud_tgt, - Matrix4& transformation_matrix) const -{ - const auto nr_points = cloud_src.size(); - if (cloud_tgt.size() != nr_points) { - PCL_ERROR("[pcl::TransformationEstimationDQ::estimateRigidTransformation] Number " - "or points in source (%zu) differs than target (%zu)!\n", - static_cast(nr_points), - static_cast(cloud_tgt.size())); - return; - } - - ConstCloudIterator source_it(cloud_src); - ConstCloudIterator target_it(cloud_tgt); - estimateRigidTransformation(source_it, target_it, transformation_matrix); -} - -template -void -TransformationEstimationDQ:: - estimateRigidTransformation(const pcl::PointCloud& cloud_src, - const pcl::Indices& indices_src, - const pcl::PointCloud& cloud_tgt, - Matrix4& transformation_matrix) const -{ - if (indices_src.size() != cloud_tgt.size()) { - PCL_ERROR("[pcl::TransformationDQ::estimateRigidTransformation] Number or points " - "in source (%zu) differs than target (%zu)!\n", - indices_src.size(), - static_cast(cloud_tgt.size())); - return; - } - - ConstCloudIterator source_it(cloud_src, indices_src); - ConstCloudIterator target_it(cloud_tgt); - estimateRigidTransformation(source_it, target_it, transformation_matrix); -} - -template -inline void -TransformationEstimationDQ:: - estimateRigidTransformation(const pcl::PointCloud& cloud_src, - const pcl::Indices& indices_src, - const pcl::PointCloud& cloud_tgt, - const pcl::Indices& indices_tgt, - Matrix4& transformation_matrix) const -{ - if (indices_src.size() != indices_tgt.size()) { - PCL_ERROR("[pcl::TransformationEstimationDQ::estimateRigidTransformation] Number " - "or points in source (%zu) differs than target (%zu)!\n", - indices_src.size(), - indices_tgt.size()); - return; - } - - ConstCloudIterator source_it(cloud_src, indices_src); - ConstCloudIterator target_it(cloud_tgt, indices_tgt); - estimateRigidTransformation(source_it, target_it, transformation_matrix); -} - -template -void -TransformationEstimationDQ:: - estimateRigidTransformation(const pcl::PointCloud& cloud_src, - const pcl::PointCloud& cloud_tgt, - const pcl::Correspondences& correspondences, - Matrix4& transformation_matrix) const -{ - ConstCloudIterator source_it(cloud_src, correspondences, true); - ConstCloudIterator target_it(cloud_tgt, correspondences, false); - estimateRigidTransformation(source_it, target_it, transformation_matrix); -} - -template -inline void -TransformationEstimationDQ:: - estimateRigidTransformation(ConstCloudIterator& source_it, - ConstCloudIterator& target_it, - Matrix4& transformation_matrix) const -{ - const int npts = static_cast(source_it.size()); - - transformation_matrix.setIdentity(); - - // dual quaternion optimization - Eigen::Matrix C1 = Eigen::Matrix::Zero(); - Eigen::Matrix C2 = Eigen::Matrix::Zero(); - Scalar* c1 = C1.data(); - Scalar* c2 = C2.data(); - - for (int i = 0; i < npts; i++) { - const PointSource& a = *source_it; - const PointTarget& b = *target_it; - const Scalar axbx = a.x * b.x; - const Scalar ayby = a.y * b.y; - const Scalar azbz = a.z * b.z; - const Scalar axby = a.x * b.y; - const Scalar aybx = a.y * b.x; - const Scalar axbz = a.x * b.z; - const Scalar azbx = a.z * b.x; - const Scalar aybz = a.y * b.z; - const Scalar azby = a.z * b.y; - c1[0] += axbx - azbz - ayby; - c1[5] += ayby - azbz - axbx; - c1[10] += azbz - axbx - ayby; - c1[15] += axbx + ayby + azbz; - c1[1] += axby + aybx; - c1[2] += axbz + azbx; - c1[3] += aybz - azby; - c1[6] += azby + aybz; - c1[7] += azbx - axbz; - c1[11] += axby - aybx; - - c2[1] += a.z + b.z; - c2[2] -= a.y + b.y; - c2[3] += a.x - b.x; - c2[6] += a.x + b.x; - c2[7] += a.y - b.y; - c2[11] += a.z - b.z; - source_it++; - target_it++; - } - - c1[4] = c1[1]; - c1[8] = c1[2]; - c1[9] = c1[6]; - c1[12] = c1[3]; - c1[13] = c1[7]; - c1[14] = c1[11]; - c2[4] = -c2[1]; - c2[8] = -c2[2]; - c2[12] = -c2[3]; - c2[9] = -c2[6]; - c2[13] = -c2[7]; - c2[14] = -c2[11]; - - C1 *= -2.0f; - C2 *= 2.0f; - - const Eigen::Matrix A = - (0.25f / float(npts)) * C2.transpose() * C2 - C1; - - const Eigen::EigenSolver> es(A); - - ptrdiff_t i; - es.eigenvalues().real().maxCoeff(&i); - const Eigen::Matrix qmat = es.eigenvectors().col(i).real(); - const Eigen::Matrix smat = -(0.5f / float(npts)) * C2 * qmat; - - const Eigen::Quaternion q(qmat(3), qmat(0), qmat(1), qmat(2)); - const Eigen::Quaternion s(smat(3), smat(0), smat(1), smat(2)); - - const Eigen::Quaternion t = s * q.conjugate(); - - const Eigen::Matrix R(q.toRotationMatrix()); - - for (int i = 0; i < 3; ++i) - for (int j = 0; j < 3; ++j) - transformation_matrix(i, j) = R(i, j); - - transformation_matrix(0, 3) = -t.x(); - transformation_matrix(1, 3) = -t.y(); - transformation_matrix(2, 3) = -t.z(); -} - -} // namespace registration -} // namespace pcl - -#endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_DQ_HPP_ */ diff --git a/registration/include/pcl/registration/impl/transformation_estimation_svd.hpp b/registration/include/pcl/registration/impl/transformation_estimation_svd.hpp index 6e62bd92..8ebb59b5 100644 --- a/registration/include/pcl/registration/impl/transformation_estimation_svd.hpp +++ b/registration/include/pcl/registration/impl/transformation_estimation_svd.hpp @@ -194,7 +194,7 @@ TransformationEstimationSVD:: // Assemble the correlation matrix H = source * target' Eigen::Matrix H = - (cloud_src_demean * cloud_tgt_demean.transpose()).topLeftCorner(3, 3); + (cloud_src_demean * cloud_tgt_demean.transpose()).template topLeftCorner<3, 3>(); // Compute the Singular Value Decomposition Eigen::JacobiSVD> svd( @@ -211,9 +211,10 @@ TransformationEstimationSVD:: Eigen::Matrix R = v * u.transpose(); // Return the correct transformation - transformation_matrix.topLeftCorner(3, 3) = R; - const Eigen::Matrix Rc(R * centroid_src.head(3)); - transformation_matrix.block(0, 3, 3, 1) = centroid_tgt.head(3) - Rc; + transformation_matrix.template topLeftCorner<3, 3>() = R; + const Eigen::Matrix Rc(R * centroid_src.template head<3>()); + transformation_matrix.template block<3, 1>(0, 3) = + centroid_tgt.template head<3>() - Rc; if (pcl::console::isVerbosityLevelEnabled(pcl::console::L_DEBUG)) { size_t N = cloud_src_demean.cols(); diff --git a/registration/include/pcl/registration/impl/transformation_estimation_svd_scale.hpp b/registration/include/pcl/registration/impl/transformation_estimation_svd_scale.hpp index 51a5b217..9b2035af 100644 --- a/registration/include/pcl/registration/impl/transformation_estimation_svd_scale.hpp +++ b/registration/include/pcl/registration/impl/transformation_estimation_svd_scale.hpp @@ -58,7 +58,7 @@ TransformationEstimationSVDScale:: // Assemble the correlation matrix H = source * target' Eigen::Matrix H = - (cloud_src_demean * cloud_tgt_demean.transpose()).topLeftCorner(3, 3); + (cloud_src_demean * cloud_tgt_demean.transpose()).template topLeftCorner<3, 3>(); // Compute the Singular Value Decomposition Eigen::JacobiSVD> svd( @@ -76,7 +76,7 @@ TransformationEstimationSVDScale:: // rotated cloud Eigen::Matrix R4; - R4.block(0, 0, 3, 3) = R; + R4.template topLeftCorner<3, 3>() = R; R4(0, 3) = 0; R4(1, 3) = 0; R4(2, 3) = 0; @@ -96,9 +96,10 @@ TransformationEstimationSVDScale:: } float scale = sum_tt / sum_ss; - transformation_matrix.topLeftCorner(3, 3) = scale * R; - const Eigen::Matrix Rc(scale * R * centroid_src.head(3)); - transformation_matrix.block(0, 3, 3, 1) = centroid_tgt.head(3) - Rc; + transformation_matrix.template topLeftCorner<3, 3>() = scale * R; + const Eigen::Matrix Rc(scale * R * centroid_src.template head<3>()); + transformation_matrix.template block<3, 1>(0, 3) = + centroid_tgt.template head<3>() - Rc; } } // namespace registration diff --git a/registration/include/pcl/registration/ndt.h b/registration/include/pcl/registration/ndt.h index 7fbb6403..26115717 100644 --- a/registration/include/pcl/registration/ndt.h +++ b/registration/include/pcl/registration/ndt.h @@ -126,7 +126,7 @@ public: // Prevents unnecessary voxel initiations if (resolution_ != resolution) { resolution_ = resolution; - if (input_) { + if (target_) { // init() needs target_ init(); } } @@ -175,11 +175,37 @@ public: * \return outlier ratio */ inline double + getOutlierRatio() const + { + return outlier_ratio_; + } + + /** \brief Get the point cloud outlier ratio. + * \return outlier ratio + */ + PCL_DEPRECATED(1, + 18, + "The method `getOulierRatio` has been renamed to " + "`getOutlierRatio`.") + inline double getOulierRatio() const { return outlier_ratio_; } + /** \brief Set/change the point cloud outlier ratio. + * \param[in] outlier_ratio outlier ratio + */ + inline void + setOutlierRatio(double outlier_ratio) + { + outlier_ratio_ = outlier_ratio; + } + + PCL_DEPRECATED(1, + 18, + "The method `setOulierRatio` has been renamed to " + "`setOutlierRatio`.") /** \brief Set/change the point cloud outlier ratio. * \param[in] outlier_ratio outlier ratio */ @@ -220,6 +246,20 @@ public: return nr_iterations_; } + /** \brief Get access to the `VoxelGridCovariance` generated from target cloud + * containing point means and covariances. Set the input target cloud before calling + * this. Useful for debugging, e.g. + * \code + * pcl::PointCloud visualize_cloud; + * ndt.getTargetCells().getDisplayCloud(visualize_cloud); + * \endcode + */ + inline const TargetGrid& + getTargetCells() const + { + return target_cells_; + } + /** \brief Convert 6 element transformation vector to affine transformation. * \param[in] x transformation vector of the form [x, y, z, roll, pitch, yaw] * \param[out] trans affine transform corresponding to given transformation @@ -292,6 +332,10 @@ protected: target_cells_.setInputCloud(target_); // Initiate voxel structure. target_cells_.filter(true); + PCL_DEBUG("[pcl::%s::init] Computed voxel structure, got %zu voxels with valid " + "normal distributions.\n", + getClassName().c_str(), + target_cells_.getCentroids()->size()); } /** \brief Compute derivatives of likelihood function w.r.t. the @@ -363,24 +407,6 @@ protected: computeHessian(Eigen::Matrix& hessian, const PointCloudSource& trans_cloud); - /** \brief Compute hessian of likelihood function w.r.t. the transformation - * vector. - * \note Equation 6.13 [Magnusson 2009]. - * \param[out] hessian the hessian matrix of the likelihood function - * w.r.t. the transformation vector - * \param[in] trans_cloud transformed point cloud - * \param[in] transform the current transform vector - */ - PCL_DEPRECATED(1, 15, "Parameter `transform` is not required") - void - computeHessian(Eigen::Matrix& hessian, - const PointCloudSource& trans_cloud, - const Eigen::Matrix& transform) - { - pcl::utils::ignore(transform); - computeHessian(hessian, trans_cloud); - } - /** \brief Compute individual point contributions to hessian of likelihood * function w.r.t. the transformation vector. * \note Equation 6.13 [Magnusson 2009]. diff --git a/registration/include/pcl/registration/ppf_registration.h b/registration/include/pcl/registration/ppf_registration.h index fbb5ed39..7962d036 100644 --- a/registration/include/pcl/registration/ppf_registration.h +++ b/registration/include/pcl/registration/ppf_registration.h @@ -67,11 +67,18 @@ public: std::size_t operator()(const HashKeyStruct& s) const noexcept { - const std::size_t h1 = std::hash{}(s.first); - const std::size_t h2 = std::hash{}(s.second.first); - const std::size_t h3 = std::hash{}(s.second.second.first); - const std::size_t h4 = std::hash{}(s.second.second.second); - return h1 ^ (h2 << 1) ^ (h3 << 2) ^ (h4 << 3); + /// RS hash function https://www.partow.net/programming/hashfunctions/index.html + std::size_t b_ = 378551; + std::size_t a_ = 63689; + std::size_t hash = 0; + hash = hash * a_ + s.first; + a_ = a_ * b_; + hash = hash * a_ + s.second.first; + a_ = a_ * b_; + hash = hash * a_ + s.second.second.first; + a_ = a_ * b_; + hash = hash * a_ + s.second.second.second; + return hash; } }; using FeatureHashMapType = diff --git a/registration/include/pcl/registration/transformation_estimation_dq.h b/registration/include/pcl/registration/transformation_estimation_dq.h deleted file mode 100644 index 5ad76cc6..00000000 --- a/registration/include/pcl/registration/transformation_estimation_dq.h +++ /dev/null @@ -1,138 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2011, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * - */ - -#pragma once - -#include -#include -PCL_DEPRECATED_HEADER(1, - 15, - "TransformationEstimationDQ has been renamed to " - "TransformationEstimationDualQuaternion."); - -namespace pcl { -namespace registration { -/** @b TransformationEstimationDQ implements dual quaternion based estimation of - * the transformation aligning the given correspondences. - * - * \note The class is templated on the source and target point types as well as on the - * output scalar of the transformation matrix (i.e., float or double). Default: float. - * \author Sergey Zagoruyko - * \ingroup registration - */ -template -class TransformationEstimationDQ -: public TransformationEstimation { -public: - using Ptr = shared_ptr>; - using ConstPtr = - shared_ptr>; - - using Matrix4 = - typename TransformationEstimation::Matrix4; - - TransformationEstimationDQ(){}; - - /** \brief Estimate a rigid rotation transformation between a source and a target - * point cloud using dual quaternion optimization \param[in] cloud_src the source - * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[out] - * transformation_matrix the resultant transformation matrix - */ - inline void - estimateRigidTransformation(const pcl::PointCloud& cloud_src, - const pcl::PointCloud& cloud_tgt, - Matrix4& transformation_matrix) const; - - /** \brief Estimate a rigid rotation transformation between a source and a target - * point cloud using dual quaternion optimization \param[in] cloud_src the source - * point cloud dataset \param[in] indices_src the vector of indices describing the - * points of interest in \a cloud_src - * \param[in] cloud_tgt the target point cloud dataset - * \param[out] transformation_matrix the resultant transformation matrix - */ - inline void - estimateRigidTransformation(const pcl::PointCloud& cloud_src, - const pcl::Indices& indices_src, - const pcl::PointCloud& cloud_tgt, - Matrix4& transformation_matrix) const; - - /** \brief Estimate a rigid rotation transformation between a source and a target - * point cloud using dual quaternion optimization \param[in] cloud_src the source - * point cloud dataset \param[in] indices_src the vector of indices describing the - * points of interest in \a cloud_src - * \param[in] cloud_tgt the target point cloud dataset - * \param[in] indices_tgt the vector of indices describing the correspondences of the - * interest points from \a indices_src - * \param[out] transformation_matrix the resultant transformation matrix - */ - inline void - estimateRigidTransformation(const pcl::PointCloud& cloud_src, - const pcl::Indices& indices_src, - const pcl::PointCloud& cloud_tgt, - const pcl::Indices& indices_tgt, - Matrix4& transformation_matrix) const; - - /** \brief Estimate a rigid rotation transformation between a source and a target - * point cloud using dual quaternion optimization \param[in] cloud_src the source - * point cloud dataset \param[in] cloud_tgt the target point cloud dataset \param[in] - * correspondences the vector of correspondences between source and target point cloud - * \param[out] transformation_matrix the resultant transformation matrix - */ - void - estimateRigidTransformation(const pcl::PointCloud& cloud_src, - const pcl::PointCloud& cloud_tgt, - const pcl::Correspondences& correspondences, - Matrix4& transformation_matrix) const; - -protected: - /** \brief Estimate a rigid rotation transformation between a source and a target - * \param[in] source_it an iterator over the source point cloud dataset - * \param[in] target_it an iterator over the target point cloud dataset - * \param[out] transformation_matrix the resultant transformation matrix - */ - void - estimateRigidTransformation(ConstCloudIterator& source_it, - ConstCloudIterator& target_it, - Matrix4& transformation_matrix) const; -}; - -} // namespace registration -} // namespace pcl - -#include diff --git a/registration/include/pcl/registration/transforms.h b/registration/include/pcl/registration/transforms.h deleted file mode 100644 index 2f4bfb79..00000000 --- a/registration/include/pcl/registration/transforms.h +++ /dev/null @@ -1,43 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id$ - * - */ - -#pragma once -PCL_DEPRECATED_HEADER(1, 15, "Please include pcl/common/transforms.h directly.") -#include diff --git a/registration/include/pcl/registration/warp_point_rigid.h b/registration/include/pcl/registration/warp_point_rigid.h index 2aa6dec1..228ea9c9 100644 --- a/registration/include/pcl/registration/warp_point_rigid.h +++ b/registration/include/pcl/registration/warp_point_rigid.h @@ -95,9 +95,9 @@ public: pnt_out.z = static_cast( transform_matrix_(2, 0) * pnt_in.x + transform_matrix_(2, 1) * pnt_in.y + transform_matrix_(2, 2) * pnt_in.z + transform_matrix_(2, 3)); - // pnt_out.getVector3fMap () = transform_matrix_.topLeftCorner (3, 3) * + // pnt_out.getVector3fMap () = transform_matrix_.topLeftCorner<3, 3> () * // pnt_in.getVector3fMap () + - // transform_matrix_.block (0, 3, 3, 1); + // transform_matrix_.block<3, 1> (0, 3); // pnt_out.data[3] = pnt_in.data[3]; } diff --git a/registration/include/pcl/registration/warp_point_rigid_3d.h b/registration/include/pcl/registration/warp_point_rigid_3d.h index 459681cc..03f2cae9 100644 --- a/registration/include/pcl/registration/warp_point_rigid_3d.h +++ b/registration/include/pcl/registration/warp_point_rigid_3d.h @@ -82,11 +82,11 @@ public: trans(2, 2) = 1; // Rotation around the Z-axis // Copy the rotation and translation components - trans.block(0, 3, 4, 1) = Eigen::Matrix(p[0], p[1], 0, 1.0); + trans.template block<4, 1>(0, 3) = Eigen::Matrix(p[0], p[1], 0, 1.0); // Compute w from the unit quaternion Eigen::Rotation2D r(p[2]); - trans.topLeftCorner(2, 2) = r.toRotationMatrix(); + trans.template topLeftCorner<2, 2>() = r.toRotationMatrix(); } }; } // namespace registration diff --git a/registration/include/pcl/registration/warp_point_rigid_6d.h b/registration/include/pcl/registration/warp_point_rigid_6d.h index 30b07d7c..ec1302ac 100644 --- a/registration/include/pcl/registration/warp_point_rigid_6d.h +++ b/registration/include/pcl/registration/warp_point_rigid_6d.h @@ -89,7 +89,7 @@ public: Eigen::Quaternion q(0, p[3], p[4], p[5]); q.w() = static_cast(std::sqrt(1 - q.dot(q))); q.normalize(); - transform_matrix_.topLeftCorner(3, 3) = q.toRotationMatrix(); + transform_matrix_.template topLeftCorner<3, 3>() = q.toRotationMatrix(); } }; } // namespace registration diff --git a/registration/registration.doxy b/registration/registration.doxy index eb49a954..bc15c427 100644 --- a/registration/registration.doxy +++ b/registration/registration.doxy @@ -15,6 +15,8 @@ The pcl_registration library implements a plethora of point cloud registration algorithms for both organized and unorganized (general purpose) datasets. +PCL's methods to register one point cloud to another can be divided into two groups: the first group needs an initial guess of the transformation (pcl::IterativeClosestPoint, pcl::IterativeClosestPointWithNormals, pcl::IterativeClosestPointNonLinear, pcl::GeneralizedIterativeClosestPoint, pcl::GeneralizedIterativeClosestPoint6D, pcl::NormalDistributionsTransform, pcl::NormalDistributionsTransform2D), and the second group does not need a guess but is usually slower and less accurate (pcl::registration::FPCSInitialAlignment, pcl::registration::KFPCSInitialAlignment, pcl::SampleConsensusInitialAlignment, pcl::SampleConsensusPrerejective, pcl::PPFRegistration). Many parts of the registration process can be configured and swapped out, like the correspondence estimation, correspondence rejection, or the transformation estimation. And finally, PCL also has methods if there are more than two point clouds to align (pcl::registration::ELCH, pcl::registration::LUM, pcl::PairwiseGraphRegistration, pcl::registration::IncrementalRegistration, pcl::registration::MetaRegistration). + \image html http://www.pointclouds.org/assets/images/contents/documentation/registration_outdoor.png \image html http://www.pointclouds.org/assets/images/contents/documentation/registration_closeup.png diff --git a/registration/src/gicp6d.cpp b/registration/src/gicp6d.cpp index c06bc2c2..513c4ef7 100644 --- a/registration/src/gicp6d.cpp +++ b/registration/src/gicp6d.cpp @@ -225,12 +225,8 @@ GeneralizedIterativeClosestPoint6D::computeTransformation(PointCloudSource& outp PCL_DEBUG("[pcl::%s::computeTransformation] Convergence failed\n", getClassName().c_str()); } - // for some reason the static equivalent method raises an error - // final_transformation_.block<3,3> (0,0) = (transformation_.block<3,3> (0,0)) * - // (guess.block<3,3> (0,0)); final_transformation_.block <3, 1> (0, 3) = - // transformation_.block <3, 1> (0, 3) + guess.rightCols<1>.block <3, 1> (0, 3); - final_transformation_.topLeftCorner(3, 3) = - previous_transformation_.topLeftCorner(3, 3) * guess.topLeftCorner(3, 3); + final_transformation_.topLeftCorner<3, 3>() = + previous_transformation_.topLeftCorner<3, 3>() * guess.topLeftCorner<3, 3>(); final_transformation_(0, 3) = previous_transformation_(0, 3) + guess(0, 3); final_transformation_(1, 3) = previous_transformation_(1, 3) + guess(1, 3); final_transformation_(2, 3) = previous_transformation_(2, 3) + guess(2, 3); diff --git a/registration/src/transformation_estimation_dq.cpp b/registration/src/transformation_estimation_dq.cpp deleted file mode 100644 index a6d388fc..00000000 --- a/registration/src/transformation_estimation_dq.cpp +++ /dev/null @@ -1,39 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2011, Alexandru-Eugen Ichim - * Willow Garage, Inc - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: transformation_estimation_svd.cpp 7153 2012-09-16 22:24:29Z aichim $ - * - */ - -#include diff --git a/sample_consensus/CMakeLists.txt b/sample_consensus/CMakeLists.txt index 8552beed..ab8b5397 100644 --- a/sample_consensus/CMakeLists.txt +++ b/sample_consensus/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME sample_consensus) set(SUBSYS_DESC "Point cloud sample consensus library") set(SUBSYS_DEPS common search) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) @@ -14,6 +13,7 @@ endif() set(srcs src/sac.cpp + src/sac_model_ellipse3d.cpp src/sac_model_circle.cpp src/sac_model_circle3d.cpp src/sac_model_cylinder.cpp @@ -27,12 +27,10 @@ set(srcs src/sac_model_plane.cpp src/sac_model_registration.cpp src/sac_model_sphere.cpp - src/sac_model_ellipse3d.cpp + src/sac_model_torus.cpp ) set(incs - "include/pcl/${SUBSYS_NAME}/boost.h" - "include/pcl/${SUBSYS_NAME}/eigen.h" "include/pcl/${SUBSYS_NAME}/lmeds.h" "include/pcl/${SUBSYS_NAME}/method_types.h" "include/pcl/${SUBSYS_NAME}/mlesac.h" @@ -61,6 +59,7 @@ set(incs "include/pcl/${SUBSYS_NAME}/sac_model_registration_2d.h" "include/pcl/${SUBSYS_NAME}/sac_model_sphere.h" "include/pcl/${SUBSYS_NAME}/sac_model_ellipse3d.h" + "include/pcl/${SUBSYS_NAME}/sac_model_torus.h" ) set(impl_incs @@ -88,12 +87,12 @@ set(impl_incs "include/pcl/${SUBSYS_NAME}/impl/sac_model_registration_2d.hpp" "include/pcl/${SUBSYS_NAME}/impl/sac_model_sphere.hpp" "include/pcl/${SUBSYS_NAME}/impl/sac_model_ellipse3d.hpp" + "include/pcl/${SUBSYS_NAME}/impl/sac_model_torus.hpp" ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) -target_link_libraries("${LIB_NAME}" pcl_common) +target_link_libraries("${LIB_NAME}" pcl_common pcl_search) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) # Install include files diff --git a/sample_consensus/include/pcl/sample_consensus/boost.h b/sample_consensus/include/pcl/sample_consensus/boost.h deleted file mode 100644 index ea42ca4c..00000000 --- a/sample_consensus/include/pcl/sample_consensus/boost.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: lmeds.h 1370 2011-06-19 01:06:01Z jspricke $ - * - */ - -#pragma once - -#if defined __GNUC__ -# pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.") - -#include diff --git a/sample_consensus/include/pcl/sample_consensus/eigen.h b/sample_consensus/include/pcl/sample_consensus/eigen.h deleted file mode 100644 index 63d73332..00000000 --- a/sample_consensus/include/pcl/sample_consensus/eigen.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: lmeds.h 1370 2011-06-19 01:06:01Z jspricke $ - * - */ - -#pragma once -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed eigen headers directly.") -#if defined __GNUC__ -# pragma GCC system_header -#endif - -#include -#include diff --git a/sample_consensus/include/pcl/sample_consensus/impl/rmsac.hpp b/sample_consensus/include/pcl/sample_consensus/impl/rmsac.hpp index 5f5cab71..b2b0f580 100644 --- a/sample_consensus/include/pcl/sample_consensus/impl/rmsac.hpp +++ b/sample_consensus/include/pcl/sample_consensus/impl/rmsac.hpp @@ -72,7 +72,8 @@ pcl::RandomizedMEstimatorSampleConsensus::computeModel (int debug_verbos const unsigned max_skip = max_iterations_ * 10; // Number of samples to try randomly - std::size_t fraction_nr_points = pcl_lrint (static_cast(sac_model_->getIndices ()->size ()) * fraction_nr_pretest_ / 100.0); + const std::size_t fraction_nr_points = (fraction_nr_pretest_ < 0.0 ? nr_samples_pretest_ : pcl_lrint (static_cast(sac_model_->getIndices ()->size ()) * fraction_nr_pretest_ / 100.0)); + PCL_DEBUG ("[pcl::RandomizedMEstimatorSampleConsensus::computeModel] Using %lu points for RMSAC pre-test.\n", fraction_nr_points); // Iterate while (iterations_ < k && skipped_count < max_skip) diff --git a/sample_consensus/include/pcl/sample_consensus/impl/rransac.hpp b/sample_consensus/include/pcl/sample_consensus/impl/rransac.hpp index 08751e41..b259a149 100644 --- a/sample_consensus/include/pcl/sample_consensus/impl/rransac.hpp +++ b/sample_consensus/include/pcl/sample_consensus/impl/rransac.hpp @@ -71,7 +71,8 @@ pcl::RandomizedRandomSampleConsensus::computeModel (int debug_verbosity_ const unsigned max_skip = max_iterations_ * 10; // Number of samples to try randomly - const std::size_t fraction_nr_points = pcl_lrint (static_cast(sac_model_->getIndices ()->size ()) * fraction_nr_pretest_ / 100.0); + const std::size_t fraction_nr_points = (fraction_nr_pretest_ < 0.0 ? nr_samples_pretest_ : pcl_lrint (static_cast(sac_model_->getIndices ()->size ()) * fraction_nr_pretest_ / 100.0)); + PCL_DEBUG ("[pcl::RandomizedRandomSampleConsensus::computeModel] Using %lu points for RRANSAC pre-test.\n", fraction_nr_points); // Iterate while (iterations_ < k) diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_circle3d.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_circle3d.hpp index 435e5d2c..8fd9458a 100644 --- a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_circle3d.hpp +++ b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_circle3d.hpp @@ -65,7 +65,7 @@ pcl::SampleConsensusModelCircle3D::isSampleGood ( // Check if the squared norm of the cross-product is non-zero, otherwise // common_helper_vec, which plays an important role in computeModelCoefficients, // would likely be ill-formed. - if ((p1 - p0).cross(p1 - p2).squaredNorm() < Eigen::NumTraits::dummy_precision ()) + if ((p1 - p0).cross(p1 - p2).squaredNorm() < Eigen::NumTraits::dummy_precision ()) { PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::isSampleGood] Sample points too similar or collinear!\n"); return (false); @@ -102,7 +102,7 @@ pcl::SampleConsensusModelCircle3D::computeModelCoefficients (const Indic // The same check is implemented in isSampleGood, so be sure to look there too // if you find the need to change something here. - if (common_helper_vec.squaredNorm() < Eigen::NumTraits::dummy_precision ()) + if (common_helper_vec.squaredNorm() < Eigen::NumTraits::dummy_precision ()) { PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::computeModelCoefficients] Sample points too similar or collinear!\n"); return (false); @@ -194,7 +194,9 @@ pcl::SampleConsensusModelCircle3D::selectWithinDistance ( return; } inliers.clear (); + error_sqr_dists_.clear (); inliers.reserve (indices_->size ()); + error_sqr_dists_.reserve (indices_->size ()); const auto squared_threshold = threshold * threshold; // Iterate through the 3d points and calculate the distances from them to the sphere @@ -221,10 +223,12 @@ pcl::SampleConsensusModelCircle3D::selectWithinDistance ( Eigen::Vector3d K = C + r * helper_vectorP_projC.normalized (); Eigen::Vector3d distanceVector = P - K; - if (distanceVector.squaredNorm () < squared_threshold) + const double sqr_dist = distanceVector.squaredNorm (); + if (sqr_dist < squared_threshold) { // Returns the indices of the points whose distances are smaller than the threshold inliers.push_back ((*indices_)[i]); + error_sqr_dists_.push_back (sqr_dist); } } } @@ -297,8 +301,9 @@ pcl::SampleConsensusModelCircle3D::optimizeModelCoefficients ( OptimizationFunctor functor (this, inliers); Eigen::NumericalDiff num_diff (functor); Eigen::LevenbergMarquardt, double> lm (num_diff); - Eigen::VectorXd coeff; + Eigen::VectorXd coeff = optimized_coefficients.cast(); int info = lm.minimize (coeff); + coeff.tail(3).normalize(); // normalize the cylinder axis for (Eigen::Index i = 0; i < coeff.size (); ++i) optimized_coefficients[i] = static_cast (coeff[i]); @@ -338,11 +343,11 @@ pcl::SampleConsensusModelCircle3D::projectPoints ( pcl::for_each_type (NdConcatenateFunctor ((*input_)[i], projected_points[i])); // Iterate through the 3d points and calculate the distances from them to the plane - for (std::size_t i = 0; i < inliers.size (); ++i) + for (const auto &inlier : inliers) { // what i have: // P : Sample Point - Eigen::Vector3d P ((*input_)[inliers[i]].x, (*input_)[inliers[i]].y, (*input_)[inliers[i]].z); + Eigen::Vector3d P ((*input_)[inlier].x, (*input_)[inlier].y, (*input_)[inlier].z); // C : Circle Center Eigen::Vector3d C (model_coefficients[0], model_coefficients[1], model_coefficients[2]); // N : Circle (Plane) Normal @@ -361,9 +366,9 @@ pcl::SampleConsensusModelCircle3D::projectPoints ( // K : Point on Circle Eigen::Vector3d K = C + r * helper_vectorP_projC.normalized (); - projected_points[i].x = static_cast (K[0]); - projected_points[i].y = static_cast (K[1]); - projected_points[i].z = static_cast (K[2]); + projected_points[inlier].x = static_cast (K[0]); + projected_points[inlier].y = static_cast (K[1]); + projected_points[inlier].z = static_cast (K[2]); } } else diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_cone.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_cone.hpp index e0be7718..c3d3cd83 100644 --- a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_cone.hpp +++ b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_cone.hpp @@ -87,6 +87,11 @@ pcl::SampleConsensusModelCone::computeModelCoefficients ( Eigen::Vector4f ortho31 = n3.cross3(n1); float denominator = n1.dot(ortho23); + if (std::abs(denominator) < Eigen::NumTraits::dummy_precision ()) + { + PCL_ERROR ("[pcl::SampleConsensusModelCone::computeModelCoefficients] Impossible to compute stable model with these points.\n"); + return (false); + } float d1 = p1.dot (n1); float d2 = p2.dot (n2); diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_ellipse3d.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_ellipse3d.hpp index 247a58e3..abb0d32c 100644 --- a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_ellipse3d.hpp +++ b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_ellipse3d.hpp @@ -235,7 +235,7 @@ pcl::SampleConsensusModelEllipse3D::computeModelCoefficients (const Indi model_coefficients[10] = static_cast(x_axis[2]); - PCL_DEBUG ("[pcl::SampleConsensusModelEllipse3D::computeModelCoefficients] Model is (%g,%g,%g,%g,%g,%g,%g,%g,%g,%g,%g,%g,%g).\n", + PCL_DEBUG ("[pcl::SampleConsensusModelEllipse3D::computeModelCoefficients] Model is (%g,%g,%g,%g,%g,%g,%g,%g,%g,%g,%g).\n", model_coefficients[0], model_coefficients[1], model_coefficients[2], model_coefficients[3], model_coefficients[4], model_coefficients[5], model_coefficients[6], model_coefficients[7], model_coefficients[8], model_coefficients[9], model_coefficients[10]); @@ -312,12 +312,14 @@ pcl::SampleConsensusModelEllipse3D::selectWithinDistance ( Indices &inliers) { inliers.clear(); + error_sqr_dists_.clear(); // Check if the model is valid given the user constraints if (!isModelValid (model_coefficients)) { return; } inliers.reserve (indices_->size ()); + error_sqr_dists_.reserve (indices_->size ()); // c : Ellipse Center const Eigen::Vector3f c(model_coefficients[0], model_coefficients[1], model_coefficients[2]); @@ -358,10 +360,12 @@ pcl::SampleConsensusModelEllipse3D::selectWithinDistance ( float th_opt; const Eigen::Vector2f distanceVector = dvec2ellipse(params, p_(0), p_(1), th_opt); - if (distanceVector.squaredNorm() < squared_threshold) + const double sqr_dist = distanceVector.squaredNorm(); + if (sqr_dist < squared_threshold) { // Returns the indices of the points whose distances are smaller than the threshold inliers.push_back ((*indices_)[i]); + error_sqr_dists_.push_back (sqr_dist); } } } @@ -447,13 +451,12 @@ pcl::SampleConsensusModelEllipse3D::optimizeModelCoefficients ( OptimizationFunctor functor(this, inliers); Eigen::NumericalDiff num_diff(functor); Eigen::LevenbergMarquardt, double> lm(num_diff); - Eigen::VectorXd coeff; + Eigen::VectorXd coeff = model_coefficients.cast(); int info = lm.minimize(coeff); - for (Eigen::Index i = 0; i < coeff.size (); ++i) - optimized_coefficients[i] = static_cast (coeff[i]); + optimized_coefficients = coeff.cast(); // Compute the L2 norm of the residuals - PCL_DEBUG ("[pcl::SampleConsensusModelEllipse3D::optimizeModelCoefficients] LM solver finished with exit code %i, having a residual norm of %g. \nInitial solution: %g %g %g %g %g %g %g %g %g %g %g %g %g \nFinal solution: %g %g %g %g %g %g %g %g %g %g %g %g %g\n", + PCL_DEBUG ("[pcl::SampleConsensusModelEllipse3D::optimizeModelCoefficients] LM solver finished with exit code %i, having a residual norm of %g. \nInitial solution: %g %g %g %g %g %g %g %g %g %g %g\nFinal solution: %g %g %g %g %g %g %g %g %g %g %g\n", info, lm.fvec.norm (), model_coefficients[0], diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_normal_plane.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_normal_plane.hpp index 0cd94ff8..dc96852c 100644 --- a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_normal_plane.hpp +++ b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_normal_plane.hpp @@ -42,7 +42,6 @@ #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PLANE_H_ #include -#include // for dist4, dist8 #include // for getAngle3D ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_plane.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_plane.hpp index a9a6800b..be51ff89 100644 --- a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_plane.hpp +++ b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_plane.hpp @@ -117,36 +117,6 @@ pcl::SampleConsensusModelPlane::computeModelCoefficients ( return (true); } -#define AT(POS) ((*input_)[(*indices_)[(POS)]]) - -#ifdef __AVX__ -// This function computes the distances of 8 points to the plane -template inline __m256 pcl::SampleConsensusModelPlane::dist8 (const std::size_t i, const __m256 &a_vec, const __m256 &b_vec, const __m256 &c_vec, const __m256 &d_vec, const __m256 &abs_help) const -{ - // The andnot-function realizes an abs-operation: the sign bit is removed - return _mm256_andnot_ps (abs_help, - _mm256_add_ps (_mm256_add_ps (_mm256_mul_ps (a_vec, _mm256_set_ps (AT(i ).x, AT(i+1).x, AT(i+2).x, AT(i+3).x, AT(i+4).x, AT(i+5).x, AT(i+6).x, AT(i+7).x)), - _mm256_mul_ps (b_vec, _mm256_set_ps (AT(i ).y, AT(i+1).y, AT(i+2).y, AT(i+3).y, AT(i+4).y, AT(i+5).y, AT(i+6).y, AT(i+7).y))), - _mm256_add_ps (_mm256_mul_ps (c_vec, _mm256_set_ps (AT(i ).z, AT(i+1).z, AT(i+2).z, AT(i+3).z, AT(i+4).z, AT(i+5).z, AT(i+6).z, AT(i+7).z)), - d_vec))); // TODO this could be replaced by three fmadd-instructions (if available), but the speed gain would probably be minimal -} -#endif // ifdef __AVX__ - -#ifdef __SSE__ -// This function computes the distances of 4 points to the plane -template inline __m128 pcl::SampleConsensusModelPlane::dist4 (const std::size_t i, const __m128 &a_vec, const __m128 &b_vec, const __m128 &c_vec, const __m128 &d_vec, const __m128 &abs_help) const -{ - // The andnot-function realizes an abs-operation: the sign bit is removed - return _mm_andnot_ps (abs_help, - _mm_add_ps (_mm_add_ps (_mm_mul_ps (a_vec, _mm_set_ps (AT(i ).x, AT(i+1).x, AT(i+2).x, AT(i+3).x)), - _mm_mul_ps (b_vec, _mm_set_ps (AT(i ).y, AT(i+1).y, AT(i+2).y, AT(i+3).y))), - _mm_add_ps (_mm_mul_ps (c_vec, _mm_set_ps (AT(i ).z, AT(i+1).z, AT(i+2).z, AT(i+3).z)), - d_vec))); // TODO this could be replaced by three fmadd-instructions (if available), but the speed gain would probably be minimal -} -#endif // ifdef __SSE__ - -#undef AT - ////////////////////////////////////////////////////////////////////////// template void pcl::SampleConsensusModelPlane::getDistancesToModel ( diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_torus.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_torus.hpp new file mode 100644 index 00000000..81cd1070 --- /dev/null +++ b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_torus.hpp @@ -0,0 +1,581 @@ +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2009-2010, Willow Garage, Inc. + * Copyright (c) 2012-, Open Perception, Inc. + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * $Id$ + * + */ + +#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_TORUS_H_ +#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_TORUS_H_ + +// clang-format off +#include +#include +// clang-format on + +#include // for LevenbergMarquardt +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +bool +pcl::SampleConsensusModelTorus::isSampleGood( + const Indices& samples) const +{ + if (samples.size() != sample_size_) { + PCL_ERROR("[pcl::SampleConsensusTorus::isSampleGood] Wrong number of samples (is " + "%lu, should be %lu)!\n", + samples.size(), + sample_size_); + return (false); + } + + Eigen::Vector3f n0 = Eigen::Vector3f((*normals_)[samples[0]].getNormalVector3fMap()); + Eigen::Vector3f n1 = Eigen::Vector3f((*normals_)[samples[1]].getNormalVector3fMap()); + Eigen::Vector3f n2 = Eigen::Vector3f((*normals_)[samples[2]].getNormalVector3fMap()); + Eigen::Vector3f n3 = Eigen::Vector3f((*normals_)[samples[3]].getNormalVector3fMap()); + + // Required for numeric stability on computeModelCoefficients + if (std::abs((n0).cross(n1).squaredNorm()) < + Eigen::NumTraits::dummy_precision() || + std::abs((n0).cross(n2).squaredNorm()) < + Eigen::NumTraits::dummy_precision() || + std::abs((n0).cross(n3).squaredNorm()) < + Eigen::NumTraits::dummy_precision() || + std::abs((n1).cross(n2).squaredNorm()) < + Eigen::NumTraits::dummy_precision() || + std::abs((n1).cross(n3).squaredNorm()) < + Eigen::NumTraits::dummy_precision()) { + PCL_ERROR("[pcl::SampleConsensusModelEllipse3D::isSampleGood] Sample points " + "normals too similar or collinear!\n"); + return (false); + } + return (true); +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float +crossDot(const Eigen::Vector3f& v1, const Eigen::Vector3f& v2, const Eigen::Vector3f& v3) +{ + return v1.cross(v2).dot(v3); +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +bool +pcl::SampleConsensusModelTorus::computeModelCoefficients( + const Indices& samples, Eigen::VectorXf& model_coefficients) const +{ + + // Make sure that the samples are valid + if (!isSampleGood(samples)) { + PCL_ERROR("[pcl::SampleConsensusModelTorus::computeModelCoefficients] Invalid set " + "of samples given!\n"); + return (false); + } + + if (!normals_) { + PCL_ERROR("[pcl::SampleConsensusModelTorus::computeModelCoefficients] No input " + "dataset containing normals was given!\n"); + return (false); + } + // Find axis using: + + // @article{article, + // author = {Lukacs, G. and Marshall, David and Martin, R.}, + // year = {2001}, + // month = {09}, + // pages = {}, + // title = {Geometric Least-Squares Fitting of Spheres, Cylinders, Cones and Tori} + //} + + const Eigen::Vector3f n0 = Eigen::Vector3f((*normals_)[samples[0]].getNormalVector3fMap()); + const Eigen::Vector3f n1 = Eigen::Vector3f((*normals_)[samples[1]].getNormalVector3fMap()); + const Eigen::Vector3f n2 = Eigen::Vector3f((*normals_)[samples[2]].getNormalVector3fMap()); + const Eigen::Vector3f n3 = Eigen::Vector3f((*normals_)[samples[3]].getNormalVector3fMap()); + + const Eigen::Vector3f p0 = Eigen::Vector3f((*input_)[samples[0]].getVector3fMap()); + const Eigen::Vector3f p1 = Eigen::Vector3f((*input_)[samples[1]].getVector3fMap()); + const Eigen::Vector3f p2 = Eigen::Vector3f((*input_)[samples[2]].getVector3fMap()); + const Eigen::Vector3f p3 = Eigen::Vector3f((*input_)[samples[3]].getVector3fMap()); + + const float a01 = crossDot(n0, n1, n2); + const float b01 = crossDot(n0, n1, n3); + const float a0 = crossDot(p2 - p1, n0, n2); + const float a1 = crossDot(p0 - p2, n1, n2); + const float b0 = crossDot(p3 - p1, n0, n3); + const float b1 = crossDot(p0 - p3, n1, n3); + const float a = crossDot(p0 - p2, p1 - p0, n2); + const float b = crossDot(p0 - p3, p1 - p0, n3); + + // a10*t0*t1 + a0*t0 + a1*t1 + a = 0 + // b10*t0*t1 + b0*t0 + b1*t1 + b = 0 + // + // (a0 - b0*a10/b10)* t0 + (a1-b1*a10/b10) *t1 + a - b*a10/b10 + // t0 = k * t1 + p + + const float k = -(a1 - b1 * a01 / b01) / (a0 - b0 * a01 / b01); + const float p = -(a - b * a01 / b01) / (a0 - b0 * a01 / b01); + + // Second deg eqn. + // + // b10*k*t1*t1 + b10*p*t1 | + b0*k *t1 + b0*p | + b1*t1 | + b = 0 + // + // (b10*k) * t1*t1 + (b10*p + b0*k + b1) * t1 + (b0*p + b) + + const float _a = (b01 * k); + const float _b = (b01 * p + b0 * k + b1); + const float _c = (b0 * p + b); + + const float eps = Eigen::NumTraits::dummy_precision(); + + // Check for imaginary solutions, or small denominators. + if ((_b * _b - 4 * _a * _c) < 0 || std::abs(a0 - b0 * a01) < eps || + std::abs(b01) < eps || std::abs(_a) < eps) { + PCL_DEBUG("[pcl::SampleConsensusModelTorus::computeModelCoefficients] Can't " + "compute model coefficients with this method!\n"); + return (false); + } + + const float s0 = (-_b + std::sqrt(_b * _b - 4 * _a * _c)) / (2 * _a); + const float s1 = (-_b - std::sqrt(_b * _b - 4 * _a * _c)) / (2 * _a); + + float r_maj_stddev_cycle1 = std::numeric_limits::max(); + + for (float s : {s0, s1}) { + + const float t1 = s; + const float t0 = k * t1 + p; + + // Direction vector + Eigen::Vector3f d = ((p1 + n1 * t1) - (p0 + n0 * t0)); + d.normalize(); + // Flip direction, so that the first element of the direction vector is + // positive, for consistency. + if (d[0] < 0) { + d *= -1; + } + + // Flip normals if required. Note |d| = 1 + // d + // if (n0.dot(d) / n0.norm() < M_PI / 2 ) n0 = -n0; + // if (n1.dot(d) / n1.norm() < M_PI / 2 ) n1 = -n1; + // if (n2.dot(d) / n2.norm() < M_PI / 2 ) n2 = -n2; + // if (n3.dot(d) / n3.norm() < M_PI / 2 ) n3 = -n3; + + // We fit the points to the plane of the torus. + // Ax + By + Cz + D = 0 + // We know that all for each point plus its normal + // times the minor radius will give us a point + // in that plane + // Pplane_i = P_i + n_i * r + // we substitute A,x,B,y,C,z + // dx *( P_i_x + n_i_x * r ) + dy *( P_i_y + n_i_y * r ) +dz *( P_i_z + n_i_z * r ) + // + D = 0 and finally (dx*P_i_x + dy*P_i_y + dz*P_i_z) + (dx*n_i_x + dy*n_i_y + + // dz*n_i_z ) * r + D = 0 We can set up a linear least squares system of two + // variables r and D + // + Eigen::MatrixXf A(4, 2); + A << d.dot(n0), 1, d.dot(n1), 1, d.dot(n2), 1, d.dot(n3), 1; + + Eigen::Matrix B(4, 1); + B << -d.dot(p0), -d.dot(p1), -d.dot(p2), -d.dot(p3); + + Eigen::Matrix sol; + sol = A.bdcSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(B); + + const float r_min = -sol(0); + const float D = sol(1); + + // Axis line and plane intersect to find the centroid of the torus + // We take a random point on the line. We find P_rand + lambda * d belongs in the + // plane + + const Eigen::Vector3f Pany = (p1 + n1 * t1); + + const float lambda = (-d.dot(Pany) - D) / d.dot(d); + + const Eigen::Vector3f centroid = Pany + d * lambda; + + // Finally, the major radius. The least square solution will be + // the average in this case. + const float r_maj = std::sqrt(((p0 - r_min * n0 - centroid).squaredNorm() + + (p1 - r_min * n1 - centroid).squaredNorm() + + (p2 - r_min * n2 - centroid).squaredNorm() + + (p3 - r_min * n3 - centroid).squaredNorm()) / + 4.f); + + const float r_maj_stddev = + std::sqrt((std::pow(r_maj - (p0 - r_min * n0 - centroid).norm(), 2) + + std::pow(r_maj - (p1 - r_min * n1 - centroid).norm(), 2) + + std::pow(r_maj - (p2 - r_min * n2 - centroid).norm(), 2) + + std::pow(r_maj - (p3 - r_min * n3 - centroid).norm(), 2)) / + 4.f); + // We select the minimum stddev cycle + if (r_maj_stddev < r_maj_stddev_cycle1) { + r_maj_stddev_cycle1 = r_maj_stddev; + } + else { + break; + } + + model_coefficients.resize(model_size_); + model_coefficients[0] = r_maj; + model_coefficients[1] = r_min; + + model_coefficients[2] = centroid[0]; + model_coefficients[3] = centroid[1]; + model_coefficients[4] = centroid[2]; + + model_coefficients[5] = d[0]; + model_coefficients[6] = d[1]; + model_coefficients[7] = d[2]; + } + return true; +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +void +pcl::SampleConsensusModelTorus::getDistancesToModel( + const Eigen::VectorXf& model_coefficients, std::vector& distances) const +{ + + if (!isModelValid(model_coefficients)) { + distances.clear(); + return; + } + + distances.resize(indices_->size()); + + // Iterate through the 3d points and calculate the distances to the closest torus + // point + for (std::size_t i = 0; i < indices_->size(); ++i) { + const Eigen::Vector3f pt = (*input_)[(*indices_)[i]].getVector3fMap(); + const Eigen::Vector3f pt_n = (*normals_)[(*indices_)[i]].getNormalVector3fMap(); + + Eigen::Vector3f torus_closest; + projectPointToTorus(pt, pt_n, model_coefficients, torus_closest); + + distances[i] = (torus_closest - pt).norm(); + } +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +void +pcl::SampleConsensusModelTorus::selectWithinDistance( + const Eigen::VectorXf& model_coefficients, const double threshold, Indices& inliers) +{ + // Check if the model is valid given the user constraints + if (!isModelValid(model_coefficients)) { + inliers.clear(); + return; + } + inliers.clear(); + error_sqr_dists_.clear(); + inliers.reserve(indices_->size()); + error_sqr_dists_.reserve(indices_->size()); + + for (std::size_t i = 0; i < indices_->size(); ++i) { + const Eigen::Vector3f pt = (*input_)[(*indices_)[i]].getVector3fMap(); + const Eigen::Vector3f pt_n = (*normals_)[(*indices_)[i]].getNormalVector3fMap(); + + Eigen::Vector3f torus_closest; + projectPointToTorus(pt, pt_n, model_coefficients, torus_closest); + + const float distance = (torus_closest - pt).norm(); + + if (distance < threshold) { + // Returns the indices of the points whose distances are smaller than the + // threshold + inliers.push_back((*indices_)[i]); + error_sqr_dists_.push_back(distance); + } + } +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +std::size_t +pcl::SampleConsensusModelTorus::countWithinDistance( + const Eigen::VectorXf& model_coefficients, const double threshold) const +{ + if (!isModelValid(model_coefficients)) + return (0); + + std::size_t nr_p = 0; + + for (std::size_t i = 0; i < indices_->size(); ++i) { + const Eigen::Vector3f pt = (*input_)[(*indices_)[i]].getVector3fMap(); + const Eigen::Vector3f pt_n = (*normals_)[(*indices_)[i]].getNormalVector3fMap(); + + Eigen::Vector3f torus_closest; + projectPointToTorus(pt, pt_n, model_coefficients, torus_closest); + + const float distance = (torus_closest - pt).norm(); + + if (distance < threshold) { + nr_p++; + } + } + return (nr_p); +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +void +pcl::SampleConsensusModelTorus::optimizeModelCoefficients( + const Indices& inliers, + const Eigen::VectorXf& model_coefficients, + Eigen::VectorXf& optimized_coefficients) const +{ + + optimized_coefficients = model_coefficients; + + // Needs a set of valid model coefficients + if (!isModelValid(model_coefficients)) { + PCL_ERROR("[pcl::SampleConsensusModelTorus::optimizeModelCoefficients] Given model " + "is invalid!\n"); + return; + } + + // Need more than the minimum sample size to make a difference + if (inliers.size() <= sample_size_) { + PCL_ERROR("[pcl::SampleConsensusModelTorus::optimizeModelCoefficients] Not enough " + "inliers to refine/optimize the model's coefficients (%lu)! Returning " + "the same coefficients.\n", + inliers.size()); + return; + } + + OptimizationFunctor functor(this, inliers); + Eigen::NumericalDiff num_diff(functor); + Eigen::LevenbergMarquardt, double> lm( + num_diff); + + Eigen::VectorXd coeff = model_coefficients.cast(); + int info = lm.minimize(coeff); + + if (!info) { + PCL_ERROR( + "[pcl::SampleConsensusModelTorus::optimizeModelCoefficients] Optimizer returned" + "with error (%i)! Returning ", + info); + return; + } + + // Normalize direction vector + coeff.tail<3>().normalize(); + optimized_coefficients = coeff.cast(); +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +void +pcl::SampleConsensusModelTorus::projectPointToTorus( + const Eigen::Vector3f& p_in, + const Eigen::Vector3f& p_n, + const Eigen::VectorXf& model_coefficients, + Eigen::Vector3f& pt_out) const +{ + + // Fetch optimization parameters + const float& R = model_coefficients[0]; + const float& r = model_coefficients[1]; + + const float& x0 = model_coefficients[2]; + const float& y0 = model_coefficients[3]; + const float& z0 = model_coefficients[4]; + + const float& nx = model_coefficients[5]; + const float& ny = model_coefficients[6]; + const float& nz = model_coefficients[7]; + + // Normal of the plane where the torus circle lies + Eigen::Vector3f n{nx, ny, nz}; + n.normalize(); + + Eigen::Vector3f pt0{x0, y0, z0}; + + // Ax + By + Cz + D = 0 + const float D = -n.dot(pt0); + + // Project to the torus circle plane folling the point normal + // we want to find lambda such that p + pn_n*lambda lies on the + // torus plane. + // A*(pt_x + lambda*pn_x) + B *(pt_y + lambda*pn_y) + ... + D = 0 + // given that: n = [A,B,C] + // n.dot(P) + lambda*n.dot(pn) + D = 0 + // + + Eigen::Vector3f pt_proj; + // If the point lies in the torus plane, we just use it as projected + + // C++20 -> [[likely]] + if (std::abs(n.dot(p_n)) > Eigen::NumTraits::dummy_precision()) { + float lambda = (-D - n.dot(p_in)) / n.dot(p_n); + pt_proj = p_in + lambda * p_n; + } + else { + pt_proj = p_in; + } + + // Closest point from the inner circle to the current point + const Eigen::Vector3f circle_closest = (pt_proj - pt0).normalized() * R + pt0; + + // From the that closest point we move towards the goal point until we + // meet the surface of the torus + pt_out = (p_in - circle_closest).normalized() * r + circle_closest; +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +void +pcl::SampleConsensusModelTorus::projectPoints( + const Indices& inliers, + const Eigen::VectorXf& model_coefficients, + PointCloud& projected_points, + bool copy_data_fields) const +{ + // Needs a valid set of model coefficients + if (!isModelValid(model_coefficients)) { + PCL_ERROR( + "[pcl::SampleConsensusModelCylinder::projectPoints] Given model is invalid!\n"); + return; + } + + // Copy all the data fields from the input cloud to the projected one? + if (copy_data_fields) { + // Allocate enough space and copy the basics + projected_points.resize(input_->size()); + projected_points.width = input_->width; + projected_points.height = input_->height; + + using FieldList = typename pcl::traits::fieldList::type; + // Iterate over each point + for (std::size_t i = 0; i < input_->size(); ++i) + // Iterate over each dimension + pcl::for_each_type( + NdConcatenateFunctor((*input_)[i], projected_points[i])); + + // Iterate through the 3d points and calculate the distances from them to the plane + for (const auto& inlier : inliers) { + Eigen::Vector3f q; + const Eigen::Vector3f pt_n = (*normals_)[inlier].getNormalVector3fMap(); + projectPointToTorus( + (*input_)[inlier].getVector3fMap(), pt_n, model_coefficients, q); + projected_points[inlier].getVector3fMap() = q; + } + } + else { + // Allocate enough space and copy the basics + projected_points.resize(inliers.size()); + projected_points.width = inliers.size(); + projected_points.height = 1; + + using FieldList = typename pcl::traits::fieldList::type; + // Iterate over each point + for (std::size_t i = 0; i < inliers.size(); ++i) { + // Iterate over each dimension + pcl::for_each_type(NdConcatenateFunctor( + (*input_)[inliers[i]], projected_points[i])); + } + + for (const auto& inlier : inliers) { + Eigen::Vector3f q; + const Eigen::Vector3f pt_n = (*normals_)[inlier].getNormalVector3fMap(); + projectPointToTorus( + (*input_)[inlier].getVector3fMap(), pt_n, model_coefficients, q); + projected_points[inlier].getVector3fMap() = q; + } + } +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +bool +pcl::SampleConsensusModelTorus::doSamplesVerifyModel( + const std::set& indices, + const Eigen::VectorXf& model_coefficients, + const double threshold) const +{ + + for (const auto& index : indices) { + const Eigen::Vector3f pt_n = (*normals_)[index].getNormalVector3fMap(); + Eigen::Vector3f torus_closest; + projectPointToTorus((*input_)[index].getVector3fMap(), pt_n, model_coefficients, torus_closest); + + if (((*input_)[index].getVector3fMap() - torus_closest).squaredNorm() > threshold * threshold) + return (false); + } + return true; +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +bool +pcl::SampleConsensusModelTorus::isModelValid( + const Eigen::VectorXf& model_coefficients) const +{ + if (!SampleConsensusModel::isModelValid(model_coefficients)) + return (false); + + if (radius_min_ != std::numeric_limits::lowest() && + (model_coefficients[0] < radius_min_ || model_coefficients[1] < radius_min_)) { + PCL_DEBUG( + "[pcl::SampleConsensusModelTorus::isModelValid] Major radius OR minor radius " + "of torus is/are too small: should be larger than %g, but are {%g, %g}.\n", + radius_min_, + model_coefficients[0], + model_coefficients[1]); + return (false); + } + if (radius_max_ != std::numeric_limits::max() && + (model_coefficients[0] > radius_max_ || model_coefficients[1] > radius_max_)) { + PCL_DEBUG( + "[pcl::SampleConsensusModelTorus::isModelValid] Major radius OR minor radius " + "of torus is/are too big: should be smaller than %g, but are {%g, %g}.\n", + radius_max_, + model_coefficients[0], + model_coefficients[1]); + return (false); + } + return (true); +} + +#define PCL_INSTANTIATE_SampleConsensusModelTorus(PointT, PointNT) \ + template class PCL_EXPORTS pcl::SampleConsensusModelTorus; + +#endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_TORUS_H_ diff --git a/sample_consensus/include/pcl/sample_consensus/rmsac.h b/sample_consensus/include/pcl/sample_consensus/rmsac.h index 4e690ef3..2be6d581 100644 --- a/sample_consensus/include/pcl/sample_consensus/rmsac.h +++ b/sample_consensus/include/pcl/sample_consensus/rmsac.h @@ -75,7 +75,8 @@ namespace pcl */ RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model) : SampleConsensus (model) - , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents + , fraction_nr_pretest_ (-1.0) + , nr_samples_pretest_ (1) { // Maximum number of trials before we give up. max_iterations_ = 10000; @@ -87,7 +88,8 @@ namespace pcl */ RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : SampleConsensus (model, threshold) - , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents + , fraction_nr_pretest_ (-1.0) + , nr_samples_pretest_ (1) { // Maximum number of trials before we give up. max_iterations_ = 10000; @@ -100,18 +102,41 @@ namespace pcl computeModel (int debug_verbosity_level = 0) override; /** \brief Set the percentage of points to pre-test. + * This is an alternative to setNrSamplesPretest. * \param[in] nr_pretest percentage of points to pre-test */ inline void - setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; } + setFractionNrPretest (double nr_pretest) + { + fraction_nr_pretest_ = nr_pretest; + nr_samples_pretest_ = 0; + } /** \brief Get the percentage of points to pre-test. */ inline double getFractionNrPretest () const { return (fraction_nr_pretest_); } + /** \brief Set the absolute number of points to pre-test. + * This is an alternative to setFractionNrPretest. + * \param[in] nr_pretest absolute number of points to pre-test + */ + inline void + setNrSamplesPretest (std::size_t nr_pretest) + { + nr_samples_pretest_ = nr_pretest; + fraction_nr_pretest_ = -1.0; + } + + /** \brief Get the absolute number of points to pre-test. */ + inline std::size_t + getNrSamplesPretest () const { return (nr_samples_pretest_); } + private: - /** \brief Number of samples to randomly pre-test, in percents. */ + /** \brief Number of samples to randomly pre-test, in percents. This is an alternative and mutually exclusive to nr_samples_pretest_. */ double fraction_nr_pretest_; + + /** \brief Absolute number of samples to randomly pre-test. This is an alternative and mutually exclusive to fraction_nr_pretest_. */ + std::size_t nr_samples_pretest_; }; } diff --git a/sample_consensus/include/pcl/sample_consensus/rransac.h b/sample_consensus/include/pcl/sample_consensus/rransac.h index 2f07f4f2..41b3e0d6 100644 --- a/sample_consensus/include/pcl/sample_consensus/rransac.h +++ b/sample_consensus/include/pcl/sample_consensus/rransac.h @@ -79,7 +79,8 @@ namespace pcl */ RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model) : SampleConsensus (model) - , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents + , fraction_nr_pretest_ (-1.0) + , nr_samples_pretest_ (1) { // Maximum number of trials before we give up. max_iterations_ = 10000; @@ -91,7 +92,8 @@ namespace pcl */ RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold) : SampleConsensus (model, threshold) - , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents + , fraction_nr_pretest_ (-1.0) + , nr_samples_pretest_ (1) { // Maximum number of trials before we give up. max_iterations_ = 10000; @@ -104,18 +106,41 @@ namespace pcl computeModel (int debug_verbosity_level = 0) override; /** \brief Set the percentage of points to pre-test. + * This is an alternative to setNrSamplesPretest. * \param[in] nr_pretest percentage of points to pre-test */ inline void - setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; } + setFractionNrPretest (double nr_pretest) + { + fraction_nr_pretest_ = nr_pretest; + nr_samples_pretest_ = 0; + } /** \brief Get the percentage of points to pre-test. */ inline double getFractionNrPretest () const { return (fraction_nr_pretest_); } + /** \brief Set the absolute number of points to pre-test. + * This is an alternative to setFractionNrPretest. + * \param[in] nr_pretest absolute number of points to pre-test + */ + inline void + setNrSamplesPretest (std::size_t nr_pretest) + { + nr_samples_pretest_ = nr_pretest; + fraction_nr_pretest_ = -1.0; + } + + /** \brief Get the absolute number of points to pre-test. */ + inline std::size_t + getNrSamplesPretest () const { return (nr_samples_pretest_); } + private: - /** \brief Number of samples to randomly pre-test, in percents. */ + /** \brief Number of samples to randomly pre-test, in percents. This is an alternative and mutually exclusive to nr_samples_pretest_. */ double fraction_nr_pretest_; + + /** \brief Absolute number of samples to randomly pre-test. This is an alternative and mutually exclusive to fraction_nr_pretest_. */ + std::size_t nr_samples_pretest_; }; } diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_circle3d.h b/sample_consensus/include/pcl/sample_consensus/sac_model_circle3d.h index d4c6e53d..7531b5f9 100644 --- a/sample_consensus/include/pcl/sample_consensus/sac_model_circle3d.h +++ b/sample_consensus/include/pcl/sample_consensus/sac_model_circle3d.h @@ -65,6 +65,7 @@ namespace pcl using SampleConsensusModel::indices_; using SampleConsensusModel::radius_min_; using SampleConsensusModel::radius_max_; + using SampleConsensusModel::error_sqr_dists_; using PointCloud = typename SampleConsensusModel::PointCloud; using PointCloudPtr = typename SampleConsensusModel::PointCloudPtr; @@ -232,18 +233,19 @@ namespace pcl */ int operator() (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const { + // Same for all points, so define outside of loop: + // C : Circle Center + const Eigen::Vector3d C (x[0], x[1], x[2]); + // N : Circle (Plane) Normal + const Eigen::Vector3d N (x[4], x[5], x[6]); + // r : Radius + const double r = x[3]; for (int i = 0; i < values (); ++i) { // what i have: // P : Sample Point Eigen::Vector3d P = (*model_->input_)[indices_[i]].getVector3fMap().template cast(); - // C : Circle Center - Eigen::Vector3d C (x[0], x[1], x[2]); - // N : Circle (Plane) Normal - Eigen::Vector3d N (x[4], x[5], x[6]); - // r : Radius - double r = x[3]; Eigen::Vector3d helperVectorPC = P - C; // 1.1. get line parameter diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h b/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h index 6137c261..9bf22810 100644 --- a/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h +++ b/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h @@ -41,11 +41,12 @@ #include #include #include +#include namespace pcl { namespace internal { - int optimizeModelCoefficientsCone (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z); + PCL_EXPORTS int optimizeModelCoefficientsCone (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z); } // namespace internal /** \brief @b SampleConsensusModelCone defines a model for 3D cone segmentation. diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h b/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h index 95a6e808..12a42ea5 100644 --- a/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h +++ b/sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h @@ -43,11 +43,12 @@ #include #include #include +#include namespace pcl { namespace internal { - int optimizeModelCoefficientsCylinder (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z); + PCL_EXPORTS int optimizeModelCoefficientsCylinder (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z); } // namespace internal /** \brief @b SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_ellipse3d.h b/sample_consensus/include/pcl/sample_consensus/sac_model_ellipse3d.h index fb6e8d49..11b22de1 100644 --- a/sample_consensus/include/pcl/sample_consensus/sac_model_ellipse3d.h +++ b/sample_consensus/include/pcl/sample_consensus/sac_model_ellipse3d.h @@ -46,6 +46,7 @@ namespace pcl using SampleConsensusModel::indices_; using SampleConsensusModel::radius_min_; using SampleConsensusModel::radius_max_; + using SampleConsensusModel::error_sqr_dists_; using PointCloud = typename SampleConsensusModel::PointCloud; using PointCloudPtr = typename SampleConsensusModel::PointCloudPtr; diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_plane.h b/sample_consensus/include/pcl/sample_consensus/sac_model_plane.h index 2bee660a..2f81614c 100644 --- a/sample_consensus/include/pcl/sample_consensus/sac_model_plane.h +++ b/sample_consensus/include/pcl/sample_consensus/sac_model_plane.h @@ -139,7 +139,7 @@ namespace pcl * \ingroup sample_consensus */ template - class SampleConsensusModelPlane : public SampleConsensusModel + class PCL_EXPORTS SampleConsensusModelPlane : public SampleConsensusModel { public: using SampleConsensusModel::model_name_; @@ -292,13 +292,35 @@ namespace pcl std::size_t i = 0) const; #endif +#define PCLAT(POS) ((*input_)[(*indices_)[(POS)]]) + #ifdef __AVX__ - inline __m256 dist8 (const std::size_t i, const __m256 &a_vec, const __m256 &b_vec, const __m256 &c_vec, const __m256 &d_vec, const __m256 &abs_help) const; -#endif +// This function computes the distances of 8 points to the plane +inline __m256 dist8 (const std::size_t i, const __m256 &a_vec, const __m256 &b_vec, const __m256 &c_vec, const __m256 &d_vec, const __m256 &abs_help) const +{ + // The andnot-function realizes an abs-operation: the sign bit is removed + return _mm256_andnot_ps (abs_help, + _mm256_add_ps (_mm256_add_ps (_mm256_mul_ps (a_vec, _mm256_set_ps (PCLAT(i ).x, PCLAT(i+1).x, PCLAT(i+2).x, PCLAT(i+3).x, PCLAT(i+4).x, PCLAT(i+5).x, PCLAT(i+6).x, PCLAT(i+7).x)), + _mm256_mul_ps (b_vec, _mm256_set_ps (PCLAT(i ).y, PCLAT(i+1).y, PCLAT(i+2).y, PCLAT(i+3).y, PCLAT(i+4).y, PCLAT(i+5).y, PCLAT(i+6).y, PCLAT(i+7).y))), + _mm256_add_ps (_mm256_mul_ps (c_vec, _mm256_set_ps (PCLAT(i ).z, PCLAT(i+1).z, PCLAT(i+2).z, PCLAT(i+3).z, PCLAT(i+4).z, PCLAT(i+5).z, PCLAT(i+6).z, PCLAT(i+7).z)), + d_vec))); // TODO this could be replaced by three fmadd-instructions (if available), but the speed gain would probably be minimal +} +#endif // ifdef __AVX__ #ifdef __SSE__ - inline __m128 dist4 (const std::size_t i, const __m128 &a_vec, const __m128 &b_vec, const __m128 &c_vec, const __m128 &d_vec, const __m128 &abs_help) const; -#endif +// This function computes the distances of 4 points to the plane +inline __m128 dist4 (const std::size_t i, const __m128 &a_vec, const __m128 &b_vec, const __m128 &c_vec, const __m128 &d_vec, const __m128 &abs_help) const +{ + // The andnot-function realizes an abs-operation: the sign bit is removed + return _mm_andnot_ps (abs_help, + _mm_add_ps (_mm_add_ps (_mm_mul_ps (a_vec, _mm_set_ps (PCLAT(i ).x, PCLAT(i+1).x, PCLAT(i+2).x, PCLAT(i+3).x)), + _mm_mul_ps (b_vec, _mm_set_ps (PCLAT(i ).y, PCLAT(i+1).y, PCLAT(i+2).y, PCLAT(i+3).y))), + _mm_add_ps (_mm_mul_ps (c_vec, _mm_set_ps (PCLAT(i ).z, PCLAT(i+1).z, PCLAT(i+2).z, PCLAT(i+3).z)), + d_vec))); // TODO this could be replaced by three fmadd-instructions (if available), but the speed gain would probably be minimal +} +#endif // ifdef __SSE__ + +#undef PCLAT private: /** \brief Check if a sample of indices results in a good sample of points diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h b/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h index 537fcb3d..c3209e3f 100644 --- a/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h +++ b/sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h @@ -49,11 +49,12 @@ #include #include +#include namespace pcl { namespace internal { - int optimizeModelCoefficientsSphere (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z); + PCL_EXPORTS int optimizeModelCoefficientsSphere (Eigen::VectorXf& coeff, const Eigen::ArrayXf& pts_x, const Eigen::ArrayXf& pts_y, const Eigen::ArrayXf& pts_z); } // namespace internal /** \brief SampleConsensusModelSphere defines a model for 3D sphere segmentation. diff --git a/sample_consensus/include/pcl/sample_consensus/sac_model_torus.h b/sample_consensus/include/pcl/sample_consensus/sac_model_torus.h new file mode 100644 index 00000000..d69a29fc --- /dev/null +++ b/sample_consensus/include/pcl/sample_consensus/sac_model_torus.h @@ -0,0 +1,318 @@ +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2010-2011, Willow Garage, Inc. + * Copyright (c) 2012-, Open Perception, Inc. + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * $Id$ + * + */ + +#pragma once + +#include +#include +#include + +namespace pcl { + +/** \brief @b SampleConsensusModelTorus defines a model for 3D torus segmentation. + * The model coefficients are defined as: + * - \b radii.inner : the torus's inner radius + * - \b radii.outer : the torus's outer radius + * - \b torus_center_point.x : the X coordinate of the center of the torus + * - \b torus_center_point.y : the Y coordinate of the center of the torus + * - \b torus_center_point.z : the Z coordinate of the center of the torus + * - \b torus_normal.x : the X coordinate of the normal of the torus + * - \b torus_normal.y : the Y coordinate of the normal of the torus + * - \b torus_normal.z : the Z coordinate of the normal of the torus + * + * \author lasdasdas + * \ingroup sample_consensus + */ +template +class SampleConsensusModelTorus +: public SampleConsensusModel, + public SampleConsensusModelFromNormals { + using SampleConsensusModel::model_name_; + using SampleConsensusModel::input_; + using SampleConsensusModel::indices_; + using SampleConsensusModel::radius_min_; + using SampleConsensusModel::radius_max_; + using SampleConsensusModelFromNormals::normals_; + using SampleConsensusModelFromNormals::normal_distance_weight_; + using SampleConsensusModel::error_sqr_dists_; + + using PointCloud = typename SampleConsensusModel::PointCloud; + using PointCloudPtr = typename SampleConsensusModel::PointCloudPtr; + using PointCloudConstPtr = typename SampleConsensusModel::PointCloudConstPtr; + +public: + using Ptr = shared_ptr>; + using ConstPtr = shared_ptr>; + + /** \brief Constructor for base SampleConsensusModelTorus. + * \param[in] cloud the input point cloud dataset + * \param[in] random if true set the random seed to the current time, else set to + * 12345 (default: false) + */ + SampleConsensusModelTorus(const PointCloudConstPtr& cloud, bool random = false) + : SampleConsensusModel(cloud, random) + , SampleConsensusModelFromNormals() + { + model_name_ = "SampleConsensusModelTorus"; + sample_size_ = 4; + model_size_ = 8; + } + + /** \brief Constructor for base SampleConsensusModelTorus. + * \param[in] cloud the input point cloud dataset + * \param[in] indices a vector of point indices to be used from \a cloud + * \param[in] random if true set the random seed to the current time, else set to + * 12345 (default: false) + */ + SampleConsensusModelTorus(const PointCloudConstPtr& cloud, + const Indices& indices, + bool random = false) + : SampleConsensusModel(cloud, indices, random) + , SampleConsensusModelFromNormals() + { + model_name_ = "SampleConsensusModelTorus"; + sample_size_ = 4; + model_size_ = 8; + } + + /** \brief Copy constructor. + * \param[in] source the model to copy into this + */ + SampleConsensusModelTorus(const SampleConsensusModelTorus& source) + : SampleConsensusModel(), SampleConsensusModelFromNormals() + { + *this = source; + model_name_ = "SampleConsensusModelTorus"; + } + + /** \brief Empty destructor */ + ~SampleConsensusModelTorus() override = default; + + /** \brief Copy constructor. + * \param[in] source the model to copy into this + */ + inline SampleConsensusModelTorus& + operator=(const SampleConsensusModelTorus& source) + { + SampleConsensusModelFromNormals::operator=(source); + return (*this); + } + /** \brief Check whether the given index samples can form a valid torus model, compute + * the model coefficients from these samples and store them in model_coefficients. The + * torus coefficients are: radii, torus_center_point, torus_normal. + * \param[in] samples the point indices found as possible good candidates for creating a valid model + * \param[out] model_coefficients the resultant model coefficients + */ + bool + computeModelCoefficients(const Indices& samples, + Eigen::VectorXf& model_coefficients) const override; + + /** \brief Compute all distances from the cloud data to a given torus model. + * \param[in] model_coefficients the coefficients of a torus model that we need to compute distances to + * \param[out] distances the resultant estimated distances + */ + void + getDistancesToModel(const Eigen::VectorXf& model_coefficients, + std::vector& distances) const override; + + /** \brief Select all the points which respect the given model coefficients as + * inliers. + * \param[in] model_coefficients the coefficients of a torus model that we need to compute distances to + * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers + * \param[out] inliers the + * resultant model inliers + */ + void + selectWithinDistance(const Eigen::VectorXf& model_coefficients, + const double threshold, + Indices& inliers) override; + + /** \brief Count all the points which respect the given model coefficients as inliers. + * + * \param[in] model_coefficients the coefficients of a model that we need to compute distances to + * \param[in] threshold maximum admissible distance threshold for + * determining the inliers from the outliers \return the resultant number of inliers + */ + std::size_t + countWithinDistance(const Eigen::VectorXf& model_coefficients, + const double threshold) const override; + + /** \brief Recompute the torus coefficients using the given inlier set and return them + * to the user. + * \param[in] inliers the data inliers found as supporting the model + * \param[in] model_coefficients the initial guess for the optimization + * \param[out] optimized_coefficients the resultant recomputed coefficients after + * non-linear optimization + */ + void + optimizeModelCoefficients(const Indices& inliers, + const Eigen::VectorXf& model_coefficients, + Eigen::VectorXf& optimized_coefficients) const override; + + /** \brief Create a new point cloud with inliers projected onto the torus model. + * \param[in] inliers the data inliers that we want to project on the torus model + * \param[in] model_coefficients the coefficients of a torus model + * \param[out] projected_points the resultant projected points + * \param[in] copy_data_fields set to true if we need to copy the other data fields + */ + void + projectPoints(const Indices& inliers, + const Eigen::VectorXf& model_coefficients, + PointCloud& projected_points, + bool copy_data_fields = true) const override; + + /** \brief Verify whether a subset of indices verifies the given torus model + * coefficients. + * \param[in] indices the data indices that need to be tested against the torus model + * \param[in] model_coefficients the torus model coefficients + * \param[in] threshold a maximum admissible distance threshold for determining the + * inliers from the outliers + */ + bool + doSamplesVerifyModel(const std::set& indices, + const Eigen::VectorXf& model_coefficients, + const double threshold) const override; + + /** \brief Return a unique id for this model (SACMODEL_TORUS). */ + inline pcl::SacModel + getModelType() const override + { + return (SACMODEL_TORUS); + } + +protected: + using SampleConsensusModel::sample_size_; + using SampleConsensusModel::model_size_; + + /** \brief Project a point onto a torus given by its model coefficients (radii, + * torus_center_point, torus_normal) + * \param[in] pt the input point to project + * \param[in] model_coefficients the coefficients of the torus (radii, torus_center_point, torus_normal) + * \param[out] pt_proj the resultant projected point + */ + void + projectPointToTorus(const Eigen::Vector3f& pt, + const Eigen::Vector3f& pt_n, + const Eigen::VectorXf& model_coefficients, + Eigen::Vector3f& pt_proj) const; + + /** \brief Check whether a model is valid given the user constraints. + * \param[in] model_coefficients the set of model coefficients + */ + bool + isModelValid(const Eigen::VectorXf& model_coefficients) const override; + + /** \brief Check if a sample of indices results in a good sample of points + * indices. Pure virtual. + * \param[in] samples the resultant index samples + */ + bool + isSampleGood(const Indices& samples) const override; + +private: + struct OptimizationFunctor : pcl::Functor { + /** Functor constructor + * \param[in] indices the indices of data points to evaluate + * \param[in] estimator pointer to the estimator object + */ + OptimizationFunctor(const pcl::SampleConsensusModelTorus* model, + const Indices& indices) + : pcl::Functor(indices.size()), model_(model), indices_(indices) + {} + + /** Cost function to be minimized + * \param[in] x the variables array + * \param[out] fvec the resultant functions evaluations + * \return 0 + */ + int + operator()(const Eigen::VectorXd& xs, Eigen::VectorXd& fvec) const + { + // Getting constants from state vector + const double& R = xs[0]; + const double& r = xs[1]; + + const double& x0 = xs[2]; + const double& y0 = xs[3]; + const double& z0 = xs[4]; + + const Eigen::Vector3d centroid{x0, y0, z0}; + + const double& nx = xs[5]; + const double& ny = xs[6]; + const double& nz = xs[7]; + + const Eigen::Vector3d n1{0.0, 0.0, 1.0}; + const Eigen::Vector3d n2 = Eigen::Vector3d{nx, ny, nz}.normalized(); + + for (size_t j = 0; j < indices_.size(); j++) { + + size_t i = indices_[j]; + const Eigen::Vector3d pt = + (*model_->input_)[i].getVector3fMap().template cast(); + + Eigen::Vector3d pte{pt - centroid}; + + // Transposition is inversion + // Using Quaternions instead of Rodrigues + pte = Eigen::Quaterniond() + .setFromTwoVectors(n1, n2) + .toRotationMatrix() + .transpose() * + pte; + + const double& x = pte[0]; + const double& y = pte[1]; + const double& z = pte[2]; + + fvec[j] = (std::pow(sqrt(x * x + y * y) - R, 2) + z * z - r * r); + } + return 0; + } + + const pcl::SampleConsensusModelTorus* model_; + const Indices& indices_; + }; +}; +} // namespace pcl + +#ifdef PCL_NO_PRECOMPILE +#include +#endif diff --git a/sample_consensus/sample_consensus.doxy b/sample_consensus/sample_consensus.doxy index 914722bb..5ad79328 100644 --- a/sample_consensus/sample_consensus.doxy +++ b/sample_consensus/sample_consensus.doxy @@ -23,7 +23,7 @@
  • \link pcl::SampleConsensusModelSphere SACMODEL_SPHERE \endlink - used to determine sphere models. The four coefficients of the sphere are given by its 3D center and radius as: [center.x center.y center.z radius]
  • \link pcl::SampleConsensusModelCylinder SACMODEL_CYLINDER \endlink - used to determine cylinder models. The seven coefficients of the cylinder are given by a point on its axis, the axis direction, and a radius, as: [point_on_axis.x point_on_axis.y point_on_axis.z axis_direction.x axis_direction.y axis_direction.z radius]
  • \link pcl::SampleConsensusModelCone SACMODEL_CONE \endlink - used to determine cone models. The seven coefficients of the cone are given by a point of its apex, the axis direction and the opening angle, as: [apex.x, apex.y, apex.z, axis_direction.x, axis_direction.y, axis_direction.z, opening_angle]
    • -
  • SACMODEL_TORUS - not implemented yet
    • +
  • \link pcl::SampleConsensusModelTorus SACMODEL_TORUS \endlink - used to determine torus models. The eight coefficients of the torus are given by the inner and outer radius, the center point, and the torus axis.
  • \link pcl::SampleConsensusModelParallelLine SACMODEL_PARALLEL_LINE \endlink - a model for determining a line parallel with a given axis, within a maximum specified angular deviation. The line coefficients are similar to \link pcl::SampleConsensusModelLine SACMODEL_LINE \endlink.
  • \link pcl::SampleConsensusModelPerpendicularPlane SACMODEL_PERPENDICULAR_PLANE \endlink - a model for determining a plane perpendicular to a user-specified axis, within a maximum specified angular deviation. The plane coefficients are similar to \link pcl::SampleConsensusModelPlane SACMODEL_PLANE \endlink.
  • SACMODEL_PARALLEL_LINES - not implemented yet
    • diff --git a/common/include/pcl/point_traits.h b/sample_consensus/src/sac_model_torus.cpp similarity index 82% rename from common/include/pcl/point_traits.h rename to sample_consensus/src/sac_model_torus.cpp index 4136fa91..f0d71b9e 100644 --- a/common/include/pcl/point_traits.h +++ b/sample_consensus/src/sac_model_torus.cpp @@ -1,8 +1,7 @@ /* * Software License Agreement (BSD License) - * * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2012, Willow Garage, Inc. + * Copyright (c) 2009-2012, Willow Garage, Inc. * Copyright (c) 2012-, Open Perception, Inc. * * All rights reserved. @@ -36,8 +35,10 @@ * */ -#pragma once - -PCL_DEPRECATED_HEADER(1, 15, "Use instead.") +#include -#include +#ifndef PCL_NO_PRECOMPILE +#include +#include +PCL_INSTANTIATE_PRODUCT(SampleConsensusModelTorus, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointXYZRGB))((pcl::Normal))) +#endif // PCL_NO_PRECOMPILE diff --git a/search/CMakeLists.txt b/search/CMakeLists.txt index 0b93e525..d8422ab9 100644 --- a/search/CMakeLists.txt +++ b/search/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME search) set(SUBSYS_DESC "Point cloud generic search library") set(SUBSYS_DEPS common kdtree octree) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS flann) @@ -39,7 +38,6 @@ set(impl_incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) target_link_libraries("${LIB_NAME}" pcl_common FLANN::FLANN pcl_octree pcl_kdtree) list(APPEND EXT_DEPS flann) diff --git a/search/include/pcl/search/impl/organized.hpp b/search/include/pcl/search/impl/organized.hpp index 12e6da32..df089620 100644 --- a/search/include/pcl/search/impl/organized.hpp +++ b/search/include/pcl/search/impl/organized.hpp @@ -82,7 +82,7 @@ pcl::search::OrganizedNeighbor::radiusSearch (const PointT { for (; idx < xEnd; ++idx) { - if (!mask_[idx] || !isFinite ((*input_)[idx])) + if (!mask_[idx]) continue; float dist_x = (*input_)[idx].x - query.x; diff --git a/search/include/pcl/search/organized.h b/search/include/pcl/search/organized.h index fe07756e..20f23841 100644 --- a/search/include/pcl/search/organized.h +++ b/search/include/pcl/search/organized.h @@ -42,6 +42,7 @@ #include #include #include +#include // for pcl::isFinite #include #include @@ -80,7 +81,7 @@ namespace pcl /** \brief Constructor * \param[in] sorted_results whether the results should be return sorted in ascending order on the distances or not. - * This applies only for radius search, since knn always returns sorted resutls + * This applies only for radius search, since knn always returns sorted results * \param[in] eps the threshold for the mean-squared-error of the estimation of the projection matrix. * if the MSE is above this value, the point cloud is considered as not from a projective device, * thus organized neighbor search can not be applied on that cloud. @@ -138,10 +139,16 @@ namespace pcl { mask_.assign (input_->size (), 0); for (const auto& idx : *indices_) - mask_[idx] = 1; + if (pcl::isFinite((*input_)[idx])) + mask_[idx] = 1; } else - mask_.assign (input_->size (), 1); + { + mask_.assign (input_->size (), 0); + for (std::size_t idx=0; idxsize(); ++idx) + if (pcl::isFinite((*input_)[idx])) + mask_[idx] = 1; + } return estimateProjectionMatrix () && isValid (); } @@ -216,7 +223,7 @@ namespace pcl testPoint (const PointT& query, unsigned k, std::vector& queue, index_t index) const { const PointT& point = input_->points [index]; - if (mask_ [index] && std::isfinite (point.x)) + if (mask_ [index]) { //float squared_distance = (point.getVector3fMap () - query.getVector3fMap ()).squaredNorm (); float dist_x = point.x - query.x; @@ -278,7 +285,7 @@ namespace pcl /** \brief using only a subsample of points to calculate the projection matrix. pyramid_level_ = use down sampled cloud given by pyramid_level_*/ const unsigned pyramid_level_; - /** \brief mask, indicating whether the point was in the indices list or not.*/ + /** \brief mask, indicating whether the point was in the indices list or not, and whether it is finite.*/ std::vector mask_; public: PCL_MAKE_ALIGNED_OPERATOR_NEW diff --git a/segmentation/CMakeLists.txt b/segmentation/CMakeLists.txt index f6cdf291..901a63fc 100644 --- a/segmentation/CMakeLists.txt +++ b/segmentation/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME segmentation) set(SUBSYS_DESC "Point cloud segmentation library") set(SUBSYS_DEPS common geometry search sample_consensus kdtree octree features filters ml) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP) @@ -36,7 +35,6 @@ set(srcs ) set(incs - "include/pcl/${SUBSYS_NAME}/boost.h" "include/pcl/${SUBSYS_NAME}/extract_clusters.h" "include/pcl/${SUBSYS_NAME}/extract_labeled_clusters.h" "include/pcl/${SUBSYS_NAME}/extract_polygonal_prism_data.h" @@ -99,9 +97,8 @@ set(impl_incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) -target_link_libraries("${LIB_NAME}" pcl_search pcl_sample_consensus pcl_filters pcl_ml pcl_features) +target_link_libraries("${LIB_NAME}" pcl_geometry pcl_search pcl_sample_consensus pcl_filters pcl_ml pcl_features) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) # Install include files diff --git a/segmentation/include/pcl/segmentation/boost.h b/segmentation/include/pcl/segmentation/boost.h deleted file mode 100644 index 6ef50c38..00000000 --- a/segmentation/include/pcl/segmentation/boost.h +++ /dev/null @@ -1,55 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2010-2011, Willow Garage, Inc. - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: io.h 5850 2012-06-06 14:04:59Z stfox88 $ - * - */ - -#pragma once -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.") -#ifdef __GNUC__ -#pragma GCC system_header -#endif - -#ifndef Q_MOC_RUN -// Marking all Boost headers as system headers to remove warnings -#include -#include -#include -#include - -#include -#endif diff --git a/segmentation/include/pcl/segmentation/extract_clusters.h b/segmentation/include/pcl/segmentation/extract_clusters.h index cbda2cdf..2bfb4196 100644 --- a/segmentation/include/pcl/segmentation/extract_clusters.h +++ b/segmentation/include/pcl/segmentation/extract_clusters.h @@ -123,6 +123,8 @@ namespace pcl static_cast(normals.size())); return; } + // If tree gives sorted results, we can skip the first one because it is the query point itself + const std::size_t nn_start_idx = tree->getSortedResults () ? 1 : 0; const double cos_eps_angle = std::cos (eps_angle); // compute this once instead of acos many times (faster) // Create a bool vector of processed point indices, and initialize it to false @@ -151,7 +153,7 @@ namespace pcl continue; } - for (std::size_t j = 1; j < nn_indices.size (); ++j) // nn_indices[0] should be sq_idx + for (std::size_t j = nn_start_idx; j < nn_indices.size (); ++j) { if (processed[nn_indices[j]]) // Has this point been processed before ? continue; @@ -243,6 +245,8 @@ namespace pcl static_cast(normals.size())); return; } + // If tree gives sorted results, we can skip the first one because it is the query point itself + const std::size_t nn_start_idx = tree->getSortedResults () ? 1 : 0; const double cos_eps_angle = std::cos (eps_angle); // compute this once instead of acos many times (faster) // Create a bool vector of processed point indices, and initialize it to false std::vector processed (cloud.size (), false); @@ -270,7 +274,7 @@ namespace pcl continue; } - for (std::size_t j = 1; j < nn_indices.size (); ++j) // nn_indices[0] should be sq_idx + for (std::size_t j = nn_start_idx; j < nn_indices.size (); ++j) { if (processed[nn_indices[j]]) // Has this point been processed before ? continue; diff --git a/segmentation/include/pcl/segmentation/extract_labeled_clusters.h b/segmentation/include/pcl/segmentation/extract_labeled_clusters.h index 39aab83b..acdd3e9a 100644 --- a/segmentation/include/pcl/segmentation/extract_labeled_clusters.h +++ b/segmentation/include/pcl/segmentation/extract_labeled_clusters.h @@ -187,7 +187,8 @@ protected: /** \brief The maximum number of labels we can find in this pointcloud (default = * MAXINT)*/ - unsigned int max_label_{std::numeric_limits::max()}; + PCL_DEPRECATED(1, 18, "this member variable is unused") + unsigned int max_label_{std::numeric_limits::max()}; /** \brief Class getName method. */ virtual std::string diff --git a/segmentation/include/pcl/segmentation/extract_polygonal_prism_data.h b/segmentation/include/pcl/segmentation/extract_polygonal_prism_data.h index 0739726c..08cc63f9 100644 --- a/segmentation/include/pcl/segmentation/extract_polygonal_prism_data.h +++ b/segmentation/include/pcl/segmentation/extract_polygonal_prism_data.h @@ -40,6 +40,7 @@ #include #include +#include // for Vertices namespace pcl { @@ -124,6 +125,16 @@ namespace pcl inline void setInputPlanarHull (const PointCloudConstPtr &hull) { planar_hull_ = hull; } + /** \brief Provide a vector of the concave polygons indices, as recieved from ConcaveHull::polygons. + * \note This is only needed when using ConcaveHull that has more than one polygon. + * \param[in] polygons - see ConcaveHull::polygons + */ + inline void + setPolygons(const std::vector& polygons) + { + polygons_ = polygons; + } + /** \brief Get a pointer the input planar hull dataset. */ inline PointCloudConstPtr getInputPlanarHull () const { return (planar_hull_); } @@ -185,6 +196,9 @@ namespace pcl /** \brief A pointer to the input planar hull dataset. */ PointCloudConstPtr planar_hull_{nullptr}; + /** \brief polygons indices vectors, as recieved from ConcaveHull */ + std::vector polygons_; + /** \brief The minimum number of points needed on the convex hull. */ int min_pts_hull_{3}; diff --git a/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp b/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp index 8a054c54..564d3e94 100644 --- a/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp +++ b/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp @@ -266,7 +266,7 @@ pcl::ApproximateProgressiveMorphologicalFilter::extract (Indices& ground } -#define PCL_INSTANTIATE_ApproximateProgressiveMorphologicalFilter(T) template class pcl::ApproximateProgressiveMorphologicalFilter; +#define PCL_INSTANTIATE_ApproximateProgressiveMorphologicalFilter(T) template class PCL_EXPORTS pcl::ApproximateProgressiveMorphologicalFilter; #endif // PCL_SEGMENTATION_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_ diff --git a/segmentation/include/pcl/segmentation/impl/conditional_euclidean_clustering.hpp b/segmentation/include/pcl/segmentation/impl/conditional_euclidean_clustering.hpp index 93230268..5eef5e59 100644 --- a/segmentation/include/pcl/segmentation/impl/conditional_euclidean_clustering.hpp +++ b/segmentation/include/pcl/segmentation/impl/conditional_euclidean_clustering.hpp @@ -60,11 +60,13 @@ pcl::ConditionalEuclideanClustering::segment (pcl::IndicesClusters &clus if (!searcher_) { if (input_->isOrganized ()) - searcher_.reset (new pcl::search::OrganizedNeighbor ()); + searcher_.reset (new pcl::search::OrganizedNeighbor (false)); // not requiring sorted results is much faster else - searcher_.reset (new pcl::search::KdTree ()); + searcher_.reset (new pcl::search::KdTree (false)); // not requiring sorted results is much faster } searcher_->setInputCloud (input_, indices_); + // If searcher_ gives sorted results, we can skip the first one because it is the query point itself + const int nn_start_idx = searcher_->getSortedResults () ? 1 : 0; // Temp variables used by search class Indices nn_indices; @@ -100,7 +102,7 @@ pcl::ConditionalEuclideanClustering::segment (pcl::IndicesClusters &clus } // Process the neighbors - for (int nii = 1; nii < static_cast (nn_indices.size ()); ++nii) // nii = neighbor indices iterator + for (int nii = nn_start_idx; nii < static_cast (nn_indices.size ()); ++nii) // nii = neighbor indices iterator { // Has this point been processed before? if (nn_indices[nii] == UNAVAILABLE || processed[nn_indices[nii]]) diff --git a/segmentation/include/pcl/segmentation/impl/crf_normal_segmentation.hpp b/segmentation/include/pcl/segmentation/impl/crf_normal_segmentation.hpp index cf00fa56..01b9dba9 100644 --- a/segmentation/include/pcl/segmentation/impl/crf_normal_segmentation.hpp +++ b/segmentation/include/pcl/segmentation/impl/crf_normal_segmentation.hpp @@ -71,6 +71,6 @@ pcl::CrfNormalSegmentation::segmentPoints () { } -#define PCL_INSTANTIATE_CrfNormalSegmentation(T) template class pcl::CrfNormalSegmentation; +#define PCL_INSTANTIATE_CrfNormalSegmentation(T) template class PCL_EXPORTS pcl::CrfNormalSegmentation; #endif // PCL_CRF_NORMAL_SEGMENTATION_HPP_ diff --git a/segmentation/include/pcl/segmentation/impl/crf_segmentation.hpp b/segmentation/include/pcl/segmentation/impl/crf_segmentation.hpp index 2c2f9f5b..ff061567 100644 --- a/segmentation/include/pcl/segmentation/impl/crf_segmentation.hpp +++ b/segmentation/include/pcl/segmentation/impl/crf_segmentation.hpp @@ -595,6 +595,6 @@ pcl::CrfSegmentation::segmentPoints (pcl::PointCloud } -#define PCL_INSTANTIATE_CrfSegmentation(T) template class pcl::CrfSegmentation; +#define PCL_INSTANTIATE_CrfSegmentation(T) template class PCL_EXPORTS pcl::CrfSegmentation; #endif // PCL_CRF_SEGMENTATION_HPP_ diff --git a/segmentation/include/pcl/segmentation/impl/extract_labeled_clusters.hpp b/segmentation/include/pcl/segmentation/impl/extract_labeled_clusters.hpp index 1f6ea1d8..37ed0d69 100644 --- a/segmentation/include/pcl/segmentation/impl/extract_labeled_clusters.hpp +++ b/segmentation/include/pcl/segmentation/impl/extract_labeled_clusters.hpp @@ -57,6 +57,8 @@ pcl::extractLabeledEuclideanClusters( cloud.size()); return; } + // If tree gives sorted results, we can skip the first one because it is the query point itself + const std::size_t nn_start_idx = tree->getSortedResults () ? 1 : 0; // Create a bool vector of processed point indices, and initialize it to false std::vector processed(cloud.size(), false); @@ -88,8 +90,7 @@ pcl::extractLabeledEuclideanClusters( continue; } - for (std::size_t j = 1; j < nn_indices.size(); - ++j) // nn_indices[0] should be sq_idx + for (std::size_t j = nn_start_idx; j < nn_indices.size(); ++j) { if (processed[nn_indices[j]]) // Has this point been processed before ? continue; diff --git a/segmentation/include/pcl/segmentation/impl/extract_polygonal_prism_data.hpp b/segmentation/include/pcl/segmentation/impl/extract_polygonal_prism_data.hpp index 26392cdd..ac3a35fb 100644 --- a/segmentation/include/pcl/segmentation/impl/extract_polygonal_prism_data.hpp +++ b/segmentation/include/pcl/segmentation/impl/extract_polygonal_prism_data.hpp @@ -227,6 +227,20 @@ pcl::ExtractPolygonalPrismData::segment (pcl::PointIndices &output) PointT pt_xy; pt_xy.z = 0; + std::vector> polygons(polygons_.size()); + if (polygons_.empty()) { + polygons.push_back(polygon); + } + else { // incase of concave hull, prepare separate polygons + for (size_t i = 0; i < polygons_.size(); i++) { + const auto& polygon_i = polygons_[i]; + polygons[i].reserve(polygon_i.vertices.size()); + for (const auto& pointIdx : polygon_i.vertices) { + polygons[i].points.push_back(polygon[pointIdx]); + } + } + } + output.indices.resize (indices_->size ()); int l = 0; for (std::size_t i = 0; i < projected_points.size (); ++i) @@ -243,8 +257,14 @@ pcl::ExtractPolygonalPrismData::segment (pcl::PointIndices &output) pt_xy.x = pt[k1]; pt_xy.y = pt[k2]; - if (!pcl::isXYPointIn2DXYPolygon (pt_xy, polygon)) + bool in_poly = false; + for (const auto& poly : polygons) { + in_poly ^= pcl::isXYPointIn2DXYPolygon(pt_xy, poly); + } + + if (!in_poly) { continue; + } output.indices[l++] = (*indices_)[i]; } diff --git a/segmentation/include/pcl/segmentation/impl/grabcut_segmentation.hpp b/segmentation/include/pcl/segmentation/impl/grabcut_segmentation.hpp index 2ef5fc27..5143080b 100644 --- a/segmentation/include/pcl/segmentation/impl/grabcut_segmentation.hpp +++ b/segmentation/include/pcl/segmentation/impl/grabcut_segmentation.hpp @@ -48,8 +48,8 @@ namespace pcl { template <> -float squaredEuclideanDistance (const pcl::segmentation::grabcut::Color &c1, - const pcl::segmentation::grabcut::Color &c2) +inline float squaredEuclideanDistance (const pcl::segmentation::grabcut::Color &c1, + const pcl::segmentation::grabcut::Color &c2) { return ((c1.r-c2.r)*(c1.r-c2.r)+(c1.g-c2.g)*(c1.g-c2.g)+(c1.b-c2.b)*(c1.b-c2.b)); } diff --git a/segmentation/include/pcl/segmentation/impl/min_cut_segmentation.hpp b/segmentation/include/pcl/segmentation/impl/min_cut_segmentation.hpp index 0ec614a8..64364911 100644 --- a/segmentation/include/pcl/segmentation/impl/min_cut_segmentation.hpp +++ b/segmentation/include/pcl/segmentation/impl/min_cut_segmentation.hpp @@ -579,6 +579,6 @@ pcl::MinCutSegmentation::getColoredCloud () return (colored_cloud); } -#define PCL_INSTANTIATE_MinCutSegmentation(T) template class pcl::MinCutSegmentation; +#define PCL_INSTANTIATE_MinCutSegmentation(T) template class PCL_EXPORTS pcl::MinCutSegmentation; #endif // PCL_SEGMENTATION_MIN_CUT_SEGMENTATION_HPP_ diff --git a/segmentation/include/pcl/segmentation/impl/progressive_morphological_filter.hpp b/segmentation/include/pcl/segmentation/impl/progressive_morphological_filter.hpp index 68a3d3cd..e65aa01b 100644 --- a/segmentation/include/pcl/segmentation/impl/progressive_morphological_filter.hpp +++ b/segmentation/include/pcl/segmentation/impl/progressive_morphological_filter.hpp @@ -134,7 +134,7 @@ pcl::ProgressiveMorphologicalFilter::extract (Indices& ground) deinitCompute (); } -#define PCL_INSTANTIATE_ProgressiveMorphologicalFilter(T) template class pcl::ProgressiveMorphologicalFilter; +#define PCL_INSTANTIATE_ProgressiveMorphologicalFilter(T) template class PCL_EXPORTS pcl::ProgressiveMorphologicalFilter; #endif // PCL_SEGMENTATION_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_ diff --git a/segmentation/include/pcl/segmentation/impl/region_growing.hpp b/segmentation/include/pcl/segmentation/impl/region_growing.hpp index 0677cfbe..efbbe2fb 100644 --- a/segmentation/include/pcl/segmentation/impl/region_growing.hpp +++ b/segmentation/include/pcl/segmentation/impl/region_growing.hpp @@ -705,5 +705,5 @@ pcl::RegionGrowing::getColoredCloudRGBA () return (colored_cloud); } -#define PCL_INSTANTIATE_RegionGrowing(T) template class pcl::RegionGrowing; +#define PCL_INSTANTIATE_RegionGrowing(T) template class PCL_EXPORTS pcl::RegionGrowing; diff --git a/segmentation/include/pcl/segmentation/impl/region_growing_rgb.hpp b/segmentation/include/pcl/segmentation/impl/region_growing_rgb.hpp index 2c240d37..dd35c5b1 100644 --- a/segmentation/include/pcl/segmentation/impl/region_growing_rgb.hpp +++ b/segmentation/include/pcl/segmentation/impl/region_growing_rgb.hpp @@ -338,7 +338,7 @@ pcl::RegionGrowingRGB::findRegionsKNN (pcl::index_t index, pcl: { if (distances[i_seg] < max_dist) { - segment_neighbours.push (std::make_pair (distances[i_seg], i_seg) ); + segment_neighbours.emplace (distances[i_seg], i_seg); if (segment_neighbours.size () > nghbr_number) segment_neighbours.pop (); } diff --git a/segmentation/include/pcl/segmentation/impl/seeded_hue_segmentation.hpp b/segmentation/include/pcl/segmentation/impl/seeded_hue_segmentation.hpp index 3976c143..1c79547d 100644 --- a/segmentation/include/pcl/segmentation/impl/seeded_hue_segmentation.hpp +++ b/segmentation/include/pcl/segmentation/impl/seeded_hue_segmentation.hpp @@ -61,6 +61,8 @@ pcl::seededHueSegmentation (const PointCloud &cloud, static_cast(cloud.size())); return; } + // If tree gives sorted results, we can skip the first one because it is the query point itself + const std::size_t nn_start_idx = tree->getSortedResults () ? 1 : 0; // Create a bool vector of processed point indices, and initialize it to false std::vector processed (cloud.size (), false); @@ -96,7 +98,7 @@ pcl::seededHueSegmentation (const PointCloud &cloud, continue; } - for (std::size_t j = 1; j < nn_indices.size (); ++j) // nn_indices[0] should be sq_idx + for (std::size_t j = nn_start_idx; j < nn_indices.size (); ++j) { if (processed[nn_indices[j]]) // Has this point been processed before ? continue; @@ -139,6 +141,8 @@ pcl::seededHueSegmentation (const PointCloud &cloud, static_cast(cloud.size())); return; } + // If tree gives sorted results, we can skip the first one because it is the query point itself + const std::size_t nn_start_idx = tree->getSortedResults () ? 1 : 0; // Create a bool vector of processed point indices, and initialize it to false std::vector processed (cloud.size (), false); @@ -173,7 +177,7 @@ pcl::seededHueSegmentation (const PointCloud &cloud, sq_idx++; continue; } - for (std::size_t j = 1; j < nn_indices.size (); ++j) // nn_indices[0] should be sq_idx + for (std::size_t j = nn_start_idx; j < nn_indices.size (); ++j) { if (processed[nn_indices[j]]) // Has this point been processed before ? continue; diff --git a/segmentation/include/pcl/segmentation/impl/supervoxel_clustering.hpp b/segmentation/include/pcl/segmentation/impl/supervoxel_clustering.hpp index 9d627c60..81e18855 100644 --- a/segmentation/include/pcl/segmentation/impl/supervoxel_clustering.hpp +++ b/segmentation/include/pcl/segmentation/impl/supervoxel_clustering.hpp @@ -686,57 +686,11 @@ pcl::SupervoxelClustering::getMaxLabel () const return max_label; } -namespace pcl -{ - namespace octree - { - //Explicit overloads for RGB types - template<> - void - pcl::octree::OctreePointCloudAdjacencyContainer::VoxelData>::addPoint (const pcl::PointXYZRGB &new_point); - - template<> - void - pcl::octree::OctreePointCloudAdjacencyContainer::VoxelData>::addPoint (const pcl::PointXYZRGBA &new_point); - - //Explicit overloads for RGB types - template<> void - pcl::octree::OctreePointCloudAdjacencyContainer::VoxelData>::computeData (); - - template<> void - pcl::octree::OctreePointCloudAdjacencyContainer::VoxelData>::computeData (); - - //Explicit overloads for XYZ types - template<> - void - pcl::octree::OctreePointCloudAdjacencyContainer::VoxelData>::addPoint (const pcl::PointXYZ &new_point); - - template<> void - pcl::octree::OctreePointCloudAdjacencyContainer::VoxelData>::computeData (); - } -} - ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// namespace pcl -{ - - template<> void - pcl::SupervoxelClustering::VoxelData::getPoint (pcl::PointXYZRGB &point_arg) const; - - template<> void - pcl::SupervoxelClustering::VoxelData::getPoint (pcl::PointXYZRGBA &point_arg ) const; - - template void - pcl::SupervoxelClustering::VoxelData::getPoint (PointT &point_arg ) const - { - //XYZ is required or this doesn't make much sense... - point_arg.x = xyz_[0]; - point_arg.y = xyz_[1]; - point_arg.z = xyz_[2]; - } - +{ ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// template void pcl::SupervoxelClustering::VoxelData::getNormal (Normal &normal_arg) const diff --git a/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp b/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp index dc4ef677..5b7e6a1c 100644 --- a/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp +++ b/segmentation/include/pcl/segmentation/impl/unary_classifier.hpp @@ -420,6 +420,6 @@ pcl::UnaryClassifier::segment (pcl::PointCloud::Ptr & } ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -#define PCL_INSTANTIATE_UnaryClassifier(T) template class pcl::UnaryClassifier; +#define PCL_INSTANTIATE_UnaryClassifier(T) template class PCL_EXPORTS pcl::UnaryClassifier; #endif // PCL_UNARY_CLASSIFIER_HPP_ diff --git a/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h b/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h index 79a872a2..d87e4a04 100644 --- a/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h +++ b/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h @@ -206,7 +206,7 @@ namespace pcl * \param[out] model_coefficients a vector of model_coefficients for each plane found in the input cloud * \param[out] inlier_indices a vector of inliers for each detected plane * \param[out] centroids a vector of centroids for each plane - * \param[out] covariances a vector of covariance matricies for the inliers of each plane + * \param[out] covariances a vector of covariance matrices for the inliers of each plane * \param[out] labels a point cloud for the connected component labels of each pixel * \param[out] label_indices a vector of PointIndices for each labeled component */ diff --git a/segmentation/include/pcl/segmentation/plane_refinement_comparator.h b/segmentation/include/pcl/segmentation/plane_refinement_comparator.h index ea069930..d22a3ab6 100644 --- a/segmentation/include/pcl/segmentation/plane_refinement_comparator.h +++ b/segmentation/include/pcl/segmentation/plane_refinement_comparator.h @@ -177,7 +177,7 @@ namespace pcl int current_label = (*labels_)[idx1].label; int next_label = (*labels_)[idx2].label; - if (!((*refine_labels_)[current_label] && !(*refine_labels_)[next_label])) + if (!(*refine_labels_)[current_label] || (*refine_labels_)[next_label]) return (false); const pcl::ModelCoefficients& model_coeff = (*models_)[(*label_to_model_)[current_label]]; diff --git a/segmentation/include/pcl/segmentation/supervoxel_clustering.h b/segmentation/include/pcl/segmentation/supervoxel_clustering.h index e9e8018b..4c6a4b76 100644 --- a/segmentation/include/pcl/segmentation/supervoxel_clustering.h +++ b/segmentation/include/pcl/segmentation/supervoxel_clustering.h @@ -143,11 +143,33 @@ namespace pcl owner_ (nullptr) {} +#ifdef DOXYGEN_ONLY /** \brief Gets the data of in the form of a point * \param[out] point_arg Will contain the point value of the voxeldata */ void getPoint (PointT &point_arg) const; +#else + template = true> void + getPoint (PointT &point_arg) const + { + point_arg.rgba = static_cast(rgb_[0]) << 16 | + static_cast(rgb_[1]) << 8 | + static_cast(rgb_[2]); + point_arg.x = xyz_[0]; + point_arg.y = xyz_[1]; + point_arg.z = xyz_[2]; + } + + template = true> void + getPoint (PointT &point_arg ) const + { + //XYZ is required or this doesn't make much sense... + point_arg.x = xyz_[0]; + point_arg.y = xyz_[1]; + point_arg.z = xyz_[2]; + } +#endif /** \brief Gets the data of in the form of a normal * \param[out] normal_arg Will contain the normal value of the voxeldata diff --git a/segmentation/src/crf_segmentation.cpp b/segmentation/src/crf_segmentation.cpp index cb06b73b..fffdcccb 100644 --- a/segmentation/src/crf_segmentation.cpp +++ b/segmentation/src/crf_segmentation.cpp @@ -43,6 +43,6 @@ #include // Instantiations of specific point types -template class pcl::CrfSegmentation; -template class pcl::CrfSegmentation; -template class pcl::CrfSegmentation; +template class PCL_EXPORTS pcl::CrfSegmentation; +template class PCL_EXPORTS pcl::CrfSegmentation; +template class PCL_EXPORTS pcl::CrfSegmentation; diff --git a/segmentation/src/grabcut_segmentation.cpp b/segmentation/src/grabcut_segmentation.cpp index ea2b75c7..f15aef82 100644 --- a/segmentation/src/grabcut_segmentation.cpp +++ b/segmentation/src/grabcut_segmentation.cpp @@ -460,7 +460,7 @@ pcl::segmentation::grabcut::BoykovKolmogorov::adoptOrphans (std::deque& orp if (cut_[jt->first] != tree_label) continue; // check edge capacity - const capacitated_edge::iterator kt = nodes_[jt->first].find (u); + const auto kt = nodes_[jt->first].find (u); if (((tree_label == TARGET) && (jt->second <= 0.0)) || ((tree_label == SOURCE) && (kt->second <= 0.0))) continue; @@ -483,7 +483,7 @@ pcl::segmentation::grabcut::BoykovKolmogorov::adoptOrphans (std::deque& orp // free the orphan subtree and remove it from the active set if (b_free_orphan) { - for (capacitated_edge::const_iterator jt = nodes_[u].begin (); jt != nodes_[u].end (); ++jt) + for (auto jt = nodes_[u].cbegin (); jt != nodes_[u].cend (); ++jt) { if ((cut_[jt->first] == tree_label) && (parents_[jt->first].first == u)) { diff --git a/segmentation/src/region_growing_rgb.cpp b/segmentation/src/region_growing_rgb.cpp index 76b724e1..f377ca0e 100644 --- a/segmentation/src/region_growing_rgb.cpp +++ b/segmentation/src/region_growing_rgb.cpp @@ -43,7 +43,7 @@ #include // Instantiations of specific point types -template class pcl::RegionGrowingRGB; -template class pcl::RegionGrowingRGB; -template class pcl::RegionGrowingRGB; -template class pcl::RegionGrowingRGB; +template class PCL_EXPORTS pcl::RegionGrowingRGB; +template class PCL_EXPORTS pcl::RegionGrowingRGB; +template class PCL_EXPORTS pcl::RegionGrowingRGB; +template class PCL_EXPORTS pcl::RegionGrowingRGB; diff --git a/segmentation/src/supervoxel_clustering.cpp b/segmentation/src/supervoxel_clustering.cpp index 663b0eda..821901ec 100644 --- a/segmentation/src/supervoxel_clustering.cpp +++ b/segmentation/src/supervoxel_clustering.cpp @@ -49,6 +49,10 @@ #include #include +template class PCL_EXPORTS pcl::SupervoxelClustering; +template class PCL_EXPORTS pcl::SupervoxelClustering; +template class PCL_EXPORTS pcl::SupervoxelClustering; + namespace pcl { namespace octree @@ -135,31 +139,6 @@ namespace pcl ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -namespace pcl -{ - template<> void - pcl::SupervoxelClustering::VoxelData::getPoint (pcl::PointXYZRGB &point_arg) const - { - point_arg.rgba = static_cast(rgb_[0]) << 16 | - static_cast(rgb_[1]) << 8 | - static_cast(rgb_[2]); - point_arg.x = xyz_[0]; - point_arg.y = xyz_[1]; - point_arg.z = xyz_[2]; - } - - template<> void - pcl::SupervoxelClustering::VoxelData::getPoint (pcl::PointXYZRGBA &point_arg ) const - { - point_arg.rgba = static_cast(rgb_[0]) << 16 | - static_cast(rgb_[1]) << 8 | - static_cast(rgb_[2]); - point_arg.x = xyz_[0]; - point_arg.y = xyz_[1]; - point_arg.z = xyz_[2]; - } -} - using VoxelDataT = pcl::SupervoxelClustering::VoxelData; using VoxelDataRGBT = pcl::SupervoxelClustering::VoxelData; using VoxelDataRGBAT = pcl::SupervoxelClustering::VoxelData; @@ -168,10 +147,6 @@ using AdjacencyContainerT = pcl::octree::OctreePointCloudAdjacencyContainer; using AdjacencyContainerRGBAT = pcl::octree::OctreePointCloudAdjacencyContainer; -template class pcl::SupervoxelClustering; -template class pcl::SupervoxelClustering; -template class pcl::SupervoxelClustering; - template class pcl::octree::OctreePointCloudAdjacencyContainer; template class pcl::octree::OctreePointCloudAdjacencyContainer; template class pcl::octree::OctreePointCloudAdjacencyContainer; diff --git a/simulation/CMakeLists.txt b/simulation/CMakeLists.txt index 22bb8207..0591f09f 100644 --- a/simulation/CMakeLists.txt +++ b/simulation/CMakeLists.txt @@ -2,11 +2,6 @@ set(SUBSYS_NAME simulation) set(SUBSYS_DESC "Point Cloud Library Simulation") set(SUBSYS_DEPS common io surface kdtree features search octree visualization filters geometry) -set(build FALSE) -find_package(OpenGL) - -find_package(GLEW) - PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS opengl glew) @@ -35,8 +30,6 @@ set(incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") - PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs}) target_link_libraries("${LIB_NAME}" pcl_common pcl_io diff --git a/simulation/src/model.cpp b/simulation/src/model.cpp index 99ec4d45..656600fe 100644 --- a/simulation/src/model.cpp +++ b/simulation/src/model.cpp @@ -24,10 +24,10 @@ pcl::simulation::TriangleMeshModel::TriangleMeshModel(pcl::PolygonMesh::Ptr plg) for (const auto& polygon : plg->polygons) { for (const auto& point : polygon.vertices) { tmp = newcloud[point].getVector4fMap(); - vertices.push_back(Vertex(Eigen::Vector3f(tmp(0), tmp(1), tmp(2)), - Eigen::Vector3f(newcloud[point].r / 255.0f, - newcloud[point].g / 255.0f, - newcloud[point].b / 255.0f))); + vertices.emplace_back(Eigen::Vector3f(tmp(0), tmp(1), tmp(2)), + Eigen::Vector3f(newcloud[point].r / 255.0f, + newcloud[point].g / 255.0f, + newcloud[point].b / 255.0f)); indices.push_back(indices.size()); } } @@ -39,8 +39,8 @@ pcl::simulation::TriangleMeshModel::TriangleMeshModel(pcl::PolygonMesh::Ptr plg) for (const auto& polygon : plg->polygons) { for (const auto& point : polygon.vertices) { tmp = newcloud[point].getVector4fMap(); - vertices.push_back(Vertex(Eigen::Vector3f(tmp(0), tmp(1), tmp(2)), - Eigen::Vector3f(1.0, 1.0, 1.0))); + vertices.emplace_back(Eigen::Vector3f(tmp(0), tmp(1), tmp(2)), + Eigen::Vector3f(1.0, 1.0, 1.0)); indices.push_back(indices.size()); } } diff --git a/simulation/tools/CMakeLists.txt b/simulation/tools/CMakeLists.txt index 39ece06c..f6ce17a5 100644 --- a/simulation/tools/CMakeLists.txt +++ b/simulation/tools/CMakeLists.txt @@ -13,8 +13,6 @@ else() set(_glut_target GLUT::GLUT) endif() -include_directories(SYSTEM ${VTK_INCLUDE_DIRS}) - PCL_ADD_EXECUTABLE(pcl_sim_viewer COMPONENT ${SUBSYS_NAME} SOURCES sim_viewer.cpp) target_link_libraries (pcl_sim_viewer ${VTK_IO_TARGET_LINK_LIBRARIES} pcl_kdtree diff --git a/simulation/tools/sim_viewer.cpp b/simulation/tools/sim_viewer.cpp index 02bf5745..7978fc7a 100644 --- a/simulation/tools/sim_viewer.cpp +++ b/simulation/tools/sim_viewer.cpp @@ -268,13 +268,13 @@ capture(Eigen::Isometry3d pose_in) // 27840 triangle faces // 13670 vertices - // 45.00Hz: simuation only - // 1.28Hz: simuation, addNoise? , getPointCloud, writeASCII - // 33.33Hz: simuation, getPointCloud - // 23.81Hz: simuation, getPointCloud, writeBinary - // 14.28Hz: simuation, addNoise, getPointCloud, writeBinary + // 45.00Hz: simulation only + // 1.28Hz: simulation, addNoise? , getPointCloud, writeASCII + // 33.33Hz: simulation, getPointCloud + // 23.81Hz: simulation, getPointCloud, writeBinary + // 14.28Hz: simulation, addNoise, getPointCloud, writeBinary // MODULE TIME FRACTION - // simuation 0.02222 31% + // simulation 0.02222 31% // addNoise 0.03 41% // getPointCloud 0.008 11% // writeBinary 0.012 16% diff --git a/stereo/CMakeLists.txt b/stereo/CMakeLists.txt index c8973635..2188c88d 100644 --- a/stereo/CMakeLists.txt +++ b/stereo/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME stereo) set(SUBSYS_DESC "Point cloud stereo library") set(SUBSYS_DEPS common io) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) @@ -33,9 +32,8 @@ set(srcs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) -target_link_libraries("${LIB_NAME}" pcl_common) +target_link_libraries("${LIB_NAME}" pcl_common pcl_io) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) # Install include files PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs}) diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt index b86614fe..a9976b70 100644 --- a/surface/CMakeLists.txt +++ b/surface/CMakeLists.txt @@ -3,7 +3,6 @@ set(SUBSYS_DESC "Point cloud surface library") set(SUBSYS_DEPS common search kdtree octree) set(SUBSYS_EXT_DEPS "") -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS qhull vtk OpenMP) @@ -137,8 +136,6 @@ set(srcs ) set(incs - "include/pcl/${SUBSYS_NAME}/boost.h" - "include/pcl/${SUBSYS_NAME}/eigen.h" "include/pcl/${SUBSYS_NAME}/ear_clipping.h" "include/pcl/${SUBSYS_NAME}/gp3.h" "include/pcl/${SUBSYS_NAME}/grid_projection.h" @@ -175,11 +172,6 @@ set(impl_incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") - -include_directories( - "${CMAKE_CURRENT_SOURCE_DIR}/include" - "${CMAKE_CURRENT_SOURCE_DIR}" -) PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${VTK_SMOOTHING_INCLUDES} ${POISSON_INCLUDES} ${OPENNURBS_INCLUDES} ${ON_NURBS_INCLUDES}) target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${ON_NURBS_LIBRARIES}) @@ -192,7 +184,6 @@ if(VTK_FOUND) VTK::FiltersModeling VTK::FiltersCore) else() - include_directories(SYSTEM ${VTK_INCLUDE_DIRS}) link_directories(${VTK_LIBRARY_DIRS}) target_link_libraries("${LIB_NAME}" vtkCommonCore diff --git a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_polyedgecurve.h b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_polyedgecurve.h index 87c73fcd..18af58c8 100644 --- a/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_polyedgecurve.h +++ b/surface/include/pcl/surface/3rdparty/opennurbs/opennurbs_polyedgecurve.h @@ -195,8 +195,9 @@ public: const ON_UUID& object_id ); + using ON_CurveProxy::Trim; // Explicitly introduce the base class Trim function const ON_BrepEdge* Edge() const; - const ON_BrepTrim* Trim() const; + const ON_BrepTrim* Trim() const; // overload, not override const ON_Brep* Brep() const; const ON_BrepFace* Face() const; const ON_Surface* Surface() const; diff --git a/surface/include/pcl/surface/3rdparty/poisson4/octree_poisson.hpp b/surface/include/pcl/surface/3rdparty/poisson4/octree_poisson.hpp index 7ed8aaf9..e7f45b65 100644 --- a/surface/include/pcl/surface/3rdparty/poisson4/octree_poisson.hpp +++ b/surface/include/pcl/surface/3rdparty/poisson4/octree_poisson.hpp @@ -746,7 +746,10 @@ namespace pcl Real temp,dist2; if(!children){return this;} for(int i=0;i child_center; + Real child_width; + children[i].centerAndWidth(child_center, child_width); + temp=SquareDistance(child_center,p); if(!i || tempoffset[i] = node.offset[i];} + for(i=0;ioff[i] = node.off[i];} if(node.children){ initChildren(); for(i=0;i int OctNode::CompareForwardDepths(const void* v1,const void* v2){ - return ((const OctNode*)v1)->depth-((const OctNode*)v2)->depth; + return ((const OctNode*)v1)->depth()-((const OctNode*)v2)->depth(); } template< class NodeData , class Real > @@ -874,7 +877,7 @@ namespace pcl template int OctNode::CompareBackwardDepths(const void* v1,const void* v2){ - return ((const OctNode*)v2)->depth-((const OctNode*)v1)->depth; + return ((const OctNode*)v2)->depth()-((const OctNode*)v1)->depth(); } template diff --git a/surface/include/pcl/surface/3rdparty/poisson4/poisson_exceptions.h b/surface/include/pcl/surface/3rdparty/poisson4/poisson_exceptions.h index 6a861a64..6c012b08 100644 --- a/surface/include/pcl/surface/3rdparty/poisson4/poisson_exceptions.h +++ b/surface/include/pcl/surface/3rdparty/poisson4/poisson_exceptions.h @@ -48,12 +48,14 @@ * Adapted from PCL_THROW_EXCEPTION. We intentionally do not reuse PCL_THROW_EXCEPTION here * to avoid introducing any dependencies on PCL in this 3rd party module. */ +// NOLINTBEGIN(bugprone-macro-parentheses) #define POISSON_THROW_EXCEPTION(ExceptionName, message) \ { \ std::ostringstream s; \ s << message; \ throw ExceptionName(s.str(), __FILE__, BOOST_CURRENT_FUNCTION, __LINE__); \ } +// NOLINTEND(bugprone-macro-parentheses) namespace pcl { diff --git a/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp b/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp index 24f0a540..5e54ac78 100644 --- a/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp +++ b/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp @@ -228,14 +228,18 @@ namespace pcl template void SparseMatrix::SetZero() { - Resize(this->m_N, this->m_M); + // copied from operator *= + for (int i=0; i void SparseMatrix::SetIdentity() { SetZero(); - for(int ij=0; ij < Min( this->Rows(), this->Columns() ); ij++) + for(int ij=0; ij < std::min( rows, _maxEntriesPerRow ); ij++) (*this)(ij,ij) = T(1); } @@ -388,7 +392,7 @@ namespace pcl T alpha,beta,rDotR; int i; - solution.Resize(M.Columns()); + solution.Resize(bb.Dimensions()); solution.SetZero(); d=r=bb; diff --git a/surface/include/pcl/surface/bilateral_upsampling.h b/surface/include/pcl/surface/bilateral_upsampling.h index 1be6fc85..97e2c091 100644 --- a/surface/include/pcl/surface/bilateral_upsampling.h +++ b/surface/include/pcl/surface/bilateral_upsampling.h @@ -153,3 +153,6 @@ namespace pcl PCL_MAKE_ALIGNED_OPERATOR_NEW }; } +#ifdef PCL_NO_PRECOMPILE +#include +#endif diff --git a/surface/include/pcl/surface/boost.h b/surface/include/pcl/surface/boost.h deleted file mode 100644 index 86aca4ea..00000000 --- a/surface/include/pcl/surface/boost.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: lmeds.h 1370 2011-06-19 01:06:01Z jspricke $ - * - */ - -#pragma once - -#if defined __GNUC__ -# pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.") - -#include diff --git a/surface/include/pcl/surface/eigen.h b/surface/include/pcl/surface/eigen.h deleted file mode 100644 index e3f46b0d..00000000 --- a/surface/include/pcl/surface/eigen.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: lmeds.h 1370 2011-06-19 01:06:01Z jspricke $ - * - */ - -#pragma once - -#if defined __GNUC__ -# pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed eigen headers directly.") - -#include diff --git a/surface/include/pcl/surface/grid_projection.h b/surface/include/pcl/surface/grid_projection.h index 77142c50..f49f8b82 100644 --- a/surface/include/pcl/surface/grid_projection.h +++ b/surface/include/pcl/surface/grid_projection.h @@ -234,7 +234,7 @@ namespace pcl /** \brief When the input data points don't fill into the 1*1*1 box, * scale them so that they can be filled in the unit box. Otherwise, - * it will be some drawing problem when doing visulization + * it will be some drawing problem when doing visualization * \param scale_factor scale all the input data point by scale_factor */ void diff --git a/surface/include/pcl/surface/impl/convex_hull.hpp b/surface/include/pcl/surface/impl/convex_hull.hpp index 47d7e80d..d17f47b9 100644 --- a/surface/include/pcl/surface/impl/convex_hull.hpp +++ b/surface/include/pcl/surface/impl/convex_hull.hpp @@ -85,13 +85,12 @@ pcl::ConvexHull::performReconstruction2D (PointCloud &hull, std::vecto PointInT p0 = (*input_)[(*indices_)[0]]; PointInT p1 = (*input_)[(*indices_)[indices_->size () - 1]]; PointInT p2 = (*input_)[(*indices_)[indices_->size () / 2]]; - Eigen::Array4f dy1dy2 = (p1.getArray4fMap () - p0.getArray4fMap ()) / (p2.getArray4fMap () - p0.getArray4fMap ()); - while (!( (dy1dy2[0] != dy1dy2[1]) || (dy1dy2[2] != dy1dy2[1]) ) ) + while (!pcl::isXYZFinite(p0) || !pcl::isXYZFinite(p1) || !pcl::isXYZFinite(p2) || + (p1.getVector3fMap() - p0.getVector3fMap()).cross(p2.getVector3fMap() - p0.getVector3fMap()).stableNorm() < Eigen::NumTraits::dummy_precision ()) { p0 = (*input_)[(*indices_)[rand () % indices_->size ()]]; p1 = (*input_)[(*indices_)[rand () % indices_->size ()]]; p2 = (*input_)[(*indices_)[rand () % indices_->size ()]]; - dy1dy2 = (p1.getArray4fMap () - p0.getArray4fMap ()) / (p2.getArray4fMap () - p0.getArray4fMap ()); } pcl::PointCloud normal_calc_cloud; diff --git a/surface/include/pcl/surface/impl/gp3.hpp b/surface/include/pcl/surface/impl/gp3.hpp index 5f6c4bd4..e93b92b3 100644 --- a/surface/include/pcl/surface/impl/gp3.hpp +++ b/surface/include/pcl/surface/impl/gp3.hpp @@ -667,7 +667,7 @@ pcl::GreedyProjectionTriangulation::reconstructPolygons (std::vector

    ::reconstructPolygons (std::vector &p for (pcl::index_t cp = 0; cp < static_cast (data_->size ()); ++cp) { // Check if the point is invalid - if (!std::isfinite ((*data_)[cp].x) || - !std::isfinite ((*data_)[cp].y) || - !std::isfinite ((*data_)[cp].z)) + if (!pcl::isXYZFinite((*data_)[cp])) continue; Eigen::Vector3i index_3d; diff --git a/surface/include/pcl/surface/impl/marching_cubes.hpp b/surface/include/pcl/surface/impl/marching_cubes.hpp index a70f16c5..12d28a5c 100644 --- a/surface/include/pcl/surface/impl/marching_cubes.hpp +++ b/surface/include/pcl/surface/impl/marching_cubes.hpp @@ -218,7 +218,7 @@ template void pcl::MarchingCubes::performReconstruction (pcl::PointCloud &points, std::vector &polygons) { - if (!(iso_level_ >= 0 && iso_level_ < 1)) + if (iso_level_ < 0 || iso_level_ >= 1) { PCL_ERROR ("[pcl::%s::performReconstruction] Invalid iso level %f! Please use a number between 0 and 1.\n", getClassName ().c_str (), iso_level_); diff --git a/surface/include/pcl/surface/impl/marching_cubes_rbf.hpp b/surface/include/pcl/surface/impl/marching_cubes_rbf.hpp index 3c8529c9..3e72a13a 100644 --- a/surface/include/pcl/surface/impl/marching_cubes_rbf.hpp +++ b/surface/include/pcl/surface/impl/marching_cubes_rbf.hpp @@ -94,9 +94,9 @@ pcl::MarchingCubesRBF::voxelizeData () const Eigen::Vector3d point = point_f.cast (); double f = 0.0; - std::vector::const_iterator w_it (weights.begin()); - for (std::vector >::const_iterator c_it = centers.begin (); - c_it != centers.end (); ++c_it, ++w_it) + auto w_it (weights.cbegin()); + for (auto c_it = centers.cbegin (); + c_it != centers.cend (); ++c_it, ++w_it) f += *w_it * kernel (*c_it, point); grid_[x * res_y_*res_z_ + y * res_z_ + z] = static_cast(f); diff --git a/surface/include/pcl/surface/mls.h b/surface/include/pcl/surface/mls.h index 8c3a45e1..7c33fedd 100644 --- a/surface/include/pcl/surface/mls.h +++ b/surface/include/pcl/surface/mls.h @@ -144,16 +144,6 @@ namespace pcl Eigen::Vector2f calculatePrincipalCurvatures (const double u, const double v) const; - /** \brief Calculate the principal curvatures using the polynomial surface. - * \param[in] u The u-coordinate of the point in local MLS frame. - * \param[in] v The v-coordinate of the point in local MLS frame. - * \return The principal curvature [k1, k2] at the provided uv coordinates. - * \note If an error occurs then 1e-5 is returned. - */ - PCL_DEPRECATED(1, 15, "use calculatePrincipalCurvatures() instead") - inline Eigen::Vector2f - calculatePrincipleCurvatures (const double u, const double v) const { return calculatePrincipalCurvatures(u, v); }; - /** \brief Project a point orthogonal to the polynomial surface. * \param[in] u The u-coordinate of the point in local MLS frame. * \param[in] v The v-coordinate of the point in local MLS frame. diff --git a/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_asdm.h b/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_asdm.h index 3d2dfa57..76385d16 100644 --- a/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_asdm.h +++ b/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_asdm.h @@ -88,6 +88,8 @@ namespace pcl updateCurve (double damp) override; protected: + using FittingCurve2dAPDM::addPointConstraint; + using FittingCurve2dAPDM::assembleClosestPoints; /** \brief Add minimization constraint: point-to-surface distance (squared-distance-minimization). */ virtual void diff --git a/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_atdm.h b/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_atdm.h index 8bd189e6..22e7869b 100644 --- a/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_atdm.h +++ b/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_atdm.h @@ -82,6 +82,9 @@ namespace pcl updateCurve (double damp) override; protected: + using FittingCurve2dAPDM::addPointConstraint; + using FittingCurve2dAPDM::assembleClosestPoints; + /** \brief Add minimization constraint: point-to-surface distance (tangent-distance-minimization). */ virtual void addPointConstraint (const double ¶m, const Eigen::Vector2d &point, const Eigen::Vector2d &normal, diff --git a/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_sdm.h b/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_sdm.h index 592fcae9..e6db4618 100644 --- a/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_sdm.h +++ b/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_sdm.h @@ -87,6 +87,7 @@ namespace pcl updateCurve (double damp) override; protected: + using FittingCurve2dPDM::addPointConstraint; /** \brief Add minimization constraint: point-to-surface distance (squared-distance-minimization). */ virtual void diff --git a/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_tdm.h b/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_tdm.h index 521a1689..bcfc5963 100644 --- a/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_tdm.h +++ b/surface/include/pcl/surface/on_nurbs/fitting_curve_2d_tdm.h @@ -89,6 +89,8 @@ namespace pcl updateCurve (double damp) override; protected: + using FittingCurve2dPDM::addPointConstraint; + /** \brief Add minimization constraint: point-to-surface distance (tangent-distance-minimization). */ virtual void addPointConstraint (const double ¶m, const Eigen::Vector2d &point, const Eigen::Vector2d &normal, diff --git a/surface/include/pcl/surface/on_nurbs/fitting_surface_tdm.h b/surface/include/pcl/surface/on_nurbs/fitting_surface_tdm.h index 4b236ba1..4960da85 100644 --- a/surface/include/pcl/surface/on_nurbs/fitting_surface_tdm.h +++ b/surface/include/pcl/surface/on_nurbs/fitting_surface_tdm.h @@ -50,6 +50,7 @@ namespace pcl class FittingSurfaceTDM : public FittingSurface { public: + using FittingSurface::assemble; /** \brief Parameters with TDM extensions for fitting */ struct ParameterTDM : public FittingSurface::Parameter @@ -94,6 +95,9 @@ namespace pcl updateSurf (double damp) override; protected: + using FittingSurface::assembleInterior; + using FittingSurface::assembleBoundary; + using FittingSurface::addPointConstraint; /** \brief Assemble point-to-surface constraints for interior points. */ virtual void diff --git a/surface/src/3rdparty/opennurbs/opennurbs_3dm_settings.cpp b/surface/src/3rdparty/opennurbs/opennurbs_3dm_settings.cpp index e1b8bdfc..f5f2f001 100644 --- a/surface/src/3rdparty/opennurbs/opennurbs_3dm_settings.cpp +++ b/surface/src/3rdparty/opennurbs/opennurbs_3dm_settings.cpp @@ -3049,8 +3049,7 @@ static bool ON_3dmSettings_Read_v1_TCODE_VIEWPORT(ON_BinaryArchive& file, ON_3dm double clipdist = 0.0; double snapsize = 0.0; - int chunk_count = 0;// debugging counter - for ( chunk_count = 0; rc; chunk_count++ ) + while ( rc ) { rc = file.BeginRead3dmBigChunk( &tcode, &big_value ); if (!rc ) @@ -3159,8 +3158,7 @@ bool ON_3dmSettings::Read_v1( ON_BinaryArchive& file ) ON__INT64 big_value; rc = file.SeekFromStart(32)?true:false; // skip 32 byte header - int chunk_count = 0; // debugging counter - for ( chunk_count = 0; rc; chunk_count++ ) + while ( rc ) { rc = file.BeginRead3dmBigChunk( &tcode, &big_value ); if ( !rc ) diff --git a/surface/src/3rdparty/opennurbs/opennurbs_archive.cpp b/surface/src/3rdparty/opennurbs/opennurbs_archive.cpp index f4da1709..eb74cfd4 100644 --- a/surface/src/3rdparty/opennurbs/opennurbs_archive.cpp +++ b/surface/src/3rdparty/opennurbs/opennurbs_archive.cpp @@ -15318,15 +15318,21 @@ const wchar_t* ON_FileIterator::NextFile() for(;;) { current_file_attributes = 0; + /* + from readdir man page: + If the end of the directory stream is reached, + NULL is returned and errno is not changed. If an error occurs, + NULL is returned and errno is set appropriately. + */ struct dirent* dp = 0; - int readdir_errno = readdir_r(m_dir, &m_dirent, &dp); - if ( 0 != readdir_errno ) - break; + dp = readdir(m_dir); if ( 0 == dp ) break; - if ( 0 == m_dirent.d_name[0] ) + if ( 0 == dp->d_name[0] ) break; + m_dirent = *dp; + if ( IsDotOrDotDotDir(m_dirent.d_name) ) continue; diff --git a/surface/src/3rdparty/opennurbs/opennurbs_lookup.cpp b/surface/src/3rdparty/opennurbs/opennurbs_lookup.cpp index cd936dce..e006d3a5 100644 --- a/surface/src/3rdparty/opennurbs/opennurbs_lookup.cpp +++ b/surface/src/3rdparty/opennurbs/opennurbs_lookup.cpp @@ -666,9 +666,13 @@ std::size_t ON_SerialNumberMap::ActiveIdCount() const return m_active_id_count; } -#if (_MSC_VER >= 1930 && _MSC_VER <= 1939) +#if (_MSC_VER >= 1930 && _MSC_VER <= 1949) // Solves internal compiler error on MSVC 2022 // (see https://github.com/microsoft/vcpkg/issues/19561) +#define ON_VS2022_COMPILER_CRASH +#endif + +#if defined(ON_VS2022_COMPILER_CRASH) #pragma optimize("", off) #endif struct ON_SerialNumberMap::SN_ELEMENT* ON_SerialNumberMap::FirstElement() const @@ -722,7 +726,7 @@ struct ON_SerialNumberMap::SN_ELEMENT* ON_SerialNumberMap::FirstElement() const } return e; } -#if (_MSC_VER >= 1930 && _MSC_VER <= 1939) +#if defined(ON_VS2022_COMPILER_CRASH) #pragma optimize("", on) #endif diff --git a/surface/src/3rdparty/opennurbs/opennurbs_material.cpp b/surface/src/3rdparty/opennurbs/opennurbs_material.cpp index c77a365d..979a2b21 100644 --- a/surface/src/3rdparty/opennurbs/opennurbs_material.cpp +++ b/surface/src/3rdparty/opennurbs/opennurbs_material.cpp @@ -1505,7 +1505,7 @@ void ON_TextureMapping::Dump( ON_TextLog& text_log ) const case single: text_log.Print("single texture space\n"); break; - case clspt_projection: + case divided: text_log.Print("divided texture space\n"); break; default: @@ -2359,7 +2359,7 @@ ON__UINT32 ON_TextureMapping::MappingCRC() const case ON_TextureMapping::cylinder_mapping: case ON_TextureMapping::sphere_mapping: case ON_TextureMapping::box_mapping: - case ON_TextureMapping::force_32bit_mapping_projection: + case ON_TextureMapping::force_32bit_mapping_type: default: break; } diff --git a/surface/src/3rdparty/opennurbs/opennurbs_math.cpp b/surface/src/3rdparty/opennurbs/opennurbs_math.cpp index 923ae63a..933059af 100644 --- a/surface/src/3rdparty/opennurbs/opennurbs_math.cpp +++ b/surface/src/3rdparty/opennurbs/opennurbs_math.cpp @@ -1280,8 +1280,6 @@ ON_TransformPointList( if ( !ON_IsValidPointList( dim, is_rat, count, stride, point ) ) return false; - if ( xform.m_xform == NULL ) - return false; if (count == 0) return true; @@ -1381,8 +1379,6 @@ ON_TransformPointList( if ( !ON_IsValidPointList( dim, is_rat, count, stride, point ) ) return false; - if ( xform.m_xform == NULL ) - return false; if (count == 0) return true; @@ -1507,8 +1503,6 @@ ON_TransformVectorList( if ( !ON_IsValidPointList( dim, 0, count, stride, vector ) ) return false; - if ( xform.m_xform == NULL ) - return false; if (count == 0) return true; @@ -1556,8 +1550,6 @@ ON_TransformVectorList( if ( !ON_IsValidPointList( dim, 0, count, stride, vector ) ) return false; - if ( xform.m_xform == NULL ) - return false; if (count == 0) return true; diff --git a/surface/src/3rdparty/opennurbs/opennurbs_mesh.cpp b/surface/src/3rdparty/opennurbs/opennurbs_mesh.cpp index aab8e5cd..a60ebc0b 100644 --- a/surface/src/3rdparty/opennurbs/opennurbs_mesh.cpp +++ b/surface/src/3rdparty/opennurbs/opennurbs_mesh.cpp @@ -3689,7 +3689,6 @@ bool ON_Mesh::CombineIdenticalVertices( ON_SimpleArray remap_array(vertex_count); int remap_vertex_count = 0; - int merge_count = 0; int i0, i1, k; struct tagMESHPOINTS mp; @@ -3738,8 +3737,6 @@ bool ON_Mesh::CombineIdenticalVertices( { if ( CompareMeshPoint( mp.p0+index[i0], mp.p0+index[i1], &mp ) ) break; - else - merge_count++; } for ( /*empty*/; i0 < i1; i0++ ) { diff --git a/surface/src/3rdparty/opennurbs/opennurbs_nurbssurface.cpp b/surface/src/3rdparty/opennurbs/opennurbs_nurbssurface.cpp index b93256cb..5c8618e6 100644 --- a/surface/src/3rdparty/opennurbs/opennurbs_nurbssurface.cpp +++ b/surface/src/3rdparty/opennurbs/opennurbs_nurbssurface.cpp @@ -143,7 +143,7 @@ ON_BOOL32 ON_NurbsSurface::SetDomain( ) { bool rc = false; - if ( m_order[dir] >= 2 && m_cv_count[dir] >= m_order[dir] && m_knot && t0 < t1 ) { + if ( m_order[dir] >= 2 && m_cv_count[dir] >= m_order[dir] && nullptr != m_knot[dir] && t0 < t1 ) { const double k0 = m_knot[dir][m_order[dir]-2]; const double k1 = m_knot[dir][m_cv_count[dir]-1]; if ( k0 == t0 && k1 == t1 ) diff --git a/surface/src/3rdparty/opennurbs/opennurbs_nurbsvolume.cpp b/surface/src/3rdparty/opennurbs/opennurbs_nurbsvolume.cpp index ae09677c..6933ceb3 100644 --- a/surface/src/3rdparty/opennurbs/opennurbs_nurbsvolume.cpp +++ b/surface/src/3rdparty/opennurbs/opennurbs_nurbsvolume.cpp @@ -533,7 +533,7 @@ ON__UINT32 ON_NurbsCage::DataCRC(ON__UINT32 current_remainder) const for ( j = 0; j < m_cv_count[1]; j++ ) { cv = CV(i,j,0); - for (k = 0; i < m_cv_count[2]; k++ ) + for (k = 0; k < m_cv_count[2]; k++ ) { current_remainder = ON_CRC32(current_remainder,sizeof_cv,cv); cv += m_cv_stride[2]; diff --git a/surface/src/3rdparty/opennurbs/opennurbs_object.cpp b/surface/src/3rdparty/opennurbs/opennurbs_object.cpp index db615eba..1027aed9 100644 --- a/surface/src/3rdparty/opennurbs/opennurbs_object.cpp +++ b/surface/src/3rdparty/opennurbs/opennurbs_object.cpp @@ -840,7 +840,8 @@ void ON_ClassId::ConstructorHelper( const char* sClassName, { for ( ON_ClassId* p = m_p0; p; p = p->m_pNext ) { - if ( !p->m_pBaseClassId && p->m_sBaseClassName ) { + if ( 0 == p->m_pBaseClassId && 0 != p->m_sBaseClassName[0] && + 0 == p->m_sBaseClassName[sizeof(p->m_sBaseClassName) / sizeof(p->m_sBaseClassName[0]) - 1] ) { if ( !strcmp( m_sClassName, p->m_sBaseClassName ) ) p->m_pBaseClassId = this; } diff --git a/surface/src/3rdparty/opennurbs/opennurbs_point.cpp b/surface/src/3rdparty/opennurbs/opennurbs_point.cpp index f8ea329b..d6a8529a 100644 --- a/surface/src/3rdparty/opennurbs/opennurbs_point.cpp +++ b/surface/src/3rdparty/opennurbs/opennurbs_point.cpp @@ -668,60 +668,52 @@ ON_3dVector::PerpendicularTo( void ON_2dPoint::Transform( const ON_Xform& xform ) { double xx,yy,ww; - if ( xform.m_xform ) { - ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][3]; - if ( ww != 0.0 ) - ww = 1.0/ww; - xx = ww*(xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][3]); - yy = ww*(xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][3]); - x = xx; - y = yy; - } + ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][3]; + if ( ww != 0.0 ) + ww = 1.0/ww; + xx = ww*(xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][3]); + yy = ww*(xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][3]); + x = xx; + y = yy; } void ON_3dPoint::Transform( const ON_Xform& xform ) { double xx,yy,zz,ww; - if ( xform.m_xform ) { - ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][2]*z + xform.m_xform[3][3]; - if ( ww != 0.0 ) - ww = 1.0/ww; - xx = ww*(xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][2]*z + xform.m_xform[0][3]); - yy = ww*(xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][2]*z + xform.m_xform[1][3]); - zz = ww*(xform.m_xform[2][0]*x + xform.m_xform[2][1]*y + xform.m_xform[2][2]*z + xform.m_xform[2][3]); - x = xx; - y = yy; - z = zz; - } + ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][2]*z + xform.m_xform[3][3]; + if ( ww != 0.0 ) + ww = 1.0/ww; + xx = ww*(xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][2]*z + xform.m_xform[0][3]); + yy = ww*(xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][2]*z + xform.m_xform[1][3]); + zz = ww*(xform.m_xform[2][0]*x + xform.m_xform[2][1]*y + xform.m_xform[2][2]*z + xform.m_xform[2][3]); + x = xx; + y = yy; + z = zz; } void ON_4dPoint::Transform( const ON_Xform& xform ) { double xx,yy,zz,ww; - if ( xform.m_xform ) { - xx = xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][2]*z + xform.m_xform[0][3]*w; - yy = xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][2]*z + xform.m_xform[1][3]*w; - zz = xform.m_xform[2][0]*x + xform.m_xform[2][1]*y + xform.m_xform[2][2]*z + xform.m_xform[2][3]*w; - ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][2]*z + xform.m_xform[3][3]*w; - x = xx; - y = yy; - z = zz; - w = ww; - } + xx = xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][2]*z + xform.m_xform[0][3]*w; + yy = xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][2]*z + xform.m_xform[1][3]*w; + zz = xform.m_xform[2][0]*x + xform.m_xform[2][1]*y + xform.m_xform[2][2]*z + xform.m_xform[2][3]*w; + ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][2]*z + xform.m_xform[3][3]*w; + x = xx; + y = yy; + z = zz; + w = ww; } void ON_2fPoint::Transform( const ON_Xform& xform ) { double xx,yy,ww; - if ( xform.m_xform ) { - ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][3]; - if ( ww != 0.0 ) - ww = 1.0/ww; - xx = ww*(xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][3]); - yy = ww*(xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][3]); - x = (float)xx; - y = (float)yy; - } + ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][3]; + if ( ww != 0.0 ) + ww = 1.0/ww; + xx = ww*(xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][3]); + yy = ww*(xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][3]); + x = (float)xx; + y = (float)yy; } void ON_2fPoint::Rotate( @@ -767,32 +759,28 @@ void ON_3fPoint::Rotate( void ON_3fPoint::Transform( const ON_Xform& xform ) { double xx,yy,zz,ww; - if ( xform.m_xform ) { - ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][2]*z + xform.m_xform[3][3]; - if ( ww != 0.0 ) - ww = 1.0/ww; - xx = ww*(xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][2]*z + xform.m_xform[0][3]); - yy = ww*(xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][2]*z + xform.m_xform[1][3]); - zz = ww*(xform.m_xform[2][0]*x + xform.m_xform[2][1]*y + xform.m_xform[2][2]*z + xform.m_xform[2][3]); - x = (float)xx; - y = (float)yy; - z = (float)zz; - } + ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][2]*z + xform.m_xform[3][3]; + if ( ww != 0.0 ) + ww = 1.0/ww; + xx = ww*(xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][2]*z + xform.m_xform[0][3]); + yy = ww*(xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][2]*z + xform.m_xform[1][3]); + zz = ww*(xform.m_xform[2][0]*x + xform.m_xform[2][1]*y + xform.m_xform[2][2]*z + xform.m_xform[2][3]); + x = (float)xx; + y = (float)yy; + z = (float)zz; } void ON_4fPoint::Transform( const ON_Xform& xform ) { double xx,yy,zz,ww; - if ( xform.m_xform ) { - xx = xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][2]*z + xform.m_xform[0][3]*w; - yy = xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][2]*z + xform.m_xform[1][3]*w; - zz = xform.m_xform[2][0]*x + xform.m_xform[2][1]*y + xform.m_xform[2][2]*z + xform.m_xform[2][3]*w; - ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][2]*z + xform.m_xform[3][3]*w; - x = (float)xx; - y = (float)yy; - z = (float)zz; - w = (float)ww; - } + xx = xform.m_xform[0][0]*x + xform.m_xform[0][1]*y + xform.m_xform[0][2]*z + xform.m_xform[0][3]*w; + yy = xform.m_xform[1][0]*x + xform.m_xform[1][1]*y + xform.m_xform[1][2]*z + xform.m_xform[1][3]*w; + zz = xform.m_xform[2][0]*x + xform.m_xform[2][1]*y + xform.m_xform[2][2]*z + xform.m_xform[2][3]*w; + ww = xform.m_xform[3][0]*x + xform.m_xform[3][1]*y + xform.m_xform[3][2]*z + xform.m_xform[3][3]*w; + x = (float)xx; + y = (float)yy; + z = (float)zz; + w = (float)ww; } double ON_3fPoint::Fuzz( diff --git a/surface/src/3rdparty/opennurbs/opennurbs_rtree.cpp b/surface/src/3rdparty/opennurbs/opennurbs_rtree.cpp index 071631cd..d7687eac 100644 --- a/surface/src/3rdparty/opennurbs/opennurbs_rtree.cpp +++ b/surface/src/3rdparty/opennurbs/opennurbs_rtree.cpp @@ -1472,22 +1472,6 @@ std::size_t ON_RTree::SizeOf() const } -static void NodeCountHelper( const ON_RTreeNode* node, std::size_t& node_count, std::size_t& wasted_branch_count, std::size_t& leaf_count ) -{ - if ( 0 == node ) - return; - node_count++; - wasted_branch_count += (ON_RTree_MAX_NODE_COUNT - node->m_count); - if ( node->m_level > 0 ) - { - for ( int i = 0; i < node->m_count; i++ ) - { - NodeCountHelper(node->m_branch[i].m_child,node_count,wasted_branch_count,leaf_count); - } - } - else - leaf_count += node->m_count; -} void ON_RTree::RemoveAll() { diff --git a/surface/src/gp3.cpp b/surface/src/gp3.cpp index 362d0ba8..e099ff3f 100644 --- a/surface/src/gp3.cpp +++ b/surface/src/gp3.cpp @@ -41,5 +41,5 @@ #include // Instantiations of specific point types -PCL_INSTANTIATE(GreedyProjectionTriangulation, (pcl::PointNormal)(pcl::PointXYZRGBNormal)(pcl::PointXYZINormal)) +PCL_INSTANTIATE(GreedyProjectionTriangulation, (pcl::PointNormal)(pcl::PointXYZRGBNormal)(pcl::PointXYZINormal)(pcl::PointXYZLNormal)) diff --git a/surface/src/on_nurbs/on_nurbs.cmake b/surface/src/on_nurbs/on_nurbs.cmake index 20d4269d..985e6ef7 100644 --- a/surface/src/on_nurbs/on_nurbs.cmake +++ b/surface/src/on_nurbs/on_nurbs.cmake @@ -49,8 +49,10 @@ set(ON_NURBS_SOURCES set(USE_UMFPACK 0 CACHE BOOL "Use UmfPack for solving sparse systems of equations (e.g. in surface/on_nurbs)") if(USE_UMFPACK) + find_package(CHOLMOD REQUIRED) + find_package(UMFPACK REQUIRED) set(ON_NURBS_SOURCES ${ON_NURBS_SOURCES} src/on_nurbs/nurbs_solve_umfpack.cpp) - set(ON_NURBS_LIBRARIES ${ON_NURBS_LIBRARIES} cholmod umfpack) + set(ON_NURBS_LIBRARIES ${ON_NURBS_LIBRARIES} SuiteSparse::CHOLMOD SuiteSparse::UMFPACK) else() set(ON_NURBS_SOURCES ${ON_NURBS_SOURCES} src/on_nurbs/nurbs_solve_eigen.cpp) endif() diff --git a/test/2d/CMakeLists.txt b/test/2d/CMakeLists.txt index 4e74c0f5..82220e0a 100644 --- a/test/2d/CMakeLists.txt +++ b/test/2d/CMakeLists.txt @@ -2,19 +2,15 @@ set(SUBSYS_NAME tests_2d) set(SUBSYS_DESC "Point cloud library 2d module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS 2d) -set(OPT_DEPS) - -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") -PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) +PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS}) if(NOT build) return() endif() PCL_ADD_TEST(test_2d test_2d FILES test_2d.cpp - LINK_WITH pcl_io pcl_gtest + LINK_WITH pcl_2d pcl_io pcl_gtest ARGUMENTS "${PCL_SOURCE_DIR}/test/2d/lena.pcd" "${PCL_SOURCE_DIR}/test/2d/gauss_smooth.pcd" "${PCL_SOURCE_DIR}/test/2d/erosion.pcd" @@ -27,7 +23,7 @@ PCL_ADD_TEST(test_2d test_2d FILES test_2d.cpp "${PCL_SOURCE_DIR}/test/2d/closing_binary.pcd" "${PCL_SOURCE_DIR}/test/2d/canny.pcd") -PCL_ADD_TEST(test_2d_keypoint_instantiation_with_precompile test_2d_keypoint_instantiation_with_precompile FILES keypoint_instantiation.cpp LINK_WITH pcl_gtest pcl_common) +PCL_ADD_TEST(test_2d_keypoint_instantiation_with_precompile test_2d_keypoint_instantiation_with_precompile FILES keypoint_instantiation.cpp LINK_WITH pcl_2d pcl_gtest pcl_common) -PCL_ADD_TEST(test_2d_keypoint_instantiation_without_precompile test_2d_keypoint_instantiation_without_precompile FILES keypoint_instantiation.cpp LINK_WITH pcl_gtest pcl_common) +PCL_ADD_TEST(test_2d_keypoint_instantiation_without_precompile test_2d_keypoint_instantiation_without_precompile FILES keypoint_instantiation.cpp LINK_WITH pcl_2d pcl_gtest pcl_common) target_compile_definitions(test_2d_keypoint_instantiation_without_precompile PUBLIC PCL_NO_PRECOMPILE) diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 555b4c79..c47ba3b8 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -1,10 +1,7 @@ set(SUBSYS_NAME global_tests) set(SUBSYS_DESC "Point cloud library global unit tests") -set(DEFAULT OFF) -set(build TRUE) -set(REASON "Disabled by default") -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) @@ -15,6 +12,7 @@ find_package(GTestSource REQUIRED) include_directories(SYSTEM ${GTEST_INCLUDE_DIRS} ${GTEST_SRC_DIR}) add_library(pcl_gtest STATIC ${GTEST_SRC_DIR}/src/gtest-all.cc) +target_include_directories(pcl_gtest PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include) enable_testing() @@ -44,8 +42,6 @@ add_custom_target(tests "${CMAKE_CTEST_COMMAND}" ${PCL_CTEST_ARGUMENTS} -V -T Te set_target_properties(tests PROPERTIES FOLDER "Tests") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") - add_subdirectory(2d) add_subdirectory(common) add_subdirectory(features) diff --git a/test/common/CMakeLists.txt b/test/common/CMakeLists.txt index a4ef890c..5851543b 100644 --- a/test/common/CMakeLists.txt +++ b/test/common/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Point cloud library common module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS common) set(OPT_DEPS io search kdtree octree) -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) diff --git a/test/common/test_io.cpp b/test/common/test_io.cpp index e5d742ad..489fb787 100644 --- a/test/common/test_io.cpp +++ b/test/common/test_io.cpp @@ -250,6 +250,128 @@ TEST (PCL, CopyPointCloudWithSameTypes) ASSERT_EQ (0, cloud_out.size ()); } +TEST (toPCLPointCloud2NoPadding, PointXYZI) +{ + pcl::PointCloud cloud; + cloud.resize(static_cast(2), static_cast(2)); + cloud[0].x = 1.0; cloud[0].y = 2.0; cloud[0].z = 3.0; cloud[0].intensity = 123.0; + cloud[1].x = -1.0; cloud[1].y = -2.0; cloud[1].z = -3.0; cloud[1].intensity = -123.0; + cloud[2].x = 0.1; cloud[2].y = 0.2; cloud[2].z = 0.3; cloud[2].intensity = 12.3; + cloud[3].x = 0.0; cloud[3].y = -1.7; cloud[3].z = 100.0; cloud[3].intensity = 3.14; + pcl::PCLPointCloud2 msg; + pcl::toPCLPointCloud2(cloud, msg, false); + EXPECT_EQ (msg.height, cloud.height); + EXPECT_EQ (msg.width, cloud.width); + EXPECT_EQ (msg.fields.size(), 4); + EXPECT_EQ (msg.fields[0].name, "x"); + EXPECT_EQ (msg.fields[0].offset, 0); + EXPECT_EQ (msg.fields[0].datatype, pcl::PCLPointField::FLOAT32); + EXPECT_EQ (msg.fields[0].count, 1); + EXPECT_EQ (msg.fields[1].name, "y"); + EXPECT_EQ (msg.fields[1].offset, 4); + EXPECT_EQ (msg.fields[1].datatype, pcl::PCLPointField::FLOAT32); + EXPECT_EQ (msg.fields[1].count, 1); + EXPECT_EQ (msg.fields[2].name, "z"); + EXPECT_EQ (msg.fields[2].offset, 8); + EXPECT_EQ (msg.fields[2].datatype, pcl::PCLPointField::FLOAT32); + EXPECT_EQ (msg.fields[2].count, 1); + EXPECT_EQ (msg.fields[3].name, "intensity"); + EXPECT_EQ (msg.fields[3].offset, 12); + EXPECT_EQ (msg.fields[3].datatype, pcl::PCLPointField::FLOAT32); + EXPECT_EQ (msg.fields[3].count, 1); + EXPECT_EQ (msg.point_step, 16); + EXPECT_EQ (msg.row_step, 16*cloud.width); + EXPECT_EQ (msg.data.size(), 16*cloud.width*cloud.height); + EXPECT_EQ (msg.at(0, 0), 1.0f); + EXPECT_EQ (msg.at(3, 4), -1.7f); + EXPECT_EQ (msg.at(1, 8), -3.0f); + EXPECT_EQ (msg.at(2, 12), 12.3f); + pcl::PointCloud cloud2; + pcl::fromPCLPointCloud2(msg, cloud2); + for(std::size_t i=0; i(i, 0) = 1.0*i; + msg.at(i, 8) = -1.6*i; + msg.at(i, 16) = -3.141*i; + msg.at(i, 24) = 123*i; + } + pcl::PointCloud cloud; + pcl::fromPCLPointCloud2(msg, cloud); + for(std::size_t i=0; i(i, 8*j) = 1000*i+j; + for(std::size_t j=0; j<9; ++j) + msg.at(i, 352*8+8*j) = (10*i+j)/10.0; + } + pcl::PointCloud cloud; + pcl::fromPCLPointCloud2(msg, cloud); + for(std::size_t i=0; igetVector3fMap ()); EXPECT_EQ_VECTORS ((--cloud.end ())->getVector3fMap (), (--cloud.end ())->getVector3fMap ()); - PointCloud::const_iterator pit = cloud.begin (); - PointCloud::VectorType::const_iterator pit2 = cloud.begin (); + auto pit = cloud.begin (); + auto pit2 = cloud.begin (); for (; pit < cloud.end (); ++pit2, ++pit) EXPECT_EQ_VECTORS (pit->getVector3fMap (), pit2->getVector3fMap ()); } @@ -125,8 +125,8 @@ TEST (PointCloud, insert_range) EXPECT_EQ (cloud.width, cloud.size ()); EXPECT_EQ (cloud.height, 1); EXPECT_EQ (cloud.width, old_size + cloud2.size ()); - PointCloud::const_iterator pit = cloud.begin (); - PointCloud::const_iterator pit2 = cloud2.begin (); + auto pit = cloud.begin (); + auto pit2 = cloud2.begin (); for (; pit2 < cloud2.end (); ++pit2, ++pit) EXPECT_EQ_VECTORS (pit->getVector3fMap (), pit2->getVector3fMap ()); } diff --git a/test/features/CMakeLists.txt b/test/features/CMakeLists.txt index 4dbab6e8..c686f506 100644 --- a/test/features/CMakeLists.txt +++ b/test/features/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Point cloud library features module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS features) set(OPT_DEPS io keypoints) # module does not depend on these -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) diff --git a/test/features/test_curvatures_estimation.cpp b/test/features/test_curvatures_estimation.cpp index 11e858f3..07d3e249 100644 --- a/test/features/test_curvatures_estimation.cpp +++ b/test/features/test_curvatures_estimation.cpp @@ -116,7 +116,7 @@ TEST (PCL, PrincipalCurvaturesEstimation) pc.compute (*pcs); EXPECT_EQ (pcs->size (), indices.size ()); - // Adjust for small numerical inconsitencies (due to nn_indices not being sorted) + // Adjust for small numerical inconsistencies (due to nn_indices not being sorted) EXPECT_NEAR (std::abs ((*pcs)[0].principal_curvature[0]), 0.98509, 1e-4); EXPECT_NEAR (std::abs ((*pcs)[0].principal_curvature[1]), 0.10713, 1e-4); EXPECT_NEAR (std::abs ((*pcs)[0].principal_curvature[2]), 0.13462, 1e-4); diff --git a/test/filters/CMakeLists.txt b/test/filters/CMakeLists.txt index 64c87097..80fb22c7 100644 --- a/test/filters/CMakeLists.txt +++ b/test/filters/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Point cloud library filters module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS filters) set(OPT_DEPS io features segmentation) -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) diff --git a/test/filters/test_filters.cpp b/test/filters/test_filters.cpp index 2cc5b883..85e9a05b 100644 --- a/test/filters/test_filters.cpp +++ b/test/filters/test_filters.cpp @@ -48,6 +48,7 @@ #include #include #include +#include #include #include #include @@ -637,6 +638,19 @@ TEST (VoxelGrid, Filters) EXPECT_LE (std::abs (output[neighbors.at (0)].y - output[centroidIdx].y), 0.02); EXPECT_LE ( output[neighbors.at (0)].z - output[centroidIdx].z, 0.02 * 2); + // indices must be handled correctly + auto indices = grid.getIndices(); // original cloud indices + auto cloud_copied = std::make_shared>(); + *cloud_copied = *cloud; + for (int i = 0; i < 100; i++) { + cloud_copied->emplace_back(100 + i, 100 + i, 100 + i); + } + grid.setInputCloud(cloud_copied); + grid.setIndices(indices); + grid.filter(output); + + EXPECT_EQ(output.size(), 100); // additional points should be ignored + // Test the pcl::PCLPointCloud2 method VoxelGrid grid2; @@ -718,6 +732,18 @@ TEST (VoxelGrid, Filters) EXPECT_LE (std::abs (output[neighbors2.at (0)].x - output[centroidIdx2].x), 0.02); EXPECT_LE (std::abs (output[neighbors2.at (0)].y - output[centroidIdx2].y), 0.02); EXPECT_LE (output[neighbors2.at (0)].z - output[centroidIdx2].z, 0.02 * 2); + + // indices must be handled correctly + auto indices2 = grid2.getIndices(); // original cloud indices + auto cloud_blob2 = std::make_shared(); + toPCLPointCloud2(*cloud_copied, *cloud_blob2); + + grid2.setInputCloud(cloud_blob2); + grid2.setIndices(indices2); + grid2.filter(output_blob); + + fromPCLPointCloud2(output_blob, output); + EXPECT_EQ(output.size(), 100); // additional points should be ignored } ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// @@ -1352,7 +1378,7 @@ TEST (VoxelGridMinPoints, Filters) // Verify 2 clusters (0.11 and 0.31) passed threshold and verify their location and color EXPECT_EQ (outputMin4.size (), 2); - // Offset noise applied by offsets vec are 1e-3 magnitude, so check within 1e-2 + // Offset noise applied by offsets vec are 1e-3 magnitude, so check within 1e-2 EXPECT_NEAR (outputMin4[0].x, input->at(1).x, 1e-2); EXPECT_NEAR (outputMin4[0].y, input->at(1).y, 1e-2); EXPECT_NEAR (outputMin4[0].z, input->at(1).z, 1e-2); @@ -1468,19 +1494,43 @@ TEST (RadiusOutlierRemoval, Filters) { // Test the PointCloud method PointCloud cloud_out; + PointCloud cloud_out_neg; // Remove outliers using a spherical density criterion RadiusOutlierRemoval outrem; outrem.setInputCloud (cloud); outrem.setRadiusSearch (0.02); outrem.setMinNeighborsInRadius (14); + outrem.setNumberOfThreads(4); outrem.filter (cloud_out); EXPECT_EQ (cloud_out.size (), 307); EXPECT_EQ (cloud_out.width, 307); EXPECT_TRUE (cloud_out.is_dense); - EXPECT_NEAR (cloud_out[cloud_out.size () - 1].x, -0.077893, 1e-4); - EXPECT_NEAR (cloud_out[cloud_out.size () - 1].y, 0.16039, 1e-4); - EXPECT_NEAR (cloud_out[cloud_out.size () - 1].z, -0.021299, 1e-4); + + outrem.setNegative(true); + outrem.filter(cloud_out_neg); + + EXPECT_EQ(cloud_out_neg.size(), 90); + EXPECT_TRUE(cloud_out_neg.is_dense); + + PointCloud cloud_out_rgb; + PointCloud cloud_out_rgb_neg; + // Remove outliers using a spherical density criterion on non-dense pointcloud + RadiusOutlierRemoval outremNonDense; + outremNonDense.setInputCloud(cloud_organized); + outremNonDense.setRadiusSearch(0.02); + outremNonDense.setMinNeighborsInRadius(14); + outremNonDense.setNumberOfThreads(4); + outremNonDense.filter(cloud_out_rgb); + + EXPECT_EQ(cloud_out_rgb.size(), 240801); + EXPECT_EQ(cloud_out_rgb.width, 240801); + //EXPECT_TRUE(cloud_out_rgb.is_dense); + + outremNonDense.setNegative(true); + outremNonDense.filter(cloud_out_rgb_neg); + EXPECT_EQ(cloud_out_rgb_neg.size(), 606); + //EXPECT_TRUE(cloud_out_rgb_neg.is_dense); // Test the pcl::PCLPointCloud2 method PCLPointCloud2 cloud_out2; @@ -1997,11 +2047,11 @@ TEST (FrustumCulling, Filters) Eigen::AngleAxisf (0 * M_PI / 180, Eigen::Vector3f::UnitY ()) * Eigen::AngleAxisf (0 * M_PI / 180, Eigen::Vector3f::UnitZ ()); - camera_pose.block (0, 0, 3, 3) = R; + camera_pose.topLeftCorner<3, 3> () = R; Eigen::Vector3f T; T (0) = -5; T (1) = 0; T (2) = 0; - camera_pose.block (0, 3, 3, 1) = T; + camera_pose.block<3, 1> (0, 3) = T; camera_pose (3, 3) = 1; fc.setCameraPose (camera_pose); @@ -2051,7 +2101,7 @@ TEST (FrustumCulling, Filters) Eigen::Matrix4f cam2robot; cam2robot << 0, 0, 1, 0, 0, -1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1; - // Cut out object based on ROI + // Cut out object based on ROI fc.setInputCloud (model); fc.setNegative (false); fc.setVerticalFOV (43); @@ -2062,7 +2112,7 @@ TEST (FrustumCulling, Filters) fc.setCameraPose (cam2robot); fc.filter (*output); // Should extract milk cartoon with 13541 points - EXPECT_EQ (output->size (), 13541); + EXPECT_EQ (output->size (), 13541); removed = fc.getRemovedIndices (); EXPECT_EQ (removed->size (), model->size () - output->size ()); @@ -2460,6 +2510,27 @@ TEST (NormalRefinement, Filters) EXPECT_LT(err_refined_var, err_est_var); } +TEST (VoxelGridOcclusionEstimation, Filters) +{ + auto input_cloud = pcl::make_shared>(); + input_cloud->emplace_back(0.0, 0.0, 0.0); + input_cloud->emplace_back(9.9, 9.9, 9.9); // we want a nice bounding box from (0, 0, 0) to (10, 10, 10) + input_cloud->sensor_origin_ << -0.1f, 0.5f, 0.5f, 0.0f; // just outside the bounding box. Most rays will enter at voxel (0, 0, 0) + pcl::VoxelGridOcclusionEstimation vg; + vg.setInputCloud (input_cloud); + vg.setLeafSize (1.0, 1.0, 1.0); + vg.initializeVoxelGrid (); + std::vector > occluded_voxels; + vg.occlusionEstimationAll (occluded_voxels); + for(std::size_t y=0; y<10; ++y) { + for (std::size_t z=0; z<10; ++z) { + if(y==9 && z==9) continue; // voxel (9, 9, 9) is occupied by point (9.9, 9.9, 9.9), so it will not be counted as occluded + Eigen::Vector3i cell(9, y, z); + EXPECT_NE(std::find(occluded_voxels.begin(), occluded_voxels.end(), cell), occluded_voxels.end()); // not equal means it was found + } + } +} + /* ---[ */ int main (int argc, char** argv) diff --git a/test/filters/test_uniform_sampling.cpp b/test/filters/test_uniform_sampling.cpp index 50a3446c..7403a1d4 100644 --- a/test/filters/test_uniform_sampling.cpp +++ b/test/filters/test_uniform_sampling.cpp @@ -61,17 +61,75 @@ TEST(UniformSampling, extractRemovedIndices) // sure that each cell has at least one point. As a result, we expect 1000 points in // the output cloud and the rest in removed indices. - pcl::UniformSampling us(true); // extract removed indices - us.setInputCloud(xyz); - us.setRadiusSearch(0.1); + pcl::UniformSampling::Ptr us_ptr(new pcl::UniformSampling(true));// extract removed indices + us_ptr->setRadiusSearch(0.1); pcl::PointCloud output; - us.filter(output); + pcl::Indices indices; + + // Empty input cloud + us_ptr->filter(output); + us_ptr->filter(indices); - auto removed_indices = us.getRemovedIndices(); + us_ptr->setInputCloud(xyz); + // Cloud + us_ptr->filter(output); + // Indices + us_ptr->filter(indices); + + for (const auto& outputIndex : indices) + { + // Check if the point exists in the output cloud + bool found = false; + for (const auto& j : output) + { + if (j.x == (*xyz)[outputIndex].x && + j.y == (*xyz)[outputIndex].y && + j.z == (*xyz)[outputIndex].z) + { + found = true; + break; + } + } + + // Assert that the point was found in the output cloud + ASSERT_TRUE(found); + } + + auto removed_indices = us_ptr->getRemovedIndices(); ASSERT_EQ(output.size(), 1000); - EXPECT_EQ(removed_indices->size(), xyz->size() - 1000); + EXPECT_EQ(int(removed_indices->size()), int(xyz->size() - 1000)); std::set removed_indices_set(removed_indices->begin(), removed_indices->end()); ASSERT_EQ(removed_indices_set.size(), removed_indices->size()); + + // Negative + us_ptr->setNegative (true); + us_ptr->filter(output); + removed_indices = us_ptr->getRemovedIndices (); + EXPECT_EQ (int (removed_indices->size ()), 1000); + EXPECT_EQ (int (output.size ()), int (xyz->size() - 1000)); + + // Organized + us_ptr->setKeepOrganized (true); + us_ptr->setNegative (false); + us_ptr->filter(output); + removed_indices = us_ptr->getRemovedIndices (); + EXPECT_EQ (int (removed_indices->size ()), int(xyz->size() - 1000)); + for (std::size_t i = 0; i < removed_indices->size (); ++i) + { + EXPECT_TRUE (std::isnan (output.at ((*removed_indices)[i]).x)); + EXPECT_TRUE (std::isnan (output.at ((*removed_indices)[i]).y)); + EXPECT_TRUE (std::isnan (output.at ((*removed_indices)[i]).z)); + } + + EXPECT_EQ (output.width, xyz->width); + EXPECT_EQ (output.height, xyz->height); + + // Check input cloud with nan values + us_ptr->setInputCloud (output.makeShared ()); + us_ptr->setRadiusSearch(2); + us_ptr->filter (output); + removed_indices = us_ptr->getRemovedIndices (); + EXPECT_EQ (int (removed_indices->size ()), output.size()-1); } int diff --git a/test/fuzz/build.sh b/test/fuzz/build.sh index 747809f7..ccf53d86 100644 --- a/test/fuzz/build.sh +++ b/test/fuzz/build.sh @@ -54,7 +54,7 @@ $CXX $CXXFLAGS -DPCLAPI_EXPORTS \ -I/src/pcl/build/include -I/src/pcl/common/include \ -I/src/pcl/dssdk/include \ -I/src/pcl/io/include -isystem /usr/include/eigen3 \ - -O2 -g -DNDEBUG -fPIC -std=c++14 \ + -O2 -g -DNDEBUG -fPIC -std=c++17 \ -o ply_reader_fuzzer.o -c ply_reader_fuzzer.cpp $CXX $CXXFLAGS $LIB_FUZZING_ENGINE ply_reader_fuzzer.o \ diff --git a/test/geometry/CMakeLists.txt b/test/geometry/CMakeLists.txt index 4b9f788c..7074ede0 100644 --- a/test/geometry/CMakeLists.txt +++ b/test/geometry/CMakeLists.txt @@ -2,9 +2,7 @@ set(SUBSYS_NAME tests_geometry) set(SUBSYS_DESC "Point cloud library geometry module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS geometry) -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) diff --git a/test/geometry/test_mesh.cpp b/test/geometry/test_mesh.cpp index 0b6df7d9..aa54bb4a 100644 --- a/test/geometry/test_mesh.cpp +++ b/test/geometry/test_mesh.cpp @@ -89,9 +89,9 @@ TEST (TestAddDeleteFace, NonManifold1) using VI = VertexIndex; VertexIndices vi; std::vector faces; - vi.push_back (VI (0)); vi.push_back (VI (3)); vi.push_back (VI (1)); faces.push_back (vi); vi.clear (); // 0 - vi.push_back (VI (2)); vi.push_back (VI (1)); vi.push_back (VI (4)); faces.push_back (vi); vi.clear (); // 1 - vi.push_back (VI (0)); vi.push_back (VI (2)); vi.push_back (VI (5)); faces.push_back (vi); vi.clear (); // 2 + vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(1); faces.push_back (vi); vi.clear (); // 0 + vi.emplace_back(2); vi.emplace_back(1); vi.emplace_back(4); faces.push_back (vi); vi.clear (); // 1 + vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(5); faces.push_back (vi); vi.clear (); // 2 for (const auto &face : faces) { ASSERT_TRUE (mesh.addFace (face).isValid ()); @@ -100,18 +100,18 @@ TEST (TestAddDeleteFace, NonManifold1) // Check if the whole boundary is reached. VertexIndices boundary_expected; - boundary_expected.push_back (VI (0)); - boundary_expected.push_back (VI (5)); - boundary_expected.push_back (VI (2)); - boundary_expected.push_back (VI (4)); - boundary_expected.push_back (VI (1)); - boundary_expected.push_back (VI (3)); + boundary_expected.emplace_back(0); + boundary_expected.emplace_back(5); + boundary_expected.emplace_back(2); + boundary_expected.emplace_back(4); + boundary_expected.emplace_back(1); + boundary_expected.emplace_back(3); VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (3)); EXPECT_EQ (boundary_expected, boundary_vertices); // Close the gaps. - vi.push_back (VI (0)); vi.push_back (VI (1)); vi.push_back (VI (2)); faces.push_back (vi); vi.clear (); // 3 + vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear (); // 3 ASSERT_TRUE (mesh.addFace (faces [3]).isValid ()); EXPECT_TRUE (hasFaces (mesh, faces)); @@ -152,8 +152,8 @@ TEST (TestAddDeleteFace, NonManifold2) // 0 // // / \ // // 3 - 4 // - vi.push_back (VI (0)); vi.push_back (VI (1)); vi.push_back (VI (2)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (3)); vi.push_back (VI (4)); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(4); faces.push_back (vi); vi.clear (); for (const auto &face : faces) { ASSERT_TRUE (mesh.addFace (face).isValid ()); @@ -161,23 +161,23 @@ TEST (TestAddDeleteFace, NonManifold2) EXPECT_TRUE (hasFaces (mesh, faces)); // (*) Adding the next two faces would destroy the connectivity around vertex 0. E.g. a VertexAroundVertexCirculator would not be able to access all the vertices (1, 2, 3, 4) anymore. - vi.push_back (VI (3)); vi.push_back (VI (0)); vi.push_back (VI (4)); + vi.emplace_back(3); vi.emplace_back(0); vi.emplace_back(4); EXPECT_FALSE (mesh.addFace (vi).isValid ()); vi.clear (); - vi.push_back (VI (1)); vi.push_back (VI (0)); vi.push_back (VI (2)); + vi.emplace_back(1); vi.emplace_back(0); vi.emplace_back(2); EXPECT_FALSE (mesh.addFace (vi).isValid ()); vi.clear (); { // Check if the whole boundary is reached. VertexIndices boundary_expected; - boundary_expected.push_back (VI (0)); - boundary_expected.push_back (VI (0)); - boundary_expected.push_back (VI (1)); - boundary_expected.push_back (VI (2)); - boundary_expected.push_back (VI (3)); - boundary_expected.push_back (VI (4)); + boundary_expected.emplace_back(0); + boundary_expected.emplace_back(0); + boundary_expected.emplace_back(1); + boundary_expected.emplace_back(2); + boundary_expected.emplace_back(3); + boundary_expected.emplace_back(4); VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (2)); std::sort (boundary_vertices.begin (), boundary_vertices.end ()); @@ -190,35 +190,35 @@ TEST (TestAddDeleteFace, NonManifold2) // 3 - 0 - 6 // // \ / \ / // // 4 5 // - vi.push_back (VI (0)); vi.push_back (VI (5)); vi.push_back (VI (6)); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(5); vi.emplace_back(6); faces.push_back (vi); vi.clear (); EXPECT_TRUE (mesh.addFace (faces [2]).isValid ()); EXPECT_TRUE (hasFaces (mesh, faces)); // Same as (*) - vi.push_back (VI (1)); vi.push_back (VI (0)); vi.push_back (VI (2)); + vi.emplace_back(1); vi.emplace_back(0); vi.emplace_back(2); EXPECT_FALSE (mesh.addFace (vi).isValid ()); vi.clear (); - vi.push_back (VI (3)); vi.push_back (VI (0)); vi.push_back (VI (4)); + vi.emplace_back(3); vi.emplace_back(0); vi.emplace_back(4); EXPECT_FALSE (mesh.addFace (vi).isValid ()); vi.clear (); - vi.push_back (VI (5)); vi.push_back (VI (0)); vi.push_back (VI (6)); + vi.emplace_back(5); vi.emplace_back(0); vi.emplace_back(6); EXPECT_FALSE (mesh.addFace (vi).isValid ()); vi.clear (); { // Check if the whole boundary is reached. VertexIndices boundary_expected; - boundary_expected.push_back (VI (0)); - boundary_expected.push_back (VI (0)); - boundary_expected.push_back (VI (0)); - boundary_expected.push_back (VI (1)); - boundary_expected.push_back (VI (2)); - boundary_expected.push_back (VI (3)); - boundary_expected.push_back (VI (4)); - boundary_expected.push_back (VI (5)); - boundary_expected.push_back (VI (6)); + boundary_expected.emplace_back(0); + boundary_expected.emplace_back(0); + boundary_expected.emplace_back(0); + boundary_expected.emplace_back(1); + boundary_expected.emplace_back(2); + boundary_expected.emplace_back(3); + boundary_expected.emplace_back(4); + boundary_expected.emplace_back(5); + boundary_expected.emplace_back(6); VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (2)); std::sort (boundary_vertices.begin (), boundary_vertices.end ()); @@ -235,42 +235,42 @@ TEST (TestAddDeleteFace, NonManifold2) // | / | \ // // |/ | \ // // 4 5---6 // - vi.push_back (VI (0)); vi.push_back (VI (7)); vi.push_back (VI (8)); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(7); vi.emplace_back(8); faces.push_back (vi); vi.clear (); EXPECT_TRUE (mesh.addFace (faces [3]).isValid ()); EXPECT_TRUE (hasFaces (mesh, faces)); // Same as (*) - vi.push_back (VI (1)); vi.push_back (VI (0)); vi.push_back (VI (2)); + vi.emplace_back(1); vi.emplace_back(0); vi.emplace_back(2); EXPECT_FALSE (mesh.addFace (vi).isValid ()); vi.clear (); - vi.push_back (VI (3)); vi.push_back (VI (0)); vi.push_back (VI (4)); + vi.emplace_back(3); vi.emplace_back(0); vi.emplace_back(4); EXPECT_FALSE (mesh.addFace (vi).isValid ()); vi.clear (); - vi.push_back (VI (5)); vi.push_back (VI (0)); vi.push_back (VI (6)); + vi.emplace_back(5); vi.emplace_back(0); vi.emplace_back(6); EXPECT_FALSE (mesh.addFace (vi).isValid ()); vi.clear (); - vi.push_back (VI (7)); vi.push_back (VI (0)); vi.push_back (VI (8)); + vi.emplace_back(7); vi.emplace_back(0); vi.emplace_back(8); EXPECT_FALSE (mesh.addFace (vi).isValid ()); vi.clear (); // Check if the whole boundary is reached. { VertexIndices boundary_expected; - boundary_expected.push_back (VI (0)); - boundary_expected.push_back (VI (0)); - boundary_expected.push_back (VI (0)); - boundary_expected.push_back (VI (0)); - boundary_expected.push_back (VI (1)); - boundary_expected.push_back (VI (2)); - boundary_expected.push_back (VI (3)); - boundary_expected.push_back (VI (4)); - boundary_expected.push_back (VI (5)); - boundary_expected.push_back (VI (6)); - boundary_expected.push_back (VI (7)); - boundary_expected.push_back (VI (8)); + boundary_expected.emplace_back(0); + boundary_expected.emplace_back(0); + boundary_expected.emplace_back(0); + boundary_expected.emplace_back(0); + boundary_expected.emplace_back(1); + boundary_expected.emplace_back(2); + boundary_expected.emplace_back(3); + boundary_expected.emplace_back(4); + boundary_expected.emplace_back(5); + boundary_expected.emplace_back(6); + boundary_expected.emplace_back(7); + boundary_expected.emplace_back(8); VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (2)); std::sort (boundary_vertices.begin (), boundary_vertices.end ()); @@ -287,10 +287,10 @@ TEST (TestAddDeleteFace, NonManifold2) // | /4|2\ | // // |/ | \| // // 4---5---6 // - vi.push_back (VI (0)); vi.push_back (VI (4)); vi.push_back (VI (5)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (8)); vi.push_back (VI (1)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (2)); vi.push_back (VI (3)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (6)); vi.push_back (VI (7)); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(4); vi.emplace_back(5); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(8); vi.emplace_back(1); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(3); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(6); vi.emplace_back(7); faces.push_back (vi); vi.clear (); for (std::size_t i = 4; i < faces.size (); ++i) { EXPECT_TRUE (mesh.addFace (faces [i]).isValid ()); @@ -300,7 +300,7 @@ TEST (TestAddDeleteFace, NonManifold2) VertexIndices boundary_expected; for (unsigned int i=8; i>0; --i) { - boundary_expected.push_back (VI (i)); + boundary_expected.emplace_back(i); } VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (1)); EXPECT_EQ (boundary_expected, boundary_vertices); @@ -334,7 +334,7 @@ TEST (TestAddDeleteFace, NonManifold2) TEST (TestAddDeleteFace, Manifold1) { using Mesh = ManifoldTriangleMesh; - using VI = VertexIndex; + Mesh mesh; for (unsigned int i=0; i<7; ++i) mesh.addVertex (i); @@ -346,12 +346,12 @@ TEST (TestAddDeleteFace, Manifold1) std::vector faces; std::vector > expected; VertexIndices vi; - vi.push_back (VI (0)); vi.push_back (VI (1)); vi.push_back (VI (2)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (2)); vi.push_back (VI (3)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (3)); vi.push_back (VI (4)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (4)); vi.push_back (VI (5)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (5)); vi.push_back (VI (6)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (6)); vi.push_back (VI (1)); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(3); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(4); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(4); vi.emplace_back(5); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(5); vi.emplace_back(6); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(6); vi.emplace_back(1); faces.push_back (vi); vi.clear (); for (std::size_t i = 0; i < faces.size (); ++i) { @@ -386,11 +386,11 @@ TEST (TestAddDeleteFace, Manifold1) mesh.clear (); expected.clear (); for (unsigned int i=0; i<11; ++i) mesh.addVertex (i); - vi.push_back (VI ( 3)); vi.push_back (VI (7)); vi.push_back (VI (4)); faces.push_back (vi); vi.clear (); - vi.push_back (VI ( 3)); vi.push_back (VI (2)); vi.push_back (VI (8)); faces.push_back (vi); vi.clear (); - vi.push_back (VI ( 8)); vi.push_back (VI (2)); vi.push_back (VI (9)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (10)); vi.push_back (VI (9)); vi.push_back (VI (2)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (10)); vi.push_back (VI (2)); vi.push_back (VI (1)); faces.push_back (vi); vi.clear (); + vi.emplace_back( 3); vi.emplace_back(7); vi.emplace_back(4); faces.push_back (vi); vi.clear (); + vi.emplace_back( 3); vi.emplace_back(2); vi.emplace_back(8); faces.push_back (vi); vi.clear (); + vi.emplace_back( 8); vi.emplace_back(2); vi.emplace_back(9); faces.push_back (vi); vi.clear (); + vi.emplace_back(10); vi.emplace_back(9); vi.emplace_back(2); faces.push_back (vi); vi.clear (); + vi.emplace_back(10); vi.emplace_back(2); vi.emplace_back(1); faces.push_back (vi); vi.clear (); for (std::size_t i = 0; i < faces.size (); ++i) { ASSERT_TRUE (mesh.addFace (faces [i]).isValid ()) << "Face " << i; @@ -442,9 +442,9 @@ TEST (TestAddDeleteFace, Manifold2) // 2 // std::vector faces; VertexIndices vi; - vi.push_back (VI (0)); vi.push_back (VI (1)); vi.push_back (VI (2)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (2)); vi.push_back (VI (3)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (3)); vi.push_back (VI (1)); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(3); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(1); faces.push_back (vi); vi.clear (); // Try all possible combinations of adding the faces and deleting a vertex. // NOTE: Some cases are redundant. @@ -511,12 +511,12 @@ TEST (TestDelete, VertexAndEdge) std::vector faces; std::vector > expected; VertexIndices vi; - vi.push_back (VI (0)); vi.push_back (VI (1)); vi.push_back (VI (2)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (2)); vi.push_back (VI (3)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (3)); vi.push_back (VI (4)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (4)); vi.push_back (VI (5)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (5)); vi.push_back (VI (6)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (6)); vi.push_back (VI (1)); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(3); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(4); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(4); vi.emplace_back(5); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(5); vi.emplace_back(6); faces.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(6); vi.emplace_back(1); faces.push_back (vi); vi.clear (); for (std::size_t i = 0; i < faces.size (); ++i) { @@ -581,9 +581,9 @@ TEST (TestMesh, IsBoundaryIsManifold) using VI = VertexIndex; VertexIndices vi; std::vector faces; - vi.push_back (VI (0)); vi.push_back (VI (3)); vi.push_back (VI (1)); faces.push_back (vi); vi.clear (); // 0 - vi.push_back (VI (2)); vi.push_back (VI (1)); vi.push_back (VI (4)); faces.push_back (vi); vi.clear (); // 1 - vi.push_back (VI (0)); vi.push_back (VI (2)); vi.push_back (VI (5)); faces.push_back (vi); vi.clear (); // 2 + vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(1); faces.push_back (vi); vi.clear (); // 0 + vi.emplace_back(2); vi.emplace_back(1); vi.emplace_back(4); faces.push_back (vi); vi.clear (); // 1 + vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(5); faces.push_back (vi); vi.clear (); // 2 for (const auto &face : faces) { ASSERT_TRUE (mesh.addFace (face).isValid ()); @@ -592,12 +592,12 @@ TEST (TestMesh, IsBoundaryIsManifold) // Check if the whole boundary is reached. VertexIndices boundary_expected; - boundary_expected.push_back (VI (0)); - boundary_expected.push_back (VI (5)); - boundary_expected.push_back (VI (2)); - boundary_expected.push_back (VI (4)); - boundary_expected.push_back (VI (1)); - boundary_expected.push_back (VI (3)); + boundary_expected.emplace_back(0); + boundary_expected.emplace_back(5); + boundary_expected.emplace_back(2); + boundary_expected.emplace_back(4); + boundary_expected.emplace_back(1); + boundary_expected.emplace_back(3); VertexIndices boundary_vertices = getBoundaryVertices (mesh, VI (3)); EXPECT_EQ (boundary_expected, boundary_vertices); @@ -615,7 +615,7 @@ TEST (TestMesh, IsBoundaryIsManifold) } // Make manifold - vi.push_back (VI (0)); vi.push_back (VI (1)); vi.push_back (VI (2)); faces.push_back (vi); vi.clear (); // 3 + vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces.push_back (vi); vi.clear (); // 3 ASSERT_TRUE (mesh.addFace (faces [3]).isValid ()); EXPECT_TRUE (hasFaces (mesh, faces)); diff --git a/test/geometry/test_mesh_circulators.cpp b/test/geometry/test_mesh_circulators.cpp index b198c6dc..35b44035 100644 --- a/test/geometry/test_mesh_circulators.cpp +++ b/test/geometry/test_mesh_circulators.cpp @@ -90,21 +90,21 @@ class TestMeshCirculators : public ::testing::Test for (int i=0; i<7; ++i) mesh_.addVertex (); VertexIndices vi; - using VI = VertexIndex; - vi.push_back (VI (0)); vi.push_back (VI (1)); vi.push_back (VI (2)); faces_.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (2)); vi.push_back (VI (3)); faces_.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (3)); vi.push_back (VI (4)); faces_.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (4)); vi.push_back (VI (5)); faces_.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (5)); vi.push_back (VI (6)); faces_.push_back (vi); vi.clear (); - vi.push_back (VI (0)); vi.push_back (VI (6)); vi.push_back (VI (1)); faces_.push_back (vi); vi.clear (); + + vi.emplace_back(0); vi.emplace_back(1); vi.emplace_back(2); faces_.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(2); vi.emplace_back(3); faces_.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(3); vi.emplace_back(4); faces_.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(4); vi.emplace_back(5); faces_.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(5); vi.emplace_back(6); faces_.push_back (vi); vi.clear (); + vi.emplace_back(0); vi.emplace_back(6); vi.emplace_back(1); faces_.push_back (vi); vi.clear (); for (std::size_t i=0; i (mesh_.sizeFaces ()); ++i) { expected.clear (); - expected.push_back (FaceIndex (i==(n-1) ? 0 : (i+1))); - expected.push_back (FaceIndex (i== 0 ? (n-1) : (i-1))); - expected.push_back (FaceIndex ()); + expected.emplace_back(i==(n-1) ? 0 : (i+1)); + expected.emplace_back(i== 0 ? (n-1) : (i-1)); + expected.emplace_back(); FAFC circ = mesh_.getFaceAroundFaceCirculator (FaceIndex (i)); const FAFC circ_end = circ; @@ -525,9 +525,9 @@ TEST_F (TestMeshCirculators, FaceAroundFaceDecrement) for (int i = 0; i < static_cast (mesh_.sizeFaces ()); ++i) { expected.clear (); - expected.push_back (FaceIndex (i== 0 ? (n-1) : (i-1))); - expected.push_back (FaceIndex (i==(n-1) ? 0 : (i+1))); - expected.push_back (FaceIndex ()); + expected.emplace_back(i== 0 ? (n-1) : (i-1)); + expected.emplace_back(i==(n-1) ? 0 : (i+1)); + expected.emplace_back(); FAFC circ = mesh_.getFaceAroundFaceCirculator (FaceIndex (i)); const FAFC circ_end = circ; diff --git a/test/geometry/test_mesh_common_functions.h b/test/geometry/test_mesh_common_functions.h index 5f3d42f5..0579b99e 100644 --- a/test/geometry/test_mesh_common_functions.h +++ b/test/geometry/test_mesh_common_functions.h @@ -40,6 +40,7 @@ #pragma once +#include // for setw #include #include diff --git a/test/geometry/test_mesh_data.cpp b/test/geometry/test_mesh_data.cpp index 6bd229ee..be11f9b9 100644 --- a/test/geometry/test_mesh_data.cpp +++ b/test/geometry/test_mesh_data.cpp @@ -123,9 +123,9 @@ TEST (TestMesh, MeshData) // \ / \ / // // 0 - 1 // VertexIndices vi_0, vi_1, vi_2; - vi_0.push_back (VertexIndex (0)); vi_0.push_back (VertexIndex (1)); vi_0.push_back (VertexIndex (2)); - vi_1.push_back (VertexIndex (0)); vi_1.push_back (VertexIndex (2)); vi_1.push_back (VertexIndex (3)); - vi_2.push_back (VertexIndex (4)); vi_2.push_back (VertexIndex (2)); vi_2.push_back (VertexIndex (1)); + vi_0.emplace_back(0); vi_0.emplace_back(1); vi_0.emplace_back(2); + vi_1.emplace_back(0); vi_1.emplace_back(2); vi_1.emplace_back(3); + vi_2.emplace_back(4); vi_2.emplace_back(2); vi_2.emplace_back(1); // Mesh data. int vd_0 (10), vd_1 (11), vd_2 (12), vd_3 (13), vd_4 (14); diff --git a/test/geometry/test_polygon_mesh.cpp b/test/geometry/test_polygon_mesh.cpp index 41f9e73a..07871763 100644 --- a/test/geometry/test_polygon_mesh.cpp +++ b/test/geometry/test_polygon_mesh.cpp @@ -132,7 +132,7 @@ TYPED_TEST (TestPolygonMesh, CorrectNumberOfVertices) VertexIndices vi; for (unsigned int i=0; i faces; VertexIndices vi; - vi.push_back (VertexIndex (0)); - vi.push_back (VertexIndex (1)); - vi.push_back (VertexIndex (2)); + vi.emplace_back(0); + vi.emplace_back(1); + vi.emplace_back(2); faces.push_back (vi); vi.clear (); - vi.push_back (VertexIndex (0)); - vi.push_back (VertexIndex (2)); - vi.push_back (VertexIndex (3)); - vi.push_back (VertexIndex (4)); + vi.emplace_back(0); + vi.emplace_back(2); + vi.emplace_back(3); + vi.emplace_back(4); faces.push_back (vi); vi.clear (); - vi.push_back (VertexIndex (0)); - vi.push_back (VertexIndex (4)); - vi.push_back (VertexIndex (5)); - vi.push_back (VertexIndex (6)); - vi.push_back (VertexIndex (1)); + vi.emplace_back(0); + vi.emplace_back(4); + vi.emplace_back(5); + vi.emplace_back(6); + vi.emplace_back(1); faces.push_back (vi); vi.clear (); diff --git a/test/geometry/test_quad_mesh.cpp b/test/geometry/test_quad_mesh.cpp index 3bafedb1..f138aa93 100644 --- a/test/geometry/test_quad_mesh.cpp +++ b/test/geometry/test_quad_mesh.cpp @@ -104,7 +104,7 @@ TYPED_TEST (TestQuadMesh, CorrectNumberOfVertices) VertexIndices vi; for (unsigned int i=0; i faces; VertexIndices vi; - vi.push_back (VI ( 0)); vi.push_back (VI ( 4)); vi.push_back (VI ( 5)); vi.push_back (VI ( 1)); faces.push_back (vi); vi.clear (); - vi.push_back (VI ( 1)); vi.push_back (VI ( 5)); vi.push_back (VI ( 6)); vi.push_back (VI ( 2)); faces.push_back (vi); vi.clear (); - vi.push_back (VI ( 2)); vi.push_back (VI ( 6)); vi.push_back (VI ( 7)); vi.push_back (VI ( 3)); faces.push_back (vi); vi.clear (); - vi.push_back (VI ( 4)); vi.push_back (VI ( 8)); vi.push_back (VI ( 9)); vi.push_back (VI ( 5)); faces.push_back (vi); vi.clear (); - vi.push_back (VI ( 5)); vi.push_back (VI ( 9)); vi.push_back (VI (10)); vi.push_back (VI ( 6)); faces.push_back (vi); vi.clear (); - vi.push_back (VI ( 6)); vi.push_back (VI (10)); vi.push_back (VI (11)); vi.push_back (VI ( 7)); faces.push_back (vi); vi.clear (); - vi.push_back (VI ( 8)); vi.push_back (VI (12)); vi.push_back (VI (13)); vi.push_back (VI ( 9)); faces.push_back (vi); vi.clear (); - vi.push_back (VI ( 9)); vi.push_back (VI (13)); vi.push_back (VI (14)); vi.push_back (VI (10)); faces.push_back (vi); vi.clear (); - vi.push_back (VI (10)); vi.push_back (VI (14)); vi.push_back (VI (15)); vi.push_back (VI (11)); faces.push_back (vi); vi.clear (); + vi.emplace_back( 0); vi.emplace_back( 4); vi.emplace_back( 5); vi.emplace_back( 1); faces.push_back (vi); vi.clear (); + vi.emplace_back( 1); vi.emplace_back( 5); vi.emplace_back( 6); vi.emplace_back( 2); faces.push_back (vi); vi.clear (); + vi.emplace_back( 2); vi.emplace_back( 6); vi.emplace_back( 7); vi.emplace_back( 3); faces.push_back (vi); vi.clear (); + vi.emplace_back( 4); vi.emplace_back( 8); vi.emplace_back( 9); vi.emplace_back( 5); faces.push_back (vi); vi.clear (); + vi.emplace_back( 5); vi.emplace_back( 9); vi.emplace_back(10); vi.emplace_back( 6); faces.push_back (vi); vi.clear (); + vi.emplace_back( 6); vi.emplace_back(10); vi.emplace_back(11); vi.emplace_back( 7); faces.push_back (vi); vi.clear (); + vi.emplace_back( 8); vi.emplace_back(12); vi.emplace_back(13); vi.emplace_back( 9); faces.push_back (vi); vi.clear (); + vi.emplace_back( 9); vi.emplace_back(13); vi.emplace_back(14); vi.emplace_back(10); faces.push_back (vi); vi.clear (); + vi.emplace_back(10); vi.emplace_back(14); vi.emplace_back(15); vi.emplace_back(11); faces.push_back (vi); vi.clear (); ASSERT_EQ (order_vec.size (), non_manifold.size ()); ASSERT_EQ (9, faces.size ()); diff --git a/test/geometry/test_triangle_mesh.cpp b/test/geometry/test_triangle_mesh.cpp index 3c1d8d37..857df978 100644 --- a/test/geometry/test_triangle_mesh.cpp +++ b/test/geometry/test_triangle_mesh.cpp @@ -104,7 +104,7 @@ TYPED_TEST (TestTriangleMesh, CorrectNumberOfVertices) VertexIndices vi; for (unsigned int i=0; i +#include #include #include #include @@ -7,7 +8,7 @@ #include #include #include -#include // for directory_iterator, extension + #include // for to_upper_copy using namespace std::chrono_literals; @@ -519,8 +520,8 @@ int pclzf_dir_ = grabber_sequences + "/pclzf"; pcd_dir_ = grabber_sequences + "/pcd"; // Get pcd files - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (pcd_dir_); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (pcd_dir_); itr != end_itr; ++itr) { if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (itr->path ().extension ().string ()) == ".PCD" ) { diff --git a/test/io/test_io.cpp b/test/io/test_io.cpp index 53438b2e..caa95123 100644 --- a/test/io/test_io.cpp +++ b/test/io/test_io.cpp @@ -49,6 +49,7 @@ #include #include #include +#include // for setprecision #include #include @@ -1081,7 +1082,7 @@ TEST(PCL, OBJRead) fs.close (); pcl::PCLPointCloud2 blob; - pcl::OBJReader objreader = pcl::OBJReader(); + pcl::OBJReader objreader; int res = objreader.read ("test_obj.obj", blob); EXPECT_NE (res, -1); EXPECT_EQ (blob.width, 8); @@ -1120,10 +1121,55 @@ TEST(PCL, OBJRead) EXPECT_EQ (blob.fields[5].count, 1); EXPECT_EQ (blob.fields[5].datatype, pcl::PCLPointField::FLOAT32); + auto fblob = reinterpret_cast(blob.data.data()); + + size_t offset_p = 0; + size_t offset_vn = blob.fields[3].offset / 4; + for (size_t i = 0; i < blob.width; ++i, offset_p += 6, offset_vn += 6) + { + Eigen::Vector3f expected_normal = + Eigen::Vector3f(fblob[offset_p], fblob[offset_p + 1], fblob[offset_p + 2]) + .normalized(); + + Eigen::Vector3f actual_normal = + Eigen::Vector3f(fblob[offset_vn], fblob[offset_vn + 1], fblob[offset_vn + 2]) + .normalized(); + + EXPECT_NEAR(expected_normal.x(), actual_normal.x(), 1e-4); + EXPECT_NEAR(expected_normal.y(), actual_normal.y(), 1e-4); + EXPECT_NEAR(expected_normal.z(), actual_normal.z(), 1e-4); + } + remove ("test_obj.obj"); remove ("test_obj.mtl"); } +TEST(PCL, loadOBJWithoutFaces) +{ + std::ofstream fs; + fs.open ("test_obj.obj"); + fs << "v -1.000000 -1.000000 1.000000\n" + "v -1.000000 1.000000 1.000000\n" + "v 1.000000 -1.000000 1.000000\n" + "v 1.000000 1.000000 1.000000\n" + "vn -1.0000 0.0000 0.0000\n" + "vn 0.0000 0.0000 -1.0000\n" + "vn 1.0000 0.0000 0.0000\n" + "vn 0.0000 1.0000 0.0000\n"; + + fs.close (); + pcl::PointCloud point_cloud; + pcl::io::loadOBJFile("test_obj.obj", point_cloud); + EXPECT_EQ(point_cloud.size(), 4); + EXPECT_NEAR(point_cloud[0].normal_x, -1.0, 1e-5); + EXPECT_NEAR(point_cloud[1].normal_z, -1.0, 1e-5); + EXPECT_NEAR(point_cloud[2].normal_x, 1.0, 1e-5); + EXPECT_NEAR(point_cloud[3].normal_y, 1.0, 1e-5); + EXPECT_NEAR(point_cloud[1].normal_y, 0.0, 1e-5); + EXPECT_NEAR(point_cloud[3].normal_z, 0.0, 1e-5); + remove ("test_obj.obj"); +} + ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// struct PointXYZFPFH33 diff --git a/test/io/test_timestamp.cpp b/test/io/test_timestamp.cpp index a9f31821..a4858681 100644 --- a/test/io/test_timestamp.cpp +++ b/test/io/test_timestamp.cpp @@ -18,7 +18,7 @@ TEST(PCL, TestTimestampGeneratorZeroFraction) const auto timestamp = pcl::getTimestamp(time); - EXPECT_EQ(timestamp, "19700101T" + getTimeOffset() + "0000"); + EXPECT_EQ(timestamp.size(), 15); } TEST(PCL, TestTimestampGeneratorWithFraction) @@ -28,7 +28,8 @@ TEST(PCL, TestTimestampGeneratorWithFraction) const auto timestamp = pcl::getTimestamp(dt); - EXPECT_EQ(timestamp, "19700101T" + getTimeOffset() + "0000.123456"); + ASSERT_EQ(timestamp.size(), 22); + EXPECT_EQ(timestamp.substr(15), ".123456"); } TEST(PCL, TestTimestampGeneratorWithSmallFraction) @@ -38,7 +39,8 @@ TEST(PCL, TestTimestampGeneratorWithSmallFraction) const auto timestamp = pcl::getTimestamp(dt); - EXPECT_EQ(timestamp, "19700101T" + getTimeOffset() + "0000.000123"); + ASSERT_EQ(timestamp.size(), 22); + EXPECT_EQ(timestamp.substr(15), ".000123"); } TEST(PCL, TestParseTimestamp) diff --git a/test/kdtree/CMakeLists.txt b/test/kdtree/CMakeLists.txt index e88a4a34..a597d193 100644 --- a/test/kdtree/CMakeLists.txt +++ b/test/kdtree/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Point cloud library kdtree module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS kdtree) set(OPT_DEPS io) # io is not a mandatory dependency in kdtree -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT (build AND BUILD_io)) diff --git a/test/keypoints/CMakeLists.txt b/test/keypoints/CMakeLists.txt index a8a3498d..173bf447 100644 --- a/test/keypoints/CMakeLists.txt +++ b/test/keypoints/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Point cloud library keypoints module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS keypoints) set(OPT_DEPS io) # module does not depend on these -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT (build AND BUILD_io)) diff --git a/test/ml/CMakeLists.txt b/test/ml/CMakeLists.txt index c3455834..ada0833f 100644 --- a/test/ml/CMakeLists.txt +++ b/test/ml/CMakeLists.txt @@ -2,9 +2,7 @@ set(SUBSYS_NAME tests_ml) set(SUBSYS_DESC "Point cloud library ml module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS ml) -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) diff --git a/test/octree/CMakeLists.txt b/test/octree/CMakeLists.txt index 7c71c702..43fcb734 100644 --- a/test/octree/CMakeLists.txt +++ b/test/octree/CMakeLists.txt @@ -2,9 +2,7 @@ set(SUBSYS_NAME tests_octree) set(SUBSYS_DESC "Point cloud library octree module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS octree) -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) @@ -13,7 +11,7 @@ endif() PCL_ADD_TEST(a_octree_test test_octree FILES test_octree.cpp - LINK_WITH pcl_gtest pcl_common) + LINK_WITH pcl_gtest pcl_common pcl_octree) PCL_ADD_TEST(a_octree_iterator_test test_octree_iterator FILES test_octree_iterator.cpp LINK_WITH pcl_gtest pcl_common pcl_octree) diff --git a/test/octree/test_octree.cpp b/test/octree/test_octree.cpp index 7fbd7bb0..4ca4def3 100644 --- a/test/octree/test_octree.cpp +++ b/test/octree/test_octree.cpp @@ -265,7 +265,7 @@ TEST (PCL, Octree_Dynamic_Depth_Test) for (int point = 0; point < 15; point++) { - // gereate a random point + // generate a random point PointXYZ newPoint (1.0, 2.0, 3.0); // OctreePointCloudPointVector can store all points.. @@ -290,7 +290,7 @@ TEST (PCL, Octree_Dynamic_Depth_Test) for (int point = 0; point < pointcount; point++) { - // gereate a random point + // generate a random point PointXYZ newPoint (static_cast (1024.0 * rand () / RAND_MAX), static_cast (1024.0 * rand () / RAND_MAX), static_cast (1024.0 * rand () / RAND_MAX)); @@ -713,7 +713,7 @@ TEST (PCL, Octree_Pointcloud_Test) for (int point = 0; point < pointcount; point++) { - // gereate a random point + // generate a random point PointXYZ newPoint (static_cast (1024.0 * rand () / RAND_MAX), static_cast (1024.0 * rand () / RAND_MAX), static_cast (1024.0 * rand () / RAND_MAX)); diff --git a/test/outofcore/CMakeLists.txt b/test/outofcore/CMakeLists.txt index e4b4b449..7ce9303b 100644 --- a/test/outofcore/CMakeLists.txt +++ b/test/outofcore/CMakeLists.txt @@ -3,16 +3,13 @@ set(SUBSYS_DESC "Point cloud library outofcore module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS outofcore) set(OPT_DEPS) # module does not depend on these -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) return() endif() -include_directories(SYSTEM ${VTK_INCLUDE_DIRS}) PCL_ADD_TEST (outofcore_test test_outofcore FILES test_outofcore.cpp LINK_WITH pcl_gtest pcl_common pcl_io pcl_filters pcl_outofcore pcl_visualization) diff --git a/test/outofcore/test_outofcore.cpp b/test/outofcore/test_outofcore.cpp index cb5cfff4..1d754153 100644 --- a/test/outofcore/test_outofcore.cpp +++ b/test/outofcore/test_outofcore.cpp @@ -44,6 +44,7 @@ #include +#include #include #include #include @@ -98,7 +99,7 @@ AlignedPointTVector points; bool compPt (const PointT &p1, const PointT &p2) { - return !(p1.x != p2.x || p1.y != p2.y || p1.z != p2.z); + return (p1.x == p2.x && p1.y == p2.y && p1.z == p2.z); } TEST (PCL, Outofcore_Octree_Build) @@ -444,7 +445,7 @@ TEST_F (OutofcoreTest, Outofcore_Constructors) AlignedPointTVector some_points; for (unsigned int i=0; i< numPts; i++) - some_points.push_back (PointT (static_cast(rand () % 1024), static_cast(rand () % 1024), static_cast(rand () % 1024))); + some_points.emplace_back(static_cast(rand () % 1024), static_cast(rand () % 1024), static_cast(rand () % 1024)); //(Case 1) diff --git a/test/people/CMakeLists.txt b/test/people/CMakeLists.txt index 4dc04fe0..d920a36b 100644 --- a/test/people/CMakeLists.txt +++ b/test/people/CMakeLists.txt @@ -3,16 +3,13 @@ set(SUBSYS_DESC "Point cloud library people module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS people) set(OPT_DEPS) # module does not depend on these -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) return() endif() -include_directories(SYSTEM ${VTK_INCLUDE_DIRS}) PCL_ADD_TEST(a_people_detection_test test_people_detection FILES test_people_groundBasedPeopleDetectionApp.cpp LINK_WITH pcl_gtest pcl_common pcl_io pcl_kdtree pcl_search pcl_features pcl_sample_consensus pcl_filters pcl_segmentation pcl_people diff --git a/test/recognition/CMakeLists.txt b/test/recognition/CMakeLists.txt index 06dc86c9..0377cfda 100644 --- a/test/recognition/CMakeLists.txt +++ b/test/recognition/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Point cloud library recognition module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS recognition) set(OPT_DEPS keypoints) # module does not depend on these -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) @@ -14,7 +12,7 @@ endif() PCL_ADD_TEST(a_recognition_ism_test test_recognition_ism FILES test_recognition_ism.cpp - LINK_WITH pcl_gtest pcl_io pcl_features + LINK_WITH pcl_gtest pcl_io pcl_features pcl_recognition ARGUMENTS "${PCL_SOURCE_DIR}/test/ism_train.pcd" "${PCL_SOURCE_DIR}/test/ism_test.pcd") if(BUILD_keypoints) diff --git a/test/registration/CMakeLists.txt b/test/registration/CMakeLists.txt index db199f02..f58ee30b 100644 --- a/test/registration/CMakeLists.txt +++ b/test/registration/CMakeLists.txt @@ -1,11 +1,9 @@ set(SUBSYS_NAME tests_registration) set(SUBSYS_DESC "Point cloud library registration module unit tests") -PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS registration) +PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS io registration) set(OPT_DEPS io) # module does not depend on these -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) diff --git a/test/registration/test_correspondence_estimation.cpp b/test/registration/test_correspondence_estimation.cpp index b251dd97..3e026707 100644 --- a/test/registration/test_correspondence_estimation.cpp +++ b/test/registration/test_correspondence_estimation.cpp @@ -36,7 +36,6 @@ */ #include -#include #include #include #include @@ -101,7 +100,7 @@ TYPED_TEST(CorrespondenceEstimationTestSuite, CorrespondenceEstimationNormalShoo auto cloud1 (pcl::make_shared> ()); auto cloud2 (pcl::make_shared> ()); - // Defining two parallel planes differing only by the y co-ordinate + // Defining two parallel planes differing only by the y coordinate for (std::size_t i = 0; i < 50; ++i) { for (std::size_t j = 0; j < 25; ++j) diff --git a/test/registration/test_fpcs_ia.cpp b/test/registration/test_fpcs_ia.cpp index 75a780a1..18f1d1cb 100644 --- a/test/registration/test_fpcs_ia.cpp +++ b/test/registration/test_fpcs_ia.cpp @@ -73,17 +73,18 @@ TEST (PCL, FPCSInitialAlignment) fpcs_ia.setNumberOfThreads (nr_threads); fpcs_ia.setApproxOverlap (approx_overlap); fpcs_ia.setDelta (delta, true); + fpcs_ia.setScoreThreshold (0.025); // if score is below this threshold, fpcs can stop because the solution is very good fpcs_ia.setNumberOfSamples (nr_samples); // align fpcs_ia.align (source_aligned); EXPECT_EQ (source_aligned.size (), cloud_source.size ()); - // check for correct coarse transformation marix - //Eigen::Matrix4f transform_res_from_fpcs = fpcs_ia.getFinalTransformation (); - //for (int i = 0; i < 4; ++i) - // for (int j = 0; j < 4; ++j) - // EXPECT_NEAR (transform_res_from_fpcs (i,j), transform_from_fpcs[i][j], 0.5); + // check for correct coarse transformation matrix + Eigen::Matrix4f transform_res_from_fpcs = fpcs_ia.getFinalTransformation (); + for (int i = 0; i < 4; ++i) + for (int j = 0; j < 4; ++j) + EXPECT_NEAR (transform_res_from_fpcs (i,j), transform_from_fpcs[i][j], 0.25); } diff --git a/test/registration/test_fpcs_ia_data.h b/test/registration/test_fpcs_ia_data.h index ec3c8229..84236a2d 100644 --- a/test/registration/test_fpcs_ia_data.h +++ b/test/registration/test_fpcs_ia_data.h @@ -6,7 +6,7 @@ constexpr float delta = 1.f; constexpr int nr_samples = 100; const float transform_from_fpcs [4][4] = { - { -0.0019f, 0.8266f, -0.5628f, -0.0378f }, + { -0.0019f, 0.8266f, -0.5628f, 0.0378f }, { -0.9999f, -0.0094f, -0.0104f, 0.9997f }, { -0.0139f, 0.5627f, 0.8265f, 0.0521f }, { 0.f, 0.f, 0.f, 1.f } diff --git a/test/registration/test_kfpcs_ia.cpp b/test/registration/test_kfpcs_ia.cpp index ed709afc..4caba0b4 100644 --- a/test/registration/test_kfpcs_ia.cpp +++ b/test/registration/test_kfpcs_ia.cpp @@ -49,7 +49,7 @@ using namespace pcl; using namespace pcl::io; using namespace pcl::registration; -PointCloud cloud_source, cloud_target; +PointCloud cloud_source, cloud_target; ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// TEST (PCL, KFPCSInitialAlignment) @@ -57,13 +57,13 @@ TEST (PCL, KFPCSInitialAlignment) const auto previous_verbosity_level = pcl::console::getVerbosityLevel(); pcl::console::setVerbosityLevel(pcl::console::L_VERBOSE); // create shared pointers - PointCloud::Ptr cloud_source_ptr, cloud_target_ptr; + PointCloud::Ptr cloud_source_ptr, cloud_target_ptr; cloud_source_ptr = cloud_source.makeShared (); cloud_target_ptr = cloud_target.makeShared (); // initialize k-fpcs - PointCloud cloud_source_aligned; - KFPCSInitialAlignment kfpcs_ia; + PointCloud cloud_source_aligned; + KFPCSInitialAlignment kfpcs_ia; kfpcs_ia.setInputSource (cloud_source_ptr); kfpcs_ia.setInputTarget (cloud_target_ptr); @@ -71,6 +71,7 @@ TEST (PCL, KFPCSInitialAlignment) kfpcs_ia.setApproxOverlap (approx_overlap); kfpcs_ia.setDelta (voxel_size, false); kfpcs_ia.setScoreThreshold (abort_score); + kfpcs_ia.setMaximumIterations (100); // repeat alignment 2 times to increase probability to ~99.99% constexpr float max_angle3d = 0.1745f, max_translation3d = 1.f; @@ -107,19 +108,19 @@ main (int argc, char** argv) { if (argc < 3) { - std::cerr << "No test files given. Please download `bun0.pcd` and `bun4.pcd` pass their path to the test." << std::endl; + std::cerr << "No test files given. Please download `office1_keypoints.pcd` and `office2_keypoints.pcd` pass their path to the test." << std::endl; return (-1); } // Input if (loadPCDFile (argv[1], cloud_source) < 0) { - std::cerr << "Failed to read test file. Please download `bun0.pcd` and pass its path to the test." << std::endl; + std::cerr << "Failed to read test file. Please download `office1_keypoints.pcd` and pass its path to the test." << std::endl; return (-1); } if (loadPCDFile (argv[2], cloud_target) < 0) { - std::cerr << "Failed to read test file. Please download `bun4.pcd` and pass its path to the test." << std::endl; + std::cerr << "Failed to read test file. Please download `office2_keypoints.pcd` and pass its path to the test." << std::endl; return (-1); } diff --git a/test/registration/test_kfpcs_ia_data.h b/test/registration/test_kfpcs_ia_data.h index 4b7e8905..349c7721 100644 --- a/test/registration/test_kfpcs_ia_data.h +++ b/test/registration/test_kfpcs_ia_data.h @@ -3,7 +3,7 @@ constexpr int nr_threads = 1; constexpr float voxel_size = 0.1f; constexpr float approx_overlap = 0.9f; -constexpr float abort_score = 0.0f; +constexpr float abort_score = 0.4f; const float transformation_office1_office2 [4][4] = { { -0.6946f, -0.7194f, -0.0051f, -3.6352f }, diff --git a/test/registration/test_registration.cpp b/test/registration/test_registration.cpp index 0b2d3371..0eda177b 100644 --- a/test/registration/test_registration.cpp +++ b/test/registration/test_registration.cpp @@ -155,30 +155,26 @@ TEST (PCL, findFeatureCorrespondences) ///////////////////////////////////////////////////////////////////////////////////////////////////////////////// // This test if the ICP algorithm can successfully find the transformation of a cloud that has been -// moved 0.7 in x direction. +// moved 0.2 in z direction. // It indirectly test the KDTree doesn't get an empty input cloud, see #3624 // It is more or less a copy of https://github.com/PointCloudLibrary/pcl/blob/cc7fe363c6463a0abc617b1e17e94ab4bd4169ef/doc/tutorials/content/sources/iterative_closest_point/iterative_closest_point.cpp TEST(PCL, ICP_translated) { - pcl::PointCloud::Ptr cloud_in(new pcl::PointCloud(5,1)); + pcl::PointCloud::Ptr cloud_in(new pcl::PointCloud); pcl::PointCloud::Ptr cloud_out(new pcl::PointCloud); // Fill in the CloudIn data - for (auto& point : *cloud_in) - { - point.x = 1024 * rand() / (RAND_MAX + 1.0f); - point.y = 1024 * rand() / (RAND_MAX + 1.0f); - point.z = 1024 * rand() / (RAND_MAX + 1.0f); - } + *cloud_in = cloud_source; *cloud_out = *cloud_in; for (auto& point : *cloud_out) - point.x += 0.7f; + point.z += 0.2f; pcl::IterativeClosestPoint icp; icp.setInputSource(cloud_in); icp.setInputTarget(cloud_out); + icp.setMaximumIterations (50); pcl::PointCloud Final; icp.align(Final); @@ -190,9 +186,12 @@ TEST(PCL, ICP_translated) EXPECT_LT(icp.getFitnessScore(), 1e-6); // Ensure that the translation found is within acceptable threshold. - EXPECT_NEAR(icp.getFinalTransformation()(0, 3), 0.7, 2e-3); + EXPECT_NEAR(icp.getFinalTransformation()(0, 0), 1.0, 2e-3); + EXPECT_NEAR(icp.getFinalTransformation()(1, 1), 1.0, 2e-3); + EXPECT_NEAR(icp.getFinalTransformation()(2, 2), 1.0, 2e-3); + EXPECT_NEAR(icp.getFinalTransformation()(0, 3), 0.0, 2e-3); EXPECT_NEAR(icp.getFinalTransformation()(1, 3), 0.0, 2e-3); - EXPECT_NEAR(icp.getFinalTransformation()(2, 3), 0.0, 2e-3); + EXPECT_NEAR(icp.getFinalTransformation()(2, 3), 0.2, 2e-3); } ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// @@ -900,7 +899,7 @@ main (int argc, char** argv) testing::InitGoogleTest (&argc, argv); return (RUN_ALL_TESTS ()); - // Tranpose the cloud_model + // Transpose the cloud_model /*for (std::size_t i = 0; i < cloud_model.size (); ++i) { // cloud_model[i].z += 1; diff --git a/test/registration/test_registration_api.cpp b/test/registration/test_registration_api.cpp index 1aeebb78..ab3fec26 100644 --- a/test/registration/test_registration_api.cpp +++ b/test/registration/test_registration_api.cpp @@ -401,7 +401,7 @@ TEST (PCL, TransformationEstimationSVD) // Check if the estimation with correspondences gives the same results Eigen::Matrix4f T_SVD_2; pcl::Correspondences corr; corr.reserve (source->size ()); - for (std::size_t i=0; isize (); ++i) corr.push_back (pcl::Correspondence (i, i, 0.f)); + for (std::size_t i=0; isize (); ++i) corr.emplace_back(i, i, 0.f); trans_est_svd.estimateRigidTransformation(*source, *target, corr, T_SVD_2); const Eigen::Quaternionf R_SVD_2 (T_SVD_2.topLeftCorner <3, 3> ()); @@ -444,7 +444,7 @@ TEST (PCL, TransformationEstimationDualQuaternion) // Check if the estimation with correspondences gives the same results Eigen::Matrix4f T_DQ_2; pcl::Correspondences corr; corr.reserve (source->size ()); - for (std::size_t i=0; isize (); ++i) corr.push_back (pcl::Correspondence (i, i, 0.f)); + for (std::size_t i=0; isize (); ++i) corr.emplace_back(i, i, 0.f); trans_est_dual_quaternion.estimateRigidTransformation(*source, *target, corr, T_DQ_2); const Eigen::Quaternionf R_DQ_2 (T_DQ_2.topLeftCorner <3, 3> ()); @@ -540,7 +540,7 @@ TEST (PCL, TransformationEstimationLM) pcl::Correspondences corr; corr.reserve (source->size ()); for (std::size_t i = 0; i < source->size (); ++i) - corr.push_back (pcl::Correspondence (i, i, 0.f)); + corr.emplace_back(i, i, 0.f); trans_est_lm_float.estimateRigidTransformation (*source, *target, corr, T_LM_2_float); const Eigen::Quaternionf R_LM_2_float (T_LM_2_float.topLeftCorner <3, 3> ()); @@ -578,7 +578,7 @@ TEST (PCL, TransformationEstimationLM) corr.clear (); corr.reserve (source->size ()); for (std::size_t i = 0; i < source->size (); ++i) - corr.push_back (pcl::Correspondence (i, i, 0.f)); + corr.emplace_back(i, i, 0.f); trans_est_lm_double.estimateRigidTransformation (*source, *target, corr, T_LM_2_double); const Eigen::Quaterniond R_LM_2_double (T_LM_2_double.topLeftCorner <3, 3> ()); @@ -733,7 +733,7 @@ main (int argc, char** argv) testing::InitGoogleTest (&argc, argv); return (RUN_ALL_TESTS ()); - // Tranpose the cloud_model + // Transpose the cloud_model /*for (std::size_t i = 0; i < cloud_model.size (); ++i) { // cloud_model[i].z += 1; diff --git a/test/sample_consensus/CMakeLists.txt b/test/sample_consensus/CMakeLists.txt index 7656f9bf..fbf004e4 100644 --- a/test/sample_consensus/CMakeLists.txt +++ b/test/sample_consensus/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Point cloud library sample_consensus module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS sample_consensus) set(OPT_DEPS io) -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) diff --git a/test/sample_consensus/test_sample_consensus_quadric_models.cpp b/test/sample_consensus/test_sample_consensus_quadric_models.cpp index dbdf375a..75606bdc 100644 --- a/test/sample_consensus/test_sample_consensus_quadric_models.cpp +++ b/test/sample_consensus/test_sample_consensus_quadric_models.cpp @@ -36,17 +36,17 @@ * */ -#include -#include // for EXPECT_XYZ_NEAR - #include -#include -#include -#include #include #include -#include +#include +#include #include +#include +#include +#include +#include +#include // for EXPECT_XYZ_NEAR using namespace pcl; @@ -54,526 +54,550 @@ using SampleConsensusModelSpherePtr = SampleConsensusModelSphere::Ptr; using SampleConsensusModelConePtr = SampleConsensusModelCone::Ptr; using SampleConsensusModelCircle2DPtr = SampleConsensusModelCircle2D::Ptr; using SampleConsensusModelCircle3DPtr = SampleConsensusModelCircle3D::Ptr; -using SampleConsensusModelCylinderPtr = SampleConsensusModelCylinder::Ptr; -using SampleConsensusModelNormalSpherePtr = SampleConsensusModelNormalSphere::Ptr; +using SampleConsensusModelCylinderPtr = + SampleConsensusModelCylinder::Ptr; +using SampleConsensusModelNormalSpherePtr = + SampleConsensusModelNormalSphere::Ptr; using SampleConsensusModelEllipse3DPtr = SampleConsensusModelEllipse3D::Ptr; +using SampleConsensusModelTorusPtr = SampleConsensusModelTorus::Ptr; ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -TEST (SampleConsensusModelSphere, RANSAC) +TEST(SampleConsensusModelSphere, RANSAC) { - srand (0); + srand(0); // Use a custom point cloud for these tests until we need something better PointCloud cloud; - cloud.resize (10); - cloud[0].getVector3fMap () << 1.7068f, 1.0684f, 2.2147f; - cloud[1].getVector3fMap () << 2.4708f, 2.3081f, 1.1736f; - cloud[2].getVector3fMap () << 2.7609f, 1.9095f, 1.3574f; - cloud[3].getVector3fMap () << 2.8016f, 1.6704f, 1.5009f; - cloud[4].getVector3fMap () << 1.8517f, 2.0276f, 1.0112f; - cloud[5].getVector3fMap () << 1.8726f, 1.3539f, 2.7523f; - cloud[6].getVector3fMap () << 2.5179f, 2.3218f, 1.2074f; - cloud[7].getVector3fMap () << 2.4026f, 2.5114f, 2.7588f; - cloud[8].getVector3fMap () << 2.6999f, 2.5606f, 1.5571f; - cloud[9].getVector3fMap () << 0.0000f, 0.0000f, 0.0000f; + cloud.resize(10); + cloud[0].getVector3fMap() << 1.7068f, 1.0684f, 2.2147f; + cloud[1].getVector3fMap() << 2.4708f, 2.3081f, 1.1736f; + cloud[2].getVector3fMap() << 2.7609f, 1.9095f, 1.3574f; + cloud[3].getVector3fMap() << 2.8016f, 1.6704f, 1.5009f; + cloud[4].getVector3fMap() << 1.8517f, 2.0276f, 1.0112f; + cloud[5].getVector3fMap() << 1.8726f, 1.3539f, 2.7523f; + cloud[6].getVector3fMap() << 2.5179f, 2.3218f, 1.2074f; + cloud[7].getVector3fMap() << 2.4026f, 2.5114f, 2.7588f; + cloud[8].getVector3fMap() << 2.6999f, 2.5606f, 1.5571f; + cloud[9].getVector3fMap() << 0.0000f, 0.0000f, 0.0000f; // Create a shared sphere model pointer directly - SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere (cloud.makeShared ())); + SampleConsensusModelSpherePtr model( + new SampleConsensusModelSphere(cloud.makeShared())); // Create the RANSAC object - RandomSampleConsensus sac (model, 0.03); + RandomSampleConsensus sac(model, 0.03); // Algorithm tests - bool result = sac.computeModel (); - ASSERT_TRUE (result); + bool result = sac.computeModel(); + ASSERT_TRUE(result); pcl::Indices sample; - sac.getModel (sample); - EXPECT_EQ (4, sample.size ()); + sac.getModel(sample); + EXPECT_EQ(4, sample.size()); pcl::Indices inliers; - sac.getInliers (inliers); - EXPECT_EQ (9, inliers.size ()); + sac.getInliers(inliers); + EXPECT_EQ(9, inliers.size()); Eigen::VectorXf coeff; - sac.getModelCoefficients (coeff); - EXPECT_EQ (4, coeff.size ()); - EXPECT_NEAR (2, coeff[0] / coeff[3], 1e-2); - EXPECT_NEAR (2, coeff[1] / coeff[3], 1e-2); - EXPECT_NEAR (2, coeff[2] / coeff[3], 1e-2); + sac.getModelCoefficients(coeff); + EXPECT_EQ(4, coeff.size()); + EXPECT_NEAR(2, coeff[0] / coeff[3], 1e-2); + EXPECT_NEAR(2, coeff[1] / coeff[3], 1e-2); + EXPECT_NEAR(2, coeff[2] / coeff[3], 1e-2); Eigen::VectorXf coeff_refined; - model->optimizeModelCoefficients (inliers, coeff, coeff_refined); - EXPECT_EQ (4, coeff_refined.size ()); - EXPECT_NEAR (2, coeff_refined[0] / coeff_refined[3], 1e-2); - EXPECT_NEAR (2, coeff_refined[1] / coeff_refined[3], 1e-2); - EXPECT_NEAR (2, coeff_refined[2] / coeff_refined[3], 1e-2); + model->optimizeModelCoefficients(inliers, coeff, coeff_refined); + EXPECT_EQ(4, coeff_refined.size()); + EXPECT_NEAR(2, coeff_refined[0] / coeff_refined[3], 1e-2); + EXPECT_NEAR(2, coeff_refined[1] / coeff_refined[3], 1e-2); + EXPECT_NEAR(2, coeff_refined[2] / coeff_refined[3], 1e-2); } ////////////////////////////////////////////////////////////////////////////////////////////////// template -class SampleConsensusModelSphereTest : private SampleConsensusModelSphere -{ - public: - using SampleConsensusModelSphere::SampleConsensusModelSphere; - using SampleConsensusModelSphere::countWithinDistanceStandard; -#if defined (__SSE__) && defined (__SSE2__) && defined (__SSE4_1__) - using SampleConsensusModelSphere::countWithinDistanceSSE; +class SampleConsensusModelSphereTest : private SampleConsensusModelSphere { +public: + using SampleConsensusModelSphere::SampleConsensusModelSphere; + using SampleConsensusModelSphere::countWithinDistanceStandard; +#if defined(__SSE__) && defined(__SSE2__) && defined(__SSE4_1__) + using SampleConsensusModelSphere::countWithinDistanceSSE; #endif -#if defined (__AVX__) && defined (__AVX2__) - using SampleConsensusModelSphere::countWithinDistanceAVX; +#if defined(__AVX__) && defined(__AVX2__) + using SampleConsensusModelSphere::countWithinDistanceAVX; #endif }; -TEST (SampleConsensusModelSphere, SIMD_countWithinDistance) // Test if all countWithinDistance implementations return the same value +TEST(SampleConsensusModelSphere, + SIMD_countWithinDistance) // Test if all countWithinDistance implementations return + // the same value { - const auto seed = static_cast (std::time (nullptr)); - srand (seed); - for (size_t i=0; i<100; i++) // Run as often as you like + const auto seed = static_cast(std::time(nullptr)); + srand(seed); + for (size_t i = 0; i < 100; i++) // Run as often as you like { // Generate a cloud with 1000 random points PointCloud cloud; pcl::Indices indices; - cloud.resize (1000); - for (std::size_t idx = 0; idx < cloud.size (); ++idx) - { - cloud[idx].x = 2.0 * static_cast (rand ()) / RAND_MAX - 1.0; - cloud[idx].y = 2.0 * static_cast (rand ()) / RAND_MAX - 1.0; - cloud[idx].z = 2.0 * static_cast (rand ()) / RAND_MAX - 1.0; - if (rand () % 3 != 0) - { - indices.push_back (static_cast (idx)); + cloud.resize(1000); + for (std::size_t idx = 0; idx < cloud.size(); ++idx) { + cloud[idx].x = 2.0 * static_cast(rand()) / RAND_MAX - 1.0; + cloud[idx].y = 2.0 * static_cast(rand()) / RAND_MAX - 1.0; + cloud[idx].z = 2.0 * static_cast(rand()) / RAND_MAX - 1.0; + if (rand() % 3 != 0) { + indices.push_back(static_cast(idx)); } } - SampleConsensusModelSphereTest model (cloud.makeShared (), indices, true); + SampleConsensusModelSphereTest model(cloud.makeShared(), indices, true); // Generate random sphere model parameters Eigen::VectorXf model_coefficients(4); - model_coefficients << 2.0 * static_cast (rand ()) / RAND_MAX - 1.0, - 2.0 * static_cast (rand ()) / RAND_MAX - 1.0, - 2.0 * static_cast (rand ()) / RAND_MAX - 1.0, - 0.15 * static_cast (rand ()) / RAND_MAX; // center and radius + model_coefficients << 2.0 * static_cast(rand()) / RAND_MAX - 1.0, + 2.0 * static_cast(rand()) / RAND_MAX - 1.0, + 2.0 * static_cast(rand()) / RAND_MAX - 1.0, + 0.15 * static_cast(rand()) / RAND_MAX; // center and radius - const double threshold = 0.15 * static_cast (rand ()) / RAND_MAX; // threshold in [0; 0.1] + const double threshold = + 0.15 * static_cast(rand()) / RAND_MAX; // threshold in [0; 0.1] // The number of inliers is usually somewhere between 0 and 10 - const auto res_standard = model.countWithinDistanceStandard (model_coefficients, threshold); // Standard - PCL_DEBUG ("seed=%lu, i=%lu, model=(%f, %f, %f, %f), threshold=%f, res_standard=%lu\n", seed, i, - model_coefficients(0), model_coefficients(1), model_coefficients(2), model_coefficients(3), threshold, res_standard); -#if defined (__SSE__) && defined (__SSE2__) && defined (__SSE4_1__) - const auto res_sse = model.countWithinDistanceSSE (model_coefficients, threshold); // SSE - ASSERT_EQ (res_standard, res_sse); + const auto res_standard = + model.countWithinDistanceStandard(model_coefficients, threshold); // Standard + PCL_DEBUG( + "seed=%lu, i=%lu, model=(%f, %f, %f, %f), threshold=%f, res_standard=%lu\n", + seed, + i, + model_coefficients(0), + model_coefficients(1), + model_coefficients(2), + model_coefficients(3), + threshold, + res_standard); +#if defined(__SSE__) && defined(__SSE2__) && defined(__SSE4_1__) + const auto res_sse = + model.countWithinDistanceSSE(model_coefficients, threshold); // SSE + ASSERT_EQ(res_standard, res_sse); #endif -#if defined (__AVX__) && defined (__AVX2__) - const auto res_avx = model.countWithinDistanceAVX (model_coefficients, threshold); // AVX - ASSERT_EQ (res_standard, res_avx); +#if defined(__AVX__) && defined(__AVX2__) + const auto res_avx = + model.countWithinDistanceAVX(model_coefficients, threshold); // AVX + ASSERT_EQ(res_standard, res_avx); #endif } } ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -TEST (SampleConsensusModelNormalSphere, RANSAC) +TEST(SampleConsensusModelNormalSphere, RANSAC) { - srand (0); + srand(0); // Use a custom point cloud for these tests until we need something better PointCloud cloud; PointCloud normals; - cloud.resize (27); normals.resize (27); - cloud[ 0].getVector3fMap () << -0.014695f, 0.009549f, 0.954775f; - cloud[ 1].getVector3fMap () << 0.014695f, 0.009549f, 0.954775f; - cloud[ 2].getVector3fMap () << -0.014695f, 0.040451f, 0.954775f; - cloud[ 3].getVector3fMap () << 0.014695f, 0.040451f, 0.954775f; - cloud[ 4].getVector3fMap () << -0.009082f, -0.015451f, 0.972049f; - cloud[ 5].getVector3fMap () << 0.009082f, -0.015451f, 0.972049f; - cloud[ 6].getVector3fMap () << -0.038471f, 0.009549f, 0.972049f; - cloud[ 7].getVector3fMap () << 0.038471f, 0.009549f, 0.972049f; - cloud[ 8].getVector3fMap () << -0.038471f, 0.040451f, 0.972049f; - cloud[ 9].getVector3fMap () << 0.038471f, 0.040451f, 0.972049f; - cloud[10].getVector3fMap () << -0.009082f, 0.065451f, 0.972049f; - cloud[11].getVector3fMap () << 0.009082f, 0.065451f, 0.972049f; - cloud[12].getVector3fMap () << -0.023776f, -0.015451f, 0.982725f; - cloud[13].getVector3fMap () << 0.023776f, -0.015451f, 0.982725f; - cloud[14].getVector3fMap () << -0.023776f, 0.065451f, 0.982725f; - cloud[15].getVector3fMap () << 0.023776f, 0.065451f, 0.982725f; - cloud[16].getVector3fMap () << -0.000000f, -0.025000f, 1.000000f; - cloud[17].getVector3fMap () << 0.000000f, -0.025000f, 1.000000f; - cloud[18].getVector3fMap () << -0.029389f, -0.015451f, 1.000000f; - cloud[19].getVector3fMap () << 0.029389f, -0.015451f, 1.000000f; - cloud[20].getVector3fMap () << -0.047553f, 0.009549f, 1.000000f; - cloud[21].getVector3fMap () << 0.047553f, 0.009549f, 1.000000f; - cloud[22].getVector3fMap () << -0.047553f, 0.040451f, 1.000000f; - cloud[23].getVector3fMap () << 0.047553f, 0.040451f, 1.000000f; - cloud[24].getVector3fMap () << -0.029389f, 0.065451f, 1.000000f; - cloud[25].getVector3fMap () << 0.029389f, 0.065451f, 1.000000f; - cloud[26].getVector3fMap () << 0.000000f, 0.075000f, 1.000000f; - - normals[ 0].getNormalVector3fMap () << -0.293893f, -0.309017f, -0.904509f; - normals[ 1].getNormalVector3fMap () << 0.293893f, -0.309017f, -0.904508f; - normals[ 2].getNormalVector3fMap () << -0.293893f, 0.309017f, -0.904509f; - normals[ 3].getNormalVector3fMap () << 0.293893f, 0.309017f, -0.904508f; - normals[ 4].getNormalVector3fMap () << -0.181636f, -0.809017f, -0.559017f; - normals[ 5].getNormalVector3fMap () << 0.181636f, -0.809017f, -0.559017f; - normals[ 6].getNormalVector3fMap () << -0.769421f, -0.309017f, -0.559017f; - normals[ 7].getNormalVector3fMap () << 0.769421f, -0.309017f, -0.559017f; - normals[ 8].getNormalVector3fMap () << -0.769421f, 0.309017f, -0.559017f; - normals[ 9].getNormalVector3fMap () << 0.769421f, 0.309017f, -0.559017f; - normals[10].getNormalVector3fMap () << -0.181636f, 0.809017f, -0.559017f; - normals[11].getNormalVector3fMap () << 0.181636f, 0.809017f, -0.559017f; - normals[12].getNormalVector3fMap () << -0.475528f, -0.809017f, -0.345491f; - normals[13].getNormalVector3fMap () << 0.475528f, -0.809017f, -0.345491f; - normals[14].getNormalVector3fMap () << -0.475528f, 0.809017f, -0.345491f; - normals[15].getNormalVector3fMap () << 0.475528f, 0.809017f, -0.345491f; - normals[16].getNormalVector3fMap () << -0.000000f, -1.000000f, 0.000000f; - normals[17].getNormalVector3fMap () << 0.000000f, -1.000000f, 0.000000f; - normals[18].getNormalVector3fMap () << -0.587785f, -0.809017f, 0.000000f; - normals[19].getNormalVector3fMap () << 0.587785f, -0.809017f, 0.000000f; - normals[20].getNormalVector3fMap () << -0.951057f, -0.309017f, 0.000000f; - normals[21].getNormalVector3fMap () << 0.951057f, -0.309017f, 0.000000f; - normals[22].getNormalVector3fMap () << -0.951057f, 0.309017f, 0.000000f; - normals[23].getNormalVector3fMap () << 0.951057f, 0.309017f, 0.000000f; - normals[24].getNormalVector3fMap () << -0.587785f, 0.809017f, 0.000000f; - normals[25].getNormalVector3fMap () << 0.587785f, 0.809017f, 0.000000f; - normals[26].getNormalVector3fMap () << 0.000000f, 1.000000f, 0.000000f; + cloud.resize(27); + normals.resize(27); + cloud[0].getVector3fMap() << -0.014695f, 0.009549f, 0.954775f; + cloud[1].getVector3fMap() << 0.014695f, 0.009549f, 0.954775f; + cloud[2].getVector3fMap() << -0.014695f, 0.040451f, 0.954775f; + cloud[3].getVector3fMap() << 0.014695f, 0.040451f, 0.954775f; + cloud[4].getVector3fMap() << -0.009082f, -0.015451f, 0.972049f; + cloud[5].getVector3fMap() << 0.009082f, -0.015451f, 0.972049f; + cloud[6].getVector3fMap() << -0.038471f, 0.009549f, 0.972049f; + cloud[7].getVector3fMap() << 0.038471f, 0.009549f, 0.972049f; + cloud[8].getVector3fMap() << -0.038471f, 0.040451f, 0.972049f; + cloud[9].getVector3fMap() << 0.038471f, 0.040451f, 0.972049f; + cloud[10].getVector3fMap() << -0.009082f, 0.065451f, 0.972049f; + cloud[11].getVector3fMap() << 0.009082f, 0.065451f, 0.972049f; + cloud[12].getVector3fMap() << -0.023776f, -0.015451f, 0.982725f; + cloud[13].getVector3fMap() << 0.023776f, -0.015451f, 0.982725f; + cloud[14].getVector3fMap() << -0.023776f, 0.065451f, 0.982725f; + cloud[15].getVector3fMap() << 0.023776f, 0.065451f, 0.982725f; + cloud[16].getVector3fMap() << -0.000000f, -0.025000f, 1.000000f; + cloud[17].getVector3fMap() << 0.000000f, -0.025000f, 1.000000f; + cloud[18].getVector3fMap() << -0.029389f, -0.015451f, 1.000000f; + cloud[19].getVector3fMap() << 0.029389f, -0.015451f, 1.000000f; + cloud[20].getVector3fMap() << -0.047553f, 0.009549f, 1.000000f; + cloud[21].getVector3fMap() << 0.047553f, 0.009549f, 1.000000f; + cloud[22].getVector3fMap() << -0.047553f, 0.040451f, 1.000000f; + cloud[23].getVector3fMap() << 0.047553f, 0.040451f, 1.000000f; + cloud[24].getVector3fMap() << -0.029389f, 0.065451f, 1.000000f; + cloud[25].getVector3fMap() << 0.029389f, 0.065451f, 1.000000f; + cloud[26].getVector3fMap() << 0.000000f, 0.075000f, 1.000000f; + + normals[0].getNormalVector3fMap() << -0.293893f, -0.309017f, -0.904509f; + normals[1].getNormalVector3fMap() << 0.293893f, -0.309017f, -0.904508f; + normals[2].getNormalVector3fMap() << -0.293893f, 0.309017f, -0.904509f; + normals[3].getNormalVector3fMap() << 0.293893f, 0.309017f, -0.904508f; + normals[4].getNormalVector3fMap() << -0.181636f, -0.809017f, -0.559017f; + normals[5].getNormalVector3fMap() << 0.181636f, -0.809017f, -0.559017f; + normals[6].getNormalVector3fMap() << -0.769421f, -0.309017f, -0.559017f; + normals[7].getNormalVector3fMap() << 0.769421f, -0.309017f, -0.559017f; + normals[8].getNormalVector3fMap() << -0.769421f, 0.309017f, -0.559017f; + normals[9].getNormalVector3fMap() << 0.769421f, 0.309017f, -0.559017f; + normals[10].getNormalVector3fMap() << -0.181636f, 0.809017f, -0.559017f; + normals[11].getNormalVector3fMap() << 0.181636f, 0.809017f, -0.559017f; + normals[12].getNormalVector3fMap() << -0.475528f, -0.809017f, -0.345491f; + normals[13].getNormalVector3fMap() << 0.475528f, -0.809017f, -0.345491f; + normals[14].getNormalVector3fMap() << -0.475528f, 0.809017f, -0.345491f; + normals[15].getNormalVector3fMap() << 0.475528f, 0.809017f, -0.345491f; + normals[16].getNormalVector3fMap() << -0.000000f, -1.000000f, 0.000000f; + normals[17].getNormalVector3fMap() << 0.000000f, -1.000000f, 0.000000f; + normals[18].getNormalVector3fMap() << -0.587785f, -0.809017f, 0.000000f; + normals[19].getNormalVector3fMap() << 0.587785f, -0.809017f, 0.000000f; + normals[20].getNormalVector3fMap() << -0.951057f, -0.309017f, 0.000000f; + normals[21].getNormalVector3fMap() << 0.951057f, -0.309017f, 0.000000f; + normals[22].getNormalVector3fMap() << -0.951057f, 0.309017f, 0.000000f; + normals[23].getNormalVector3fMap() << 0.951057f, 0.309017f, 0.000000f; + normals[24].getNormalVector3fMap() << -0.587785f, 0.809017f, 0.000000f; + normals[25].getNormalVector3fMap() << 0.587785f, 0.809017f, 0.000000f; + normals[26].getNormalVector3fMap() << 0.000000f, 1.000000f, 0.000000f; // Create a shared sphere model pointer directly - SampleConsensusModelNormalSpherePtr model (new SampleConsensusModelNormalSphere (cloud.makeShared ())); - model->setInputNormals (normals.makeShared ()); + SampleConsensusModelNormalSpherePtr model( + new SampleConsensusModelNormalSphere(cloud.makeShared())); + model->setInputNormals(normals.makeShared()); // Create the RANSAC object - RandomSampleConsensus sac (model, 0.03); + RandomSampleConsensus sac(model, 0.03); // Algorithm tests - bool result = sac.computeModel (); - ASSERT_TRUE (result); + bool result = sac.computeModel(); + ASSERT_TRUE(result); pcl::Indices sample; - sac.getModel (sample); - EXPECT_EQ (4, sample.size ()); + sac.getModel(sample); + EXPECT_EQ(4, sample.size()); pcl::Indices inliers; - sac.getInliers (inliers); - EXPECT_EQ (27, inliers.size ()); + sac.getInliers(inliers); + EXPECT_EQ(27, inliers.size()); Eigen::VectorXf coeff; - sac.getModelCoefficients (coeff); - EXPECT_EQ (4, coeff.size ()); - EXPECT_NEAR (0.000, coeff[0], 1e-2); - EXPECT_NEAR (0.025, coeff[1], 1e-2); - EXPECT_NEAR (1.000, coeff[2], 1e-2); - EXPECT_NEAR (0.050, coeff[3], 1e-2); + sac.getModelCoefficients(coeff); + EXPECT_EQ(4, coeff.size()); + EXPECT_NEAR(0.000, coeff[0], 1e-2); + EXPECT_NEAR(0.025, coeff[1], 1e-2); + EXPECT_NEAR(1.000, coeff[2], 1e-2); + EXPECT_NEAR(0.050, coeff[3], 1e-2); Eigen::VectorXf coeff_refined; - model->optimizeModelCoefficients (inliers, coeff, coeff_refined); - EXPECT_EQ (4, coeff_refined.size ()); - EXPECT_NEAR (0.000, coeff_refined[0], 1e-2); - EXPECT_NEAR (0.025, coeff_refined[1], 1e-2); - EXPECT_NEAR (1.000, coeff_refined[2], 1e-2); - EXPECT_NEAR (0.050, coeff_refined[3], 1e-2); + model->optimizeModelCoefficients(inliers, coeff, coeff_refined); + EXPECT_EQ(4, coeff_refined.size()); + EXPECT_NEAR(0.000, coeff_refined[0], 1e-2); + EXPECT_NEAR(0.025, coeff_refined[1], 1e-2); + EXPECT_NEAR(1.000, coeff_refined[2], 1e-2); + EXPECT_NEAR(0.050, coeff_refined[3], 1e-2); } ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -TEST (SampleConsensusModelCone, RANSAC) +TEST(SampleConsensusModelCone, RANSAC) { - srand (0); + srand(0); // Use a custom point cloud for these tests until we need something better PointCloud cloud; PointCloud normals; - cloud.resize (31); normals.resize (31); - - cloud[ 0].getVector3fMap () << -0.011247f, 0.200000f, 0.965384f; - cloud[ 1].getVector3fMap () << 0.000000f, 0.200000f, 0.963603f; - cloud[ 2].getVector3fMap () << 0.011247f, 0.200000f, 0.965384f; - cloud[ 3].getVector3fMap () << -0.016045f, 0.175000f, 0.977916f; - cloud[ 4].getVector3fMap () << -0.008435f, 0.175000f, 0.974038f; - cloud[ 5].getVector3fMap () << 0.004218f, 0.175000f, 0.973370f; - cloud[ 6].getVector3fMap () << 0.016045f, 0.175000f, 0.977916f; - cloud[ 7].getVector3fMap () << -0.025420f, 0.200000f, 0.974580f; - cloud[ 8].getVector3fMap () << 0.025420f, 0.200000f, 0.974580f; - cloud[ 9].getVector3fMap () << -0.012710f, 0.150000f, 0.987290f; - cloud[10].getVector3fMap () << -0.005624f, 0.150000f, 0.982692f; - cloud[11].getVector3fMap () << 0.002812f, 0.150000f, 0.982247f; - cloud[12].getVector3fMap () << 0.012710f, 0.150000f, 0.987290f; - cloud[13].getVector3fMap () << -0.022084f, 0.175000f, 0.983955f; - cloud[14].getVector3fMap () << 0.022084f, 0.175000f, 0.983955f; - cloud[15].getVector3fMap () << -0.034616f, 0.200000f, 0.988753f; - cloud[16].getVector3fMap () << 0.034616f, 0.200000f, 0.988753f; - cloud[17].getVector3fMap () << -0.006044f, 0.125000f, 0.993956f; - cloud[18].getVector3fMap () << 0.004835f, 0.125000f, 0.993345f; - cloud[19].getVector3fMap () << -0.017308f, 0.150000f, 0.994376f; - cloud[20].getVector3fMap () << 0.017308f, 0.150000f, 0.994376f; - cloud[21].getVector3fMap () << -0.025962f, 0.175000f, 0.991565f; - cloud[22].getVector3fMap () << 0.025962f, 0.175000f, 0.991565f; - cloud[23].getVector3fMap () << -0.009099f, 0.125000f, 1.000000f; - cloud[24].getVector3fMap () << 0.009099f, 0.125000f, 1.000000f; - cloud[25].getVector3fMap () << -0.018199f, 0.150000f, 1.000000f; - cloud[26].getVector3fMap () << 0.018199f, 0.150000f, 1.000000f; - cloud[27].getVector3fMap () << -0.027298f, 0.175000f, 1.000000f; - cloud[28].getVector3fMap () << 0.027298f, 0.175000f, 1.000000f; - cloud[29].getVector3fMap () << -0.036397f, 0.200000f, 1.000000f; - cloud[30].getVector3fMap () << 0.036397f, 0.200000f, 1.000000f; - - normals[ 0].getNormalVector3fMap () << -0.290381f, -0.342020f, -0.893701f; - normals[ 1].getNormalVector3fMap () << 0.000000f, -0.342020f, -0.939693f; - normals[ 2].getNormalVector3fMap () << 0.290381f, -0.342020f, -0.893701f; - normals[ 3].getNormalVector3fMap () << -0.552338f, -0.342020f, -0.760227f; - normals[ 4].getNormalVector3fMap () << -0.290381f, -0.342020f, -0.893701f; - normals[ 5].getNormalVector3fMap () << 0.145191f, -0.342020f, -0.916697f; - normals[ 6].getNormalVector3fMap () << 0.552337f, -0.342020f, -0.760227f; - normals[ 7].getNormalVector3fMap () << -0.656282f, -0.342020f, -0.656283f; - normals[ 8].getNormalVector3fMap () << 0.656282f, -0.342020f, -0.656283f; - normals[ 9].getNormalVector3fMap () << -0.656283f, -0.342020f, -0.656282f; - normals[10].getNormalVector3fMap () << -0.290381f, -0.342020f, -0.893701f; - normals[11].getNormalVector3fMap () << 0.145191f, -0.342020f, -0.916697f; - normals[12].getNormalVector3fMap () << 0.656282f, -0.342020f, -0.656282f; - normals[13].getNormalVector3fMap () << -0.760228f, -0.342020f, -0.552337f; - normals[14].getNormalVector3fMap () << 0.760228f, -0.342020f, -0.552337f; - normals[15].getNormalVector3fMap () << -0.893701f, -0.342020f, -0.290380f; - normals[16].getNormalVector3fMap () << 0.893701f, -0.342020f, -0.290380f; - normals[17].getNormalVector3fMap () << -0.624162f, -0.342020f, -0.624162f; - normals[18].getNormalVector3fMap () << 0.499329f, -0.342020f, -0.687268f; - normals[19].getNormalVector3fMap () << -0.893701f, -0.342020f, -0.290380f; - normals[20].getNormalVector3fMap () << 0.893701f, -0.342020f, -0.290380f; - normals[21].getNormalVector3fMap () << -0.893701f, -0.342020f, -0.290381f; - normals[22].getNormalVector3fMap () << 0.893701f, -0.342020f, -0.290381f; - normals[23].getNormalVector3fMap () << -0.939693f, -0.342020f, 0.000000f; - normals[24].getNormalVector3fMap () << 0.939693f, -0.342020f, 0.000000f; - normals[25].getNormalVector3fMap () << -0.939693f, -0.342020f, 0.000000f; - normals[26].getNormalVector3fMap () << 0.939693f, -0.342020f, 0.000000f; - normals[27].getNormalVector3fMap () << -0.939693f, -0.342020f, 0.000000f; - normals[28].getNormalVector3fMap () << 0.939693f, -0.342020f, 0.000000f; - normals[29].getNormalVector3fMap () << -0.939693f, -0.342020f, 0.000000f; - normals[30].getNormalVector3fMap () << 0.939693f, -0.342020f, 0.000000f; + cloud.resize(31); + normals.resize(31); + + cloud[0].getVector3fMap() << -0.011247f, 0.200000f, 0.965384f; + cloud[1].getVector3fMap() << 0.000000f, 0.200000f, 0.963603f; + cloud[2].getVector3fMap() << 0.011247f, 0.200000f, 0.965384f; + cloud[3].getVector3fMap() << -0.016045f, 0.175000f, 0.977916f; + cloud[4].getVector3fMap() << -0.008435f, 0.175000f, 0.974038f; + cloud[5].getVector3fMap() << 0.004218f, 0.175000f, 0.973370f; + cloud[6].getVector3fMap() << 0.016045f, 0.175000f, 0.977916f; + cloud[7].getVector3fMap() << -0.025420f, 0.200000f, 0.974580f; + cloud[8].getVector3fMap() << 0.025420f, 0.200000f, 0.974580f; + cloud[9].getVector3fMap() << -0.012710f, 0.150000f, 0.987290f; + cloud[10].getVector3fMap() << -0.005624f, 0.150000f, 0.982692f; + cloud[11].getVector3fMap() << 0.002812f, 0.150000f, 0.982247f; + cloud[12].getVector3fMap() << 0.012710f, 0.150000f, 0.987290f; + cloud[13].getVector3fMap() << -0.022084f, 0.175000f, 0.983955f; + cloud[14].getVector3fMap() << 0.022084f, 0.175000f, 0.983955f; + cloud[15].getVector3fMap() << -0.034616f, 0.200000f, 0.988753f; + cloud[16].getVector3fMap() << 0.034616f, 0.200000f, 0.988753f; + cloud[17].getVector3fMap() << -0.006044f, 0.125000f, 0.993956f; + cloud[18].getVector3fMap() << 0.004835f, 0.125000f, 0.993345f; + cloud[19].getVector3fMap() << -0.017308f, 0.150000f, 0.994376f; + cloud[20].getVector3fMap() << 0.017308f, 0.150000f, 0.994376f; + cloud[21].getVector3fMap() << -0.025962f, 0.175000f, 0.991565f; + cloud[22].getVector3fMap() << 0.025962f, 0.175000f, 0.991565f; + cloud[23].getVector3fMap() << -0.009099f, 0.125000f, 1.000000f; + cloud[24].getVector3fMap() << 0.009099f, 0.125000f, 1.000000f; + cloud[25].getVector3fMap() << -0.018199f, 0.150000f, 1.000000f; + cloud[26].getVector3fMap() << 0.018199f, 0.150000f, 1.000000f; + cloud[27].getVector3fMap() << -0.027298f, 0.175000f, 1.000000f; + cloud[28].getVector3fMap() << 0.027298f, 0.175000f, 1.000000f; + cloud[29].getVector3fMap() << -0.036397f, 0.200000f, 1.000000f; + cloud[30].getVector3fMap() << 0.036397f, 0.200000f, 1.000000f; + + normals[0].getNormalVector3fMap() << -0.290381f, -0.342020f, -0.893701f; + normals[1].getNormalVector3fMap() << 0.000000f, -0.342020f, -0.939693f; + normals[2].getNormalVector3fMap() << 0.290381f, -0.342020f, -0.893701f; + normals[3].getNormalVector3fMap() << -0.552338f, -0.342020f, -0.760227f; + normals[4].getNormalVector3fMap() << -0.290381f, -0.342020f, -0.893701f; + normals[5].getNormalVector3fMap() << 0.145191f, -0.342020f, -0.916697f; + normals[6].getNormalVector3fMap() << 0.552337f, -0.342020f, -0.760227f; + normals[7].getNormalVector3fMap() << -0.656282f, -0.342020f, -0.656283f; + normals[8].getNormalVector3fMap() << 0.656282f, -0.342020f, -0.656283f; + normals[9].getNormalVector3fMap() << -0.656283f, -0.342020f, -0.656282f; + normals[10].getNormalVector3fMap() << -0.290381f, -0.342020f, -0.893701f; + normals[11].getNormalVector3fMap() << 0.145191f, -0.342020f, -0.916697f; + normals[12].getNormalVector3fMap() << 0.656282f, -0.342020f, -0.656282f; + normals[13].getNormalVector3fMap() << -0.760228f, -0.342020f, -0.552337f; + normals[14].getNormalVector3fMap() << 0.760228f, -0.342020f, -0.552337f; + normals[15].getNormalVector3fMap() << -0.893701f, -0.342020f, -0.290380f; + normals[16].getNormalVector3fMap() << 0.893701f, -0.342020f, -0.290380f; + normals[17].getNormalVector3fMap() << -0.624162f, -0.342020f, -0.624162f; + normals[18].getNormalVector3fMap() << 0.499329f, -0.342020f, -0.687268f; + normals[19].getNormalVector3fMap() << -0.893701f, -0.342020f, -0.290380f; + normals[20].getNormalVector3fMap() << 0.893701f, -0.342020f, -0.290380f; + normals[21].getNormalVector3fMap() << -0.893701f, -0.342020f, -0.290381f; + normals[22].getNormalVector3fMap() << 0.893701f, -0.342020f, -0.290381f; + normals[23].getNormalVector3fMap() << -0.939693f, -0.342020f, 0.000000f; + normals[24].getNormalVector3fMap() << 0.939693f, -0.342020f, 0.000000f; + normals[25].getNormalVector3fMap() << -0.939693f, -0.342020f, 0.000000f; + normals[26].getNormalVector3fMap() << 0.939693f, -0.342020f, 0.000000f; + normals[27].getNormalVector3fMap() << -0.939693f, -0.342020f, 0.000000f; + normals[28].getNormalVector3fMap() << 0.939693f, -0.342020f, 0.000000f; + normals[29].getNormalVector3fMap() << -0.939693f, -0.342020f, 0.000000f; + normals[30].getNormalVector3fMap() << 0.939693f, -0.342020f, 0.000000f; // Create a shared cylinder model pointer directly - SampleConsensusModelConePtr model (new SampleConsensusModelCone (cloud.makeShared ())); - model->setInputNormals (normals.makeShared ()); + SampleConsensusModelConePtr model( + new SampleConsensusModelCone(cloud.makeShared())); + model->setInputNormals(normals.makeShared()); // Create the RANSAC object - RandomSampleConsensus sac (model, 0.03); + RandomSampleConsensus sac(model, 0.03); // Algorithm tests - bool result = sac.computeModel (); - ASSERT_TRUE (result); + bool result = sac.computeModel(); + ASSERT_TRUE(result); pcl::Indices sample; - sac.getModel (sample); - EXPECT_EQ (3, sample.size ()); + sac.getModel(sample); + EXPECT_EQ(3, sample.size()); pcl::Indices inliers; - sac.getInliers (inliers); - EXPECT_EQ (31, inliers.size ()); + sac.getInliers(inliers); + EXPECT_EQ(31, inliers.size()); Eigen::VectorXf coeff; - sac.getModelCoefficients (coeff); - EXPECT_EQ (7, coeff.size ()); - EXPECT_NEAR (0.000000, coeff[0], 1e-2); - EXPECT_NEAR (0.100000, coeff[1], 1e-2); - EXPECT_NEAR (0.349066, coeff[6], 1e-2); + sac.getModelCoefficients(coeff); + EXPECT_EQ(7, coeff.size()); + EXPECT_NEAR(0.000000, coeff[0], 1e-2); + EXPECT_NEAR(0.100000, coeff[1], 1e-2); + EXPECT_NEAR(0.349066, coeff[6], 1e-2); Eigen::VectorXf coeff_refined; - model->optimizeModelCoefficients (inliers, coeff, coeff_refined); - EXPECT_EQ (7, coeff_refined.size ()); - EXPECT_NEAR (0.349066, coeff_refined[6], 1e-2); + model->optimizeModelCoefficients(inliers, coeff, coeff_refined); + EXPECT_EQ(7, coeff_refined.size()); + EXPECT_NEAR(0.349066, coeff_refined[6], 1e-2); } ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -TEST (SampleConsensusModelCylinder, RANSAC) +TEST(SampleConsensusModelCylinder, RANSAC) { - srand (0); + srand(0); // Use a custom point cloud for these tests until we need something better PointCloud cloud; PointCloud normals; - cloud.resize (20); normals.resize (20); - - cloud[ 0].getVector3fMap () << -0.499902f, 2.199701f, 0.000008f; - cloud[ 1].getVector3fMap () << -0.875397f, 2.030177f, 0.050104f; - cloud[ 2].getVector3fMap () << -0.995875f, 1.635973f, 0.099846f; - cloud[ 3].getVector3fMap () << -0.779523f, 1.285527f, 0.149961f; - cloud[ 4].getVector3fMap () << -0.373285f, 1.216488f, 0.199959f; - cloud[ 5].getVector3fMap () << -0.052893f, 1.475973f, 0.250101f; - cloud[ 6].getVector3fMap () << -0.036558f, 1.887591f, 0.299839f; - cloud[ 7].getVector3fMap () << -0.335048f, 2.171994f, 0.350001f; - cloud[ 8].getVector3fMap () << -0.745456f, 2.135528f, 0.400072f; - cloud[ 9].getVector3fMap () << -0.989282f, 1.803311f, 0.449983f; - cloud[10].getVector3fMap () << -0.900651f, 1.400701f, 0.500126f; - cloud[11].getVector3fMap () << -0.539658f, 1.201468f, 0.550079f; - cloud[12].getVector3fMap () << -0.151875f, 1.340951f, 0.599983f; - cloud[13].getVector3fMap () << -0.000724f, 1.724373f, 0.649882f; - cloud[14].getVector3fMap () << -0.188573f, 2.090983f, 0.699854f; - cloud[15].getVector3fMap () << -0.587925f, 2.192257f, 0.749956f; - cloud[16].getVector3fMap () << -0.927724f, 1.958846f, 0.800008f; - cloud[17].getVector3fMap () << -0.976888f, 1.549655f, 0.849970f; - cloud[18].getVector3fMap () << -0.702003f, 1.242707f, 0.899954f; - cloud[19].getVector3fMap () << -0.289916f, 1.246296f, 0.950075f; - - normals[ 0].getNormalVector3fMap () << 0.000098f, 1.000098f, 0.000008f; - normals[ 1].getNormalVector3fMap () << -0.750891f, 0.660413f, 0.000104f; - normals[ 2].getNormalVector3fMap () << -0.991765f, -0.127949f, -0.000154f; - normals[ 3].getNormalVector3fMap () << -0.558918f, -0.829439f, -0.000039f; - normals[ 4].getNormalVector3fMap () << 0.253627f, -0.967447f, -0.000041f; - normals[ 5].getNormalVector3fMap () << 0.894105f, -0.447965f, 0.000101f; - normals[ 6].getNormalVector3fMap () << 0.926852f, 0.375543f, -0.000161f; - normals[ 7].getNormalVector3fMap () << 0.329948f, 0.943941f, 0.000001f; - normals[ 8].getNormalVector3fMap () << -0.490966f, 0.871203f, 0.000072f; - normals[ 9].getNormalVector3fMap () << -0.978507f, 0.206425f, -0.000017f; - normals[10].getNormalVector3fMap () << -0.801227f, -0.598534f, 0.000126f; - normals[11].getNormalVector3fMap () << -0.079447f, -0.996697f, 0.000079f; - normals[12].getNormalVector3fMap () << 0.696154f, -0.717889f, -0.000017f; - normals[13].getNormalVector3fMap () << 0.998685f, 0.048502f, -0.000118f; - normals[14].getNormalVector3fMap () << 0.622933f, 0.782133f, -0.000146f; - normals[15].getNormalVector3fMap () << -0.175948f, 0.984480f, -0.000044f; - normals[16].getNormalVector3fMap () << -0.855476f, 0.517824f, 0.000008f; - normals[17].getNormalVector3fMap () << -0.953769f, -0.300571f, -0.000030f; - normals[18].getNormalVector3fMap () << -0.404035f, -0.914700f, -0.000046f; - normals[19].getNormalVector3fMap () << 0.420154f, -0.907445f, 0.000075f; + cloud.resize(20); + normals.resize(20); + + cloud[0].getVector3fMap() << -0.499902f, 2.199701f, 0.000008f; + cloud[1].getVector3fMap() << -0.875397f, 2.030177f, 0.050104f; + cloud[2].getVector3fMap() << -0.995875f, 1.635973f, 0.099846f; + cloud[3].getVector3fMap() << -0.779523f, 1.285527f, 0.149961f; + cloud[4].getVector3fMap() << -0.373285f, 1.216488f, 0.199959f; + cloud[5].getVector3fMap() << -0.052893f, 1.475973f, 0.250101f; + cloud[6].getVector3fMap() << -0.036558f, 1.887591f, 0.299839f; + cloud[7].getVector3fMap() << -0.335048f, 2.171994f, 0.350001f; + cloud[8].getVector3fMap() << -0.745456f, 2.135528f, 0.400072f; + cloud[9].getVector3fMap() << -0.989282f, 1.803311f, 0.449983f; + cloud[10].getVector3fMap() << -0.900651f, 1.400701f, 0.500126f; + cloud[11].getVector3fMap() << -0.539658f, 1.201468f, 0.550079f; + cloud[12].getVector3fMap() << -0.151875f, 1.340951f, 0.599983f; + cloud[13].getVector3fMap() << -0.000724f, 1.724373f, 0.649882f; + cloud[14].getVector3fMap() << -0.188573f, 2.090983f, 0.699854f; + cloud[15].getVector3fMap() << -0.587925f, 2.192257f, 0.749956f; + cloud[16].getVector3fMap() << -0.927724f, 1.958846f, 0.800008f; + cloud[17].getVector3fMap() << -0.976888f, 1.549655f, 0.849970f; + cloud[18].getVector3fMap() << -0.702003f, 1.242707f, 0.899954f; + cloud[19].getVector3fMap() << -0.289916f, 1.246296f, 0.950075f; + + normals[0].getNormalVector3fMap() << 0.000098f, 1.000098f, 0.000008f; + normals[1].getNormalVector3fMap() << -0.750891f, 0.660413f, 0.000104f; + normals[2].getNormalVector3fMap() << -0.991765f, -0.127949f, -0.000154f; + normals[3].getNormalVector3fMap() << -0.558918f, -0.829439f, -0.000039f; + normals[4].getNormalVector3fMap() << 0.253627f, -0.967447f, -0.000041f; + normals[5].getNormalVector3fMap() << 0.894105f, -0.447965f, 0.000101f; + normals[6].getNormalVector3fMap() << 0.926852f, 0.375543f, -0.000161f; + normals[7].getNormalVector3fMap() << 0.329948f, 0.943941f, 0.000001f; + normals[8].getNormalVector3fMap() << -0.490966f, 0.871203f, 0.000072f; + normals[9].getNormalVector3fMap() << -0.978507f, 0.206425f, -0.000017f; + normals[10].getNormalVector3fMap() << -0.801227f, -0.598534f, 0.000126f; + normals[11].getNormalVector3fMap() << -0.079447f, -0.996697f, 0.000079f; + normals[12].getNormalVector3fMap() << 0.696154f, -0.717889f, -0.000017f; + normals[13].getNormalVector3fMap() << 0.998685f, 0.048502f, -0.000118f; + normals[14].getNormalVector3fMap() << 0.622933f, 0.782133f, -0.000146f; + normals[15].getNormalVector3fMap() << -0.175948f, 0.984480f, -0.000044f; + normals[16].getNormalVector3fMap() << -0.855476f, 0.517824f, 0.000008f; + normals[17].getNormalVector3fMap() << -0.953769f, -0.300571f, -0.000030f; + normals[18].getNormalVector3fMap() << -0.404035f, -0.914700f, -0.000046f; + normals[19].getNormalVector3fMap() << 0.420154f, -0.907445f, 0.000075f; // Create a shared cylinder model pointer directly - SampleConsensusModelCylinderPtr model (new SampleConsensusModelCylinder (cloud.makeShared ())); - model->setInputNormals (normals.makeShared ()); + SampleConsensusModelCylinderPtr model( + new SampleConsensusModelCylinder(cloud.makeShared())); + model->setInputNormals(normals.makeShared()); // Create the RANSAC object - RandomSampleConsensus sac (model, 0.03); + RandomSampleConsensus sac(model, 0.03); // Algorithm tests - bool result = sac.computeModel (); - ASSERT_TRUE (result); + bool result = sac.computeModel(); + ASSERT_TRUE(result); pcl::Indices sample; - sac.getModel (sample); - EXPECT_EQ (2, sample.size ()); + sac.getModel(sample); + EXPECT_EQ(2, sample.size()); pcl::Indices inliers; - sac.getInliers (inliers); - EXPECT_EQ (20, inliers.size ()); + sac.getInliers(inliers); + EXPECT_EQ(20, inliers.size()); Eigen::VectorXf coeff; - sac.getModelCoefficients (coeff); - EXPECT_EQ (7, coeff.size ()); - EXPECT_NEAR (-0.5, coeff[0], 1e-3); - EXPECT_NEAR ( 1.7, coeff[1], 1e-3); - EXPECT_NEAR ( 0.5, coeff[6], 1e-3); + sac.getModelCoefficients(coeff); + EXPECT_EQ(7, coeff.size()); + EXPECT_NEAR(-0.5, coeff[0], 1e-3); + EXPECT_NEAR(1.7, coeff[1], 1e-3); + EXPECT_NEAR(0.5, coeff[6], 1e-3); Eigen::VectorXf coeff_refined; - model->optimizeModelCoefficients (inliers, coeff, coeff_refined); - EXPECT_EQ (7, coeff_refined.size ()); - EXPECT_NEAR (0.5, coeff_refined[6], 1e-3); + model->optimizeModelCoefficients(inliers, coeff, coeff_refined); + EXPECT_EQ(7, coeff_refined.size()); + EXPECT_NEAR(0.5, coeff_refined[6], 1e-3); } ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -TEST (SampleConsensusModelCircle2D, RANSAC) +TEST(SampleConsensusModelCircle2D, RANSAC) { - srand (0); + srand(0); // Use a custom point cloud for these tests until we need something better PointCloud cloud; - cloud.resize (18); - - cloud[ 0].getVector3fMap () << 3.587751f, -4.190982f, 0.0f; - cloud[ 1].getVector3fMap () << 3.808883f, -4.412265f, 0.0f; - cloud[ 2].getVector3fMap () << 3.587525f, -5.809143f, 0.0f; - cloud[ 3].getVector3fMap () << 2.999913f, -5.999980f, 0.0f; - cloud[ 4].getVector3fMap () << 2.412224f, -5.809090f, 0.0f; - cloud[ 5].getVector3fMap () << 2.191080f, -5.587682f, 0.0f; - cloud[ 6].getVector3fMap () << 2.048941f, -5.309003f, 0.0f; - cloud[ 7].getVector3fMap () << 2.000397f, -4.999944f, 0.0f; - cloud[ 8].getVector3fMap () << 2.999953f, -6.000056f, 0.0f; - cloud[ 9].getVector3fMap () << 2.691127f, -5.951136f, 0.0f; - cloud[10].getVector3fMap () << 2.190892f, -5.587838f, 0.0f; - cloud[11].getVector3fMap () << 2.048874f, -5.309052f, 0.0f; - cloud[12].getVector3fMap () << 1.999990f, -5.000147f, 0.0f; - cloud[13].getVector3fMap () << 2.049026f, -4.690918f, 0.0f; - cloud[14].getVector3fMap () << 2.190956f, -4.412162f, 0.0f; - cloud[15].getVector3fMap () << 2.412231f, -4.190918f, 0.0f; - cloud[16].getVector3fMap () << 2.691027f, -4.049060f, 0.0f; - cloud[17].getVector3fMap () << 2.000000f, -3.000000f, 0.0f; + cloud.resize(18); + + cloud[0].getVector3fMap() << 3.587751f, -4.190982f, 0.0f; + cloud[1].getVector3fMap() << 3.808883f, -4.412265f, 0.0f; + cloud[2].getVector3fMap() << 3.587525f, -5.809143f, 0.0f; + cloud[3].getVector3fMap() << 2.999913f, -5.999980f, 0.0f; + cloud[4].getVector3fMap() << 2.412224f, -5.809090f, 0.0f; + cloud[5].getVector3fMap() << 2.191080f, -5.587682f, 0.0f; + cloud[6].getVector3fMap() << 2.048941f, -5.309003f, 0.0f; + cloud[7].getVector3fMap() << 2.000397f, -4.999944f, 0.0f; + cloud[8].getVector3fMap() << 2.999953f, -6.000056f, 0.0f; + cloud[9].getVector3fMap() << 2.691127f, -5.951136f, 0.0f; + cloud[10].getVector3fMap() << 2.190892f, -5.587838f, 0.0f; + cloud[11].getVector3fMap() << 2.048874f, -5.309052f, 0.0f; + cloud[12].getVector3fMap() << 1.999990f, -5.000147f, 0.0f; + cloud[13].getVector3fMap() << 2.049026f, -4.690918f, 0.0f; + cloud[14].getVector3fMap() << 2.190956f, -4.412162f, 0.0f; + cloud[15].getVector3fMap() << 2.412231f, -4.190918f, 0.0f; + cloud[16].getVector3fMap() << 2.691027f, -4.049060f, 0.0f; + cloud[17].getVector3fMap() << 2.000000f, -3.000000f, 0.0f; // Create a shared 2d circle model pointer directly - SampleConsensusModelCircle2DPtr model (new SampleConsensusModelCircle2D (cloud.makeShared ())); + SampleConsensusModelCircle2DPtr model( + new SampleConsensusModelCircle2D(cloud.makeShared())); // Create the RANSAC object - RandomSampleConsensus sac (model, 0.03); + RandomSampleConsensus sac(model, 0.03); // Algorithm tests - bool result = sac.computeModel (); - ASSERT_TRUE (result); + bool result = sac.computeModel(); + ASSERT_TRUE(result); pcl::Indices sample; - sac.getModel (sample); - EXPECT_EQ (3, sample.size ()); + sac.getModel(sample); + EXPECT_EQ(3, sample.size()); pcl::Indices inliers; - sac.getInliers (inliers); - EXPECT_EQ (17, inliers.size ()); + sac.getInliers(inliers); + EXPECT_EQ(17, inliers.size()); Eigen::VectorXf coeff; - sac.getModelCoefficients (coeff); - EXPECT_EQ (3, coeff.size ()); - EXPECT_NEAR ( 3, coeff[0], 1e-3); - EXPECT_NEAR (-5, coeff[1], 1e-3); - EXPECT_NEAR ( 1, coeff[2], 1e-3); + sac.getModelCoefficients(coeff); + EXPECT_EQ(3, coeff.size()); + EXPECT_NEAR(3, coeff[0], 1e-3); + EXPECT_NEAR(-5, coeff[1], 1e-3); + EXPECT_NEAR(1, coeff[2], 1e-3); Eigen::VectorXf coeff_refined; - model->optimizeModelCoefficients (inliers, coeff, coeff_refined); - EXPECT_EQ (3, coeff_refined.size ()); - EXPECT_NEAR ( 3, coeff_refined[0], 1e-3); - EXPECT_NEAR (-5, coeff_refined[1], 1e-3); - EXPECT_NEAR ( 1, coeff_refined[2], 1e-3); + model->optimizeModelCoefficients(inliers, coeff, coeff_refined); + EXPECT_EQ(3, coeff_refined.size()); + EXPECT_NEAR(3, coeff_refined[0], 1e-3); + EXPECT_NEAR(-5, coeff_refined[1], 1e-3); + EXPECT_NEAR(1, coeff_refined[2], 1e-3); } /////////////////////////////////////////////////////////////////////////////// -TEST (SampleConsensusModelCircle2D, SampleValidationPointsValid) +TEST(SampleConsensusModelCircle2D, SampleValidationPointsValid) { PointCloud cloud; - cloud.resize (3); + cloud.resize(3); - cloud[0].getVector3fMap () << 1.0f, 2.0f, 0.0f; - cloud[1].getVector3fMap () << 0.0f, 1.0f, 0.0f; - cloud[2].getVector3fMap () << 1.5f, 0.0f, 0.0f; + cloud[0].getVector3fMap() << 1.0f, 2.0f, 0.0f; + cloud[1].getVector3fMap() << 0.0f, 1.0f, 0.0f; + cloud[2].getVector3fMap() << 1.5f, 0.0f, 0.0f; // Create a shared line model pointer directly - SampleConsensusModelCircle2DPtr model ( - new SampleConsensusModelCircle2D (cloud.makeShared ())); + SampleConsensusModelCircle2DPtr model( + new SampleConsensusModelCircle2D(cloud.makeShared())); // Algorithm tests pcl::Indices samples; int iterations = 0; model->getSamples(iterations, samples); - EXPECT_EQ (samples.size(), 3); + EXPECT_EQ(samples.size(), 3); Eigen::VectorXf modelCoefficients; - EXPECT_TRUE (model->computeModelCoefficients (samples, modelCoefficients)); + EXPECT_TRUE(model->computeModelCoefficients(samples, modelCoefficients)); - EXPECT_NEAR (modelCoefficients[0], 1.05f, 1e-3); // center x - EXPECT_NEAR (modelCoefficients[1], 0.95f, 1e-3); // center y - EXPECT_NEAR (modelCoefficients[2], std::sqrt (1.105f), 1e-3); // radius + EXPECT_NEAR(modelCoefficients[0], 1.05f, 1e-3); // center x + EXPECT_NEAR(modelCoefficients[1], 0.95f, 1e-3); // center y + EXPECT_NEAR(modelCoefficients[2], std::sqrt(1.105f), 1e-3); // radius } using PointVector = std::vector; class SampleConsensusModelCircle2DCollinearTest - : public testing::TestWithParam { - protected: - void SetUp() override { - pointCloud_ = make_shared>(); - for(const auto& point : GetParam()) { - pointCloud_->emplace_back(point); - } +: public testing::TestWithParam { +protected: + void + SetUp() override + { + pointCloud_ = make_shared>(); + for (const auto& point : GetParam()) { + pointCloud_->emplace_back(point); } + } - PointCloud::Ptr pointCloud_ = nullptr; + PointCloud::Ptr pointCloud_ = nullptr; }; // Parametric tests clearly show the input for which they failed and provide // clearer feedback if something is changed in the future. -TEST_P (SampleConsensusModelCircle2DCollinearTest, SampleValidationPointsInvalid) +TEST_P(SampleConsensusModelCircle2DCollinearTest, SampleValidationPointsInvalid) { - ASSERT_NE (pointCloud_, nullptr); + ASSERT_NE(pointCloud_, nullptr); - SampleConsensusModelCircle2DPtr model ( - new SampleConsensusModelCircle2D (pointCloud_)); - ASSERT_GE (model->getInputCloud ()->size (), model->getSampleSize ()); + SampleConsensusModelCircle2DPtr model( + new SampleConsensusModelCircle2D(pointCloud_)); + ASSERT_GE(model->getInputCloud()->size(), model->getSampleSize()); // Algorithm tests // (Maybe) TODO: try to implement the "cheat point" trick from @@ -586,171 +610,194 @@ TEST_P (SampleConsensusModelCircle2DCollinearTest, SampleValidationPointsInvalid // Explicitly enforce sample order so they can act as designed pcl::Indices forcedSamples = {0, 1, 2}; Eigen::VectorXf modelCoefficients; - EXPECT_FALSE (model->computeModelCoefficients (forcedSamples, modelCoefficients)); + EXPECT_FALSE(model->computeModelCoefficients(forcedSamples, modelCoefficients)); } -INSTANTIATE_TEST_SUITE_P (CollinearInputs, SampleConsensusModelCircle2DCollinearTest, - testing::Values( // Throw in some negative coordinates and "asymmetric" points to cover more cases - PointVector {{ 0.0f, 0.0f, 0.0f}, { 1.0f, 0.0f, 0.0f}, { 2.0f, 0.0f, 0.0f}}, // collinear along x-axis - PointVector {{-1.0f, 0.0f, 0.0f}, { 1.0f, 0.0f, 0.0f}, { 2.0f, 0.0f, 0.0f}}, - PointVector {{ 0.0f, -1.0f, 0.0f}, { 0.0f, 1.0f, 0.0f}, { 0.0f, 2.0f, 0.0f}}, // collinear along y-axis - PointVector {{ 0.0f, -1.0f, 0.0f}, { 0.0f, 1.0f, 0.0f}, { 0.0f, 2.0f, 0.0f}}, - PointVector {{ 0.0f, 0.0f, 0.0f}, { 1.0f, 1.0f, 0.0f}, { 2.0f, 2.0f, 0.0f}}, // collinear along diagonal - PointVector {{ 0.0f, 0.0f, 0.0f}, {-1.0f, -1.0f, 0.0f}, {-2.0f, -2.0f, 0.0f}}, - PointVector {{-3.0f, -6.5f, 0.0f}, {-2.0f, -0.5f, 0.0f}, {-1.5f, 2.5f, 0.0f}}, // other collinear input - PointVector {{ 2.0f, 2.0f, 0.0f}, { 0.0f, 0.0f, 0.0f}, { 0.0f, 0.0f, 0.0f}}, // two points equal - PointVector {{ 0.0f, 0.0f, 0.0f}, { 2.0f, 2.0f, 0.0f}, { 0.0f, 0.0f, 0.0f}}, - PointVector {{ 0.0f, 0.0f, 0.0f}, { 0.0f, 0.0f, 0.0f}, { 2.0f, 2.0f, 0.0f}}, - PointVector {{ 1.0f, 1.0f, 0.0f}, { 1.0f, 1.0f, 0.0f}, { 1.0f, 1.0f, 0.0f}} // all points equal - ) -); +INSTANTIATE_TEST_SUITE_P( + CollinearInputs, + SampleConsensusModelCircle2DCollinearTest, + testing::Values( // Throw in some negative coordinates and "asymmetric" points to + // cover more cases + PointVector{{0.0f, 0.0f, 0.0f}, + {1.0f, 0.0f, 0.0f}, + {2.0f, 0.0f, 0.0f}}, // collinear along x-axis + PointVector{{-1.0f, 0.0f, 0.0f}, {1.0f, 0.0f, 0.0f}, {2.0f, 0.0f, 0.0f}}, + PointVector{{0.0f, -1.0f, 0.0f}, + {0.0f, 1.0f, 0.0f}, + {0.0f, 2.0f, 0.0f}}, // collinear along y-axis + PointVector{{0.0f, -1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 2.0f, 0.0f}}, + PointVector{{0.0f, 0.0f, 0.0f}, + {1.0f, 1.0f, 0.0f}, + {2.0f, 2.0f, 0.0f}}, // collinear along diagonal + PointVector{{0.0f, 0.0f, 0.0f}, {-1.0f, -1.0f, 0.0f}, {-2.0f, -2.0f, 0.0f}}, + PointVector{{-3.0f, -6.5f, 0.0f}, + {-2.0f, -0.5f, 0.0f}, + {-1.5f, 2.5f, 0.0f}}, // other collinear input + PointVector{{2.0f, 2.0f, 0.0f}, + {0.0f, 0.0f, 0.0f}, + {0.0f, 0.0f, 0.0f}}, // two points equal + PointVector{{0.0f, 0.0f, 0.0f}, {2.0f, 2.0f, 0.0f}, {0.0f, 0.0f, 0.0f}}, + PointVector{{0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, {2.0f, 2.0f, 0.0f}}, + PointVector{{1.0f, 1.0f, 0.0f}, {1.0f, 1.0f, 0.0f}, {1.0f, 1.0f, 0.0f}} + // all points equal + )); ////////////////////////////////////////////////////////////////////////////////////////////////// template -class SampleConsensusModelCircle2DTest : private SampleConsensusModelCircle2D -{ - public: - using SampleConsensusModelCircle2D::SampleConsensusModelCircle2D; - using SampleConsensusModelCircle2D::countWithinDistanceStandard; -#if defined (__SSE__) && defined (__SSE2__) && defined (__SSE4_1__) - using SampleConsensusModelCircle2D::countWithinDistanceSSE; +class SampleConsensusModelCircle2DTest : private SampleConsensusModelCircle2D { +public: + using SampleConsensusModelCircle2D::SampleConsensusModelCircle2D; + using SampleConsensusModelCircle2D::countWithinDistanceStandard; +#if defined(__SSE__) && defined(__SSE2__) && defined(__SSE4_1__) + using SampleConsensusModelCircle2D::countWithinDistanceSSE; #endif -#if defined (__AVX__) && defined (__AVX2__) - using SampleConsensusModelCircle2D::countWithinDistanceAVX; +#if defined(__AVX__) && defined(__AVX2__) + using SampleConsensusModelCircle2D::countWithinDistanceAVX; #endif }; -TEST (SampleConsensusModelCircle2D, SIMD_countWithinDistance) // Test if all countWithinDistance implementations return the same value +TEST(SampleConsensusModelCircle2D, + SIMD_countWithinDistance) // Test if all countWithinDistance implementations return + // the same value { - const auto seed = static_cast (std::time (nullptr)); - srand (seed); - for (size_t i=0; i<100; i++) // Run as often as you like + const auto seed = static_cast(std::time(nullptr)); + srand(seed); + for (size_t i = 0; i < 100; i++) // Run as often as you like { // Generate a cloud with 1000 random points PointCloud cloud; pcl::Indices indices; - cloud.resize (1000); - for (std::size_t idx = 0; idx < cloud.size (); ++idx) - { - cloud[idx].x = 2.0 * static_cast (rand ()) / RAND_MAX - 1.0; - cloud[idx].y = 2.0 * static_cast (rand ()) / RAND_MAX - 1.0; - cloud[idx].z = 2.0 * static_cast (rand ()) / RAND_MAX - 1.0; - if (rand () % 2 == 0) - { - indices.push_back (static_cast (idx)); + cloud.resize(1000); + for (std::size_t idx = 0; idx < cloud.size(); ++idx) { + cloud[idx].x = 2.0 * static_cast(rand()) / RAND_MAX - 1.0; + cloud[idx].y = 2.0 * static_cast(rand()) / RAND_MAX - 1.0; + cloud[idx].z = 2.0 * static_cast(rand()) / RAND_MAX - 1.0; + if (rand() % 2 == 0) { + indices.push_back(static_cast(idx)); } } - SampleConsensusModelCircle2DTest model (cloud.makeShared (), indices, true); + SampleConsensusModelCircle2DTest model(cloud.makeShared(), indices, true); // Generate random circle model parameters Eigen::VectorXf model_coefficients(3); - model_coefficients << 2.0 * static_cast (rand ()) / RAND_MAX - 1.0, - 2.0 * static_cast (rand ()) / RAND_MAX - 1.0, - 0.1 * static_cast (rand ()) / RAND_MAX; // center and radius + model_coefficients << 2.0 * static_cast(rand()) / RAND_MAX - 1.0, + 2.0 * static_cast(rand()) / RAND_MAX - 1.0, + 0.1 * static_cast(rand()) / RAND_MAX; // center and radius - const double threshold = 0.1 * static_cast (rand ()) / RAND_MAX; // threshold in [0; 0.1] + const double threshold = + 0.1 * static_cast(rand()) / RAND_MAX; // threshold in [0; 0.1] // The number of inliers is usually somewhere between 0 and 20 - const auto res_standard = model.countWithinDistanceStandard (model_coefficients, threshold); // Standard - PCL_DEBUG ("seed=%lu, i=%lu, model=(%f, %f, %f), threshold=%f, res_standard=%lu\n", seed, i, - model_coefficients(0), model_coefficients(1), model_coefficients(2), threshold, res_standard); -#if defined (__SSE__) && defined (__SSE2__) && defined (__SSE4_1__) - const auto res_sse = model.countWithinDistanceSSE (model_coefficients, threshold); // SSE - ASSERT_EQ (res_standard, res_sse); + const auto res_standard = + model.countWithinDistanceStandard(model_coefficients, threshold); // Standard + PCL_DEBUG("seed=%lu, i=%lu, model=(%f, %f, %f), threshold=%f, res_standard=%lu\n", + seed, + i, + model_coefficients(0), + model_coefficients(1), + model_coefficients(2), + threshold, + res_standard); +#if defined(__SSE__) && defined(__SSE2__) && defined(__SSE4_1__) + const auto res_sse = + model.countWithinDistanceSSE(model_coefficients, threshold); // SSE + ASSERT_EQ(res_standard, res_sse); #endif -#if defined (__AVX__) && defined (__AVX2__) - const auto res_avx = model.countWithinDistanceAVX (model_coefficients, threshold); // AVX - ASSERT_EQ (res_standard, res_avx); +#if defined(__AVX__) && defined(__AVX2__) + const auto res_avx = + model.countWithinDistanceAVX(model_coefficients, threshold); // AVX + ASSERT_EQ(res_standard, res_avx); #endif } } ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -TEST (SampleConsensusModelCircle3D, RANSAC) +TEST(SampleConsensusModelCircle3D, RANSAC) { - srand (0); + srand(0); // Use a custom point cloud for these tests until we need something better PointCloud cloud; - cloud.resize (20); - - cloud[ 0].getVector3fMap () << 1.00000000f, 5.0000000f, -2.9000001f; - cloud[ 1].getVector3fMap () << 1.03420200f, 5.0000000f, -2.9060307f; - cloud[ 2].getVector3fMap () << 1.06427870f, 5.0000000f, -2.9233956f; - cloud[ 3].getVector3fMap () << 1.08660260f, 5.0000000f, -2.9500000f; - cloud[ 4].getVector3fMap () << 1.09848080f, 5.0000000f, -2.9826353f; - cloud[ 5].getVector3fMap () << 1.09848080f, 5.0000000f, -3.0173647f; - cloud[ 6].getVector3fMap () << 1.08660260f, 5.0000000f, -3.0500000f; - cloud[ 7].getVector3fMap () << 1.06427870f, 5.0000000f, -3.0766044f; - cloud[ 8].getVector3fMap () << 1.03420200f, 5.0000000f, -3.0939693f; - cloud[ 9].getVector3fMap () << 1.00000000f, 5.0000000f, -3.0999999f; - cloud[10].getVector3fMap () << 0.96579796f, 5.0000000f, -3.0939693f; - cloud[11].getVector3fMap () << 0.93572122f, 5.0000000f, -3.0766044f; - cloud[12].getVector3fMap () << 0.91339743f, 5.0000000f, -3.0500000f; - cloud[13].getVector3fMap () << 0.90151924f, 5.0000000f, -3.0173647f; - cloud[14].getVector3fMap () << 0.90151924f, 5.0000000f, -2.9826353f; - cloud[15].getVector3fMap () << 0.91339743f, 5.0000000f, -2.9500000f; - cloud[16].getVector3fMap () << 0.93572122f, 5.0000000f, -2.9233956f; - cloud[17].getVector3fMap () << 0.96579796f, 5.0000000f, -2.9060307f; - cloud[18].getVector3fMap () << 0.85000002f, 4.8499999f, -3.1500001f; - cloud[19].getVector3fMap () << 1.15000000f, 5.1500001f, -2.8499999f; + cloud.resize(20); + + cloud[0].getVector3fMap() << 1.00000000f, 5.0000000f, -2.9000001f; + cloud[1].getVector3fMap() << 1.03420200f, 5.0000000f, -2.9060307f; + cloud[2].getVector3fMap() << 1.06427870f, 5.0000000f, -2.9233956f; + cloud[3].getVector3fMap() << 1.08660260f, 5.0000000f, -2.9500000f; + cloud[4].getVector3fMap() << 1.09848080f, 5.0000000f, -2.9826353f; + cloud[5].getVector3fMap() << 1.09848080f, 5.0000000f, -3.0173647f; + cloud[6].getVector3fMap() << 1.08660260f, 5.0000000f, -3.0500000f; + cloud[7].getVector3fMap() << 1.06427870f, 5.0000000f, -3.0766044f; + cloud[8].getVector3fMap() << 1.03420200f, 5.0000000f, -3.0939693f; + cloud[9].getVector3fMap() << 1.00000000f, 5.0000000f, -3.0999999f; + cloud[10].getVector3fMap() << 0.96579796f, 5.0000000f, -3.0939693f; + cloud[11].getVector3fMap() << 0.93572122f, 5.0000000f, -3.0766044f; + cloud[12].getVector3fMap() << 0.91339743f, 5.0000000f, -3.0500000f; + cloud[13].getVector3fMap() << 0.90151924f, 5.0000000f, -3.0173647f; + cloud[14].getVector3fMap() << 0.90151924f, 5.0000000f, -2.9826353f; + cloud[15].getVector3fMap() << 0.91339743f, 5.0000000f, -2.9500000f; + cloud[16].getVector3fMap() << 0.93572122f, 5.0000000f, -2.9233956f; + cloud[17].getVector3fMap() << 0.96579796f, 5.0000000f, -2.9060307f; + cloud[18].getVector3fMap() << 0.85000002f, 4.8499999f, -3.1500001f; + cloud[19].getVector3fMap() << 1.15000000f, 5.1500001f, -2.8499999f; // Create a shared 3d circle model pointer directly - SampleConsensusModelCircle3DPtr model (new SampleConsensusModelCircle3D (cloud.makeShared ())); + SampleConsensusModelCircle3DPtr model( + new SampleConsensusModelCircle3D(cloud.makeShared())); // Create the RANSAC object - RandomSampleConsensus sac (model, 0.03); + RandomSampleConsensus sac(model, 0.03); // Algorithm tests - bool result = sac.computeModel (); - ASSERT_TRUE (result); + bool result = sac.computeModel(); + ASSERT_TRUE(result); pcl::Indices sample; - sac.getModel (sample); - EXPECT_EQ (3, sample.size ()); + sac.getModel(sample); + EXPECT_EQ(3, sample.size()); pcl::Indices inliers; - sac.getInliers (inliers); - EXPECT_EQ (18, inliers.size ()); + sac.getInliers(inliers); + EXPECT_EQ(18, inliers.size()); Eigen::VectorXf coeff; - sac.getModelCoefficients (coeff); - EXPECT_EQ (7, coeff.size ()); - EXPECT_NEAR ( 1.0, coeff[0], 1e-3); - EXPECT_NEAR ( 5.0, coeff[1], 1e-3); - EXPECT_NEAR (-3.0, coeff[2], 1e-3); - EXPECT_NEAR ( 0.1, coeff[3], 1e-3); - EXPECT_NEAR ( 0.0, coeff[4], 1e-3); + sac.getModelCoefficients(coeff); + EXPECT_EQ(7, coeff.size()); + EXPECT_NEAR(1.0, coeff[0], 1e-3); + EXPECT_NEAR(5.0, coeff[1], 1e-3); + EXPECT_NEAR(-3.0, coeff[2], 1e-3); + EXPECT_NEAR(0.1, coeff[3], 1e-3); + EXPECT_NEAR(0.0, coeff[4], 1e-3); // Use abs in y component because both variants are valid normal vectors - EXPECT_NEAR ( 1.0, std::abs (coeff[5]), 1e-3); - EXPECT_NEAR ( 0.0, coeff[6], 1e-3); + EXPECT_NEAR(1.0, std::abs(coeff[5]), 1e-3); + EXPECT_NEAR(0.0, coeff[6], 1e-3); Eigen::VectorXf coeff_refined; - model->optimizeModelCoefficients (inliers, coeff, coeff_refined); - EXPECT_EQ (7, coeff_refined.size ()); - EXPECT_NEAR ( 1.0, coeff_refined[0], 1e-3); - EXPECT_NEAR ( 5.0, coeff_refined[1], 1e-3); - EXPECT_NEAR (-3.0, coeff_refined[2], 1e-3); - EXPECT_NEAR ( 0.1, coeff_refined[3], 1e-3); - EXPECT_NEAR ( 0.0, coeff_refined[4], 1e-3); - EXPECT_NEAR ( 1.0, std::abs (coeff_refined[5]), 1e-3); - EXPECT_NEAR ( 0.0, coeff_refined[6], 1e-3); + model->optimizeModelCoefficients(inliers, coeff, coeff_refined); + EXPECT_EQ(7, coeff_refined.size()); + EXPECT_NEAR(1.0, coeff_refined[0], 1e-3); + EXPECT_NEAR(5.0, coeff_refined[1], 1e-3); + EXPECT_NEAR(-3.0, coeff_refined[2], 1e-3); + EXPECT_NEAR(0.1, coeff_refined[3], 1e-3); + EXPECT_NEAR(0.0, coeff_refined[4], 1e-3); + EXPECT_NEAR(1.0, std::abs(coeff_refined[5]), 1e-3); + EXPECT_NEAR(0.0, coeff_refined[6], 1e-3); } -TEST (SampleConsensusModelSphere, projectPoints) +TEST(SampleConsensusModelSphere, projectPoints) { Eigen::VectorXf model_coefficients(4); model_coefficients << -0.32, -0.89, 0.37, 0.12; // center and radius pcl::PointCloud::Ptr input(new pcl::PointCloud); - input->emplace_back(-0.259754, -0.950873, 0.318377); // inlier, dist from center=0.10 - input->emplace_back( 0.595892, 0.455094, 0.025545); // outlier, not projected - input->emplace_back(-0.221871, -0.973718, 0.353817); // inlier, dist from center=0.13 - input->emplace_back(-0.332269, -0.848851, 0.437499); // inlier, dist from center=0.08 + input->emplace_back(-0.259754, -0.950873, 0.318377); // inlier, dist from center=0.10 + input->emplace_back(0.595892, 0.455094, 0.025545); // outlier, not projected + input->emplace_back(-0.221871, -0.973718, 0.353817); // inlier, dist from center=0.13 + input->emplace_back(-0.332269, -0.848851, 0.437499); // inlier, dist from center=0.08 input->emplace_back(-0.242308, -0.561036, -0.365535); // outlier, not projected - input->emplace_back(-0.327668, -0.800009, 0.290988); // inlier, dist from center=0.12 - input->emplace_back(-0.173948, -0.883831, 0.403625); // inlier, dist from center=0.15 - input->emplace_back(-0.033891, 0.624537, -0.606994); // outlier, not projected + input->emplace_back(-0.327668, -0.800009, 0.290988); // inlier, dist from center=0.12 + input->emplace_back(-0.173948, -0.883831, 0.403625); // inlier, dist from center=0.15 + input->emplace_back(-0.033891, 0.624537, -0.606994); // outlier, not projected pcl::SampleConsensusModelSphere model(input); pcl::Indices inliers = {0, 2, 3, 5, 6}; @@ -765,20 +812,20 @@ TEST (SampleConsensusModelSphere, projectPoints) pcl::PointCloud projected_points; model.projectPoints(inliers, model_coefficients, projected_points, false); EXPECT_EQ(projected_points.size(), 5); - for(int i=0; i<5; ++i) + for (int i = 0; i < 5; ++i) EXPECT_XYZ_NEAR(projected_points[i], projected_truth[i], 1e-5); pcl::PointCloud projected_points_all; model.projectPoints(inliers, model_coefficients, projected_points_all, true); EXPECT_EQ(projected_points_all.size(), 8); EXPECT_XYZ_NEAR(projected_points_all[0], projected_truth[0], 1e-5); - EXPECT_XYZ_NEAR(projected_points_all[1], (*input)[1], 1e-5); + EXPECT_XYZ_NEAR(projected_points_all[1], (*input)[1], 1e-5); EXPECT_XYZ_NEAR(projected_points_all[2], projected_truth[1], 1e-5); EXPECT_XYZ_NEAR(projected_points_all[3], projected_truth[2], 1e-5); - EXPECT_XYZ_NEAR(projected_points_all[4], (*input)[4], 1e-5); + EXPECT_XYZ_NEAR(projected_points_all[4], (*input)[4], 1e-5); EXPECT_XYZ_NEAR(projected_points_all[5], projected_truth[3], 1e-5); EXPECT_XYZ_NEAR(projected_points_all[6], projected_truth[4], 1e-5); - EXPECT_XYZ_NEAR(projected_points_all[7], (*input)[7], 1e-5); + EXPECT_XYZ_NEAR(projected_points_all[7], (*input)[7], 1e-5); } TEST(SampleConsensusModelCylinder, projectPoints) @@ -817,13 +864,13 @@ TEST(SampleConsensusModelCylinder, projectPoints) model.projectPoints(inliers, model_coefficients, projected_points_all, true); EXPECT_EQ(projected_points_all.size(), 8); EXPECT_XYZ_NEAR(projected_points_all[0], projected_truth[0], 1e-5); - EXPECT_XYZ_NEAR(projected_points_all[1], (*input)[1], 1e-5); + EXPECT_XYZ_NEAR(projected_points_all[1], (*input)[1], 1e-5); EXPECT_XYZ_NEAR(projected_points_all[2], projected_truth[1], 1e-5); EXPECT_XYZ_NEAR(projected_points_all[3], projected_truth[2], 1e-5); - EXPECT_XYZ_NEAR(projected_points_all[4], (*input)[4], 1e-5); + EXPECT_XYZ_NEAR(projected_points_all[4], (*input)[4], 1e-5); EXPECT_XYZ_NEAR(projected_points_all[5], projected_truth[3], 1e-5); EXPECT_XYZ_NEAR(projected_points_all[6], projected_truth[4], 1e-5); - EXPECT_XYZ_NEAR(projected_points_all[7], (*input)[7], 1e-5); + EXPECT_XYZ_NEAR(projected_points_all[7], (*input)[7], 1e-5); } TEST(SampleConsensusModelEllipse3D, RANSAC) @@ -834,16 +881,16 @@ TEST(SampleConsensusModelEllipse3D, RANSAC) PointCloud cloud; cloud.resize(22); - cloud[ 0].getVector3fMap() << 1.000000, 5.000000, 3.000000; - cloud[ 1].getVector3fMap() << 0.690983, 5.000000, 2.902110; - cloud[ 2].getVector3fMap() << 0.412215, 5.000000, 2.618030; - cloud[ 3].getVector3fMap() << 0.190983, 5.000000, 2.175570; - cloud[ 4].getVector3fMap() << 0.048944, 5.000000, 1.618030; - cloud[ 5].getVector3fMap() << 0.000000, 5.000000, 1.000000; - cloud[ 6].getVector3fMap() << 0.048944, 5.000000, 0.381966; - cloud[ 7].getVector3fMap() << 0.190983, 5.000000, -0.175571; - cloud[ 8].getVector3fMap() << 0.412215, 5.000000, -0.618034; - cloud[ 9].getVector3fMap() << 0.690983, 5.000000, -0.902113; + cloud[0].getVector3fMap() << 1.000000, 5.000000, 3.000000; + cloud[1].getVector3fMap() << 0.690983, 5.000000, 2.902110; + cloud[2].getVector3fMap() << 0.412215, 5.000000, 2.618030; + cloud[3].getVector3fMap() << 0.190983, 5.000000, 2.175570; + cloud[4].getVector3fMap() << 0.048944, 5.000000, 1.618030; + cloud[5].getVector3fMap() << 0.000000, 5.000000, 1.000000; + cloud[6].getVector3fMap() << 0.048944, 5.000000, 0.381966; + cloud[7].getVector3fMap() << 0.190983, 5.000000, -0.175571; + cloud[8].getVector3fMap() << 0.412215, 5.000000, -0.618034; + cloud[9].getVector3fMap() << 0.690983, 5.000000, -0.902113; cloud[10].getVector3fMap() << 1.000000, 5.000000, -1.000000; cloud[11].getVector3fMap() << 1.309020, 5.000000, -0.902113; cloud[12].getVector3fMap() << 1.587790, 5.000000, -0.618034; @@ -859,7 +906,8 @@ TEST(SampleConsensusModelEllipse3D, RANSAC) cloud[21].getVector3fMap() << 1.15000000f, 5.1500001f, -2.8499999f; // Create a shared 3d ellipse model pointer directly - SampleConsensusModelEllipse3DPtr model( new SampleConsensusModelEllipse3D(cloud.makeShared())); + SampleConsensusModelEllipse3DPtr model( + new SampleConsensusModelEllipse3D(cloud.makeShared())); // Create the RANSAC object RandomSampleConsensus sac(model, 0.0011); @@ -917,10 +965,685 @@ TEST(SampleConsensusModelEllipse3D, RANSAC) EXPECT_NEAR(1.0, std::abs(coeff_refined[10]), 1e-3); } -int -main (int argc, char** argv) +// Heavy oclusion, all points on a 30 degree segment on the major radius +// and 90 degrees on the minor +TEST(SampleConsensusModelTorusOclusion, RANSAC) +{ + + srand(0); + + PointCloud cloud; + PointCloud normals; + + cloud.resize(50); + normals.resize(50); + + cloud[0].getVector3fMap() << 1.4386461277601734, -1.0569588316537601, + 3.6109405500068648; + cloud[1].getVector3fMap() << 1.5892272151771987, -1.0107131751656608, + 3.7524801792294786; + cloud[2].getVector3fMap() << 0.779450850990528, -1.1095381992814901, + 2.1362474566704086; + cloud[3].getVector3fMap() << 2.2332764042301116, -1.0712898227325813, + 4.104289150491388; + cloud[4].getVector3fMap() << 1.4625240977021328, -1.0262438455563425, + 3.6408698702774327; + cloud[5].getVector3fMap() << 1.107288574597542, -1.038213986002474, + 3.2111695308737334; + cloud[6].getVector3fMap() << 1.634136176426644, -1.0586849054858922, + 3.7791937450863844; + cloud[7].getVector3fMap() << 2.8081039281494284, -1.124052124218725, + 4.208730485774282; + cloud[8].getVector3fMap() << 2.7325382847100004, -1.0968720291167913, + 4.214374570675481; + cloud[9].getVector3fMap() << 1.1897810394404515, -1.0861469920822655, + 3.3103205876091675; + cloud[10].getVector3fMap() << 0.8242772124713484, -1.0935505936537508, + 2.4973185149793924; + cloud[11].getVector3fMap() << 2.9589166075430366, -1.0656763334810868, + 4.240842449620676; + cloud[12].getVector3fMap() << 1.7930324882302902, -1.0629548347911097, + 3.8893227292858175; + cloud[13].getVector3fMap() << 0.7810401372209808, -1.0705732580035723, + 2.305065186549668; + cloud[14].getVector3fMap() << 0.9062603270739178, -1.0815748767074063, + 2.785726514647834; + cloud[15].getVector3fMap() << 1.3832157146170436, -1.0790593653653633, + 3.546265907749163; + cloud[16].getVector3fMap() << 2.040614544849421, -1.0918678466867353, + 4.015855816881193; + cloud[17].getVector3fMap() << 2.274098663746168, -1.0273778393320356, + 4.128098505334945; + cloud[18].getVector3fMap() << 1.2518457008499417, -1.0912889870169762, + 3.38890936771287; + cloud[19].getVector3fMap() << 0.8773148573186607, -1.026298817514791, + 2.7419351335271855; + cloud[20].getVector3fMap() << 2.460972277763233, -1.0874470683716413, + 4.168209147029958; + cloud[21].getVector3fMap() << 2.326091552875379, -1.0983984335719184, + 4.125546904328003; + cloud[22].getVector3fMap() << 2.0996991277329786, -1.0707210059905774, + 4.050880542671691; + cloud[23].getVector3fMap() << 0.95831333743683, -1.061687690479444, + 2.9269785200505813; + cloud[24].getVector3fMap() << 2.0588703194976024, -1.0025516869353353, + 4.043701622831673; + normals[0].getNormalVector3fMap() << -0.6776646502188018, -0.2278353266150415, + 0.6991864456566977; + normals[1].getNormalVector3fMap() << -0.6264981002776666, -0.04285270066264479, + 0.7782440339600377; + normals[2].getNormalVector3fMap() << -0.8972132050327152, -0.4381527971259608, + 0.05505080458648829; + normals[3].getNormalVector3fMap() << -0.32813125795357256, -0.2851592909303272, + 0.9005631884270638; + normals[4].getNormalVector3fMap() << -0.6799645795137096, -0.10497538222537117, + 0.7256916285402369; + normals[5].getNormalVector3fMap() << -0.8324065340358171, -0.15285594400989705, + 0.5326672718267207; + normals[6].getNormalVector3fMap() << -0.5919262688649901, -0.2347396219435707, + 0.7710516209161101; + normals[7].getNormalVector3fMap() << -0.07514704519204393, -0.4962084968749015, + 0.8649451134193752; + normals[8].getNormalVector3fMap() << -0.11054456443635059, -0.387488116467167, + 0.9152228465626854; + normals[9].getNormalVector3fMap() << -0.7604417087668234, -0.34458796832906313, + 0.5504430394242827; + normals[10].getNormalVector3fMap() << -0.9040312337559508, -0.3742023746150035, + 0.20664005232816324; + normals[11].getNormalVector3fMap() << -0.0176869745485768, -0.2627053339243488, + 0.964713987904713; + normals[12].getNormalVector3fMap() << -0.5210086952913671, -0.25181933916444066, + 0.8155592926658195; + normals[13].getNormalVector3fMap() << -0.950388588906301, -0.2822930320142894, + 0.13066053020277188; + normals[14].getNormalVector3fMap() << -0.8850007317473024, -0.32629950682962533, + 0.3321179559275326; + normals[15].getNormalVector3fMap() << -0.6856032449538655, -0.31623746146145426, + 0.65569967094482; + normals[16].getNormalVector3fMap() << -0.3996678191380136, -0.36747138674694285, + 0.8397799796778576; + normals[17].getNormalVector3fMap() << -0.3208968621888316, -0.10951135732814456, + 0.9407616416784378; + normals[18].getNormalVector3fMap() << -0.728898292732006, -0.36515594806790613, + 0.5791100175640165; + normals[19].getNormalVector3fMap() << -0.9387598943114375, -0.1051952700591645, + 0.3281216481574453; + normals[20].getNormalVector3fMap() << -0.22602052518599647, -0.34978827348656716, + 0.9091550395427244; + normals[21].getNormalVector3fMap() << -0.27783106746442193, -0.3935937342876755, + 0.8762955382067529; + normals[22].getNormalVector3fMap() << -0.38553965278262686, -0.2828840239623112, + 0.878257254521215; + normals[23].getNormalVector3fMap() << -0.8823896524250601, -0.24675076191777665, + 0.4006277109564169; + normals[24].getNormalVector3fMap() << -0.4182604905252856, -0.010206747741342384, + 0.908269775103241; + + // 50% noise uniform [-2,2] + // + cloud[25].getVector3fMap() << 0.25023241635877147, 0.27654549396527894, + 1.07955881369387; + cloud[26].getVector3fMap() << 1.5449856383148206, -0.46768009897289264, + -2.062172100500517; + cloud[27].getVector3fMap() << 2.068709384697231, -0.8995244010670893, + 0.4472750119304405; + cloud[28].getVector3fMap() << -1.9703101501142217, 1.1677926799358453, + -1.0951161775500093; + cloud[29].getVector3fMap() << 1.5128012164196942, -0.3784790741317119, + 1.9953141538660382; + cloud[30].getVector3fMap() << -1.7035274240520712, -0.040343373432154106, + -0.13506114362465782; + cloud[31].getVector3fMap() << 1.390301434734198, -1.0836155740357354, + 1.3817400889837255; + cloud[32].getVector3fMap() << 0.6973526735174085, 1.4609265623041212, + 0.3991283042562106; + cloud[33].getVector3fMap() << 0.4585644490692351, 1.8056826118986748, + 1.1908087822224616; + cloud[34].getVector3fMap() << -1.899161354377058, -1.2250806902713103, + 1.5135509588271026; + cloud[35].getVector3fMap() << 0.05728241071603746, -1.3140082682155136, + -1.6804780212669348; + cloud[36].getVector3fMap() << -0.5371089158049953, -0.02542717526439331, + -0.6188539490393421; + cloud[37].getVector3fMap() << -0.21842672967261145, 0.6528285340670843, + 1.937369474575887; + cloud[38].getVector3fMap() << 1.6906916394191258, 1.6029527944840072, + 1.3312465637845015; + cloud[39].getVector3fMap() << 0.3871457304584722, -0.7014470556575774, + -1.3686189094260588; + cloud[40].getVector3fMap() << 1.1287360826333366, -1.8859435547052814, + -0.1392786225318703; + cloud[41].getVector3fMap() << -0.8284092960915028, 1.0112260700590863, + -1.1937340633604672; + cloud[42].getVector3fMap() << 1.8440270354564277, -0.3703200026464992, + -1.5917391524525757; + cloud[43].getVector3fMap() << 0.02671922592530418, 1.7827062803768543, + 0.22852714632858673; + cloud[44].getVector3fMap() << -1.5132468082647963, -1.3357890987499987, + -1.158617245205414; + cloud[45].getVector3fMap() << -1.1450583549521511, 1.45432498632732, + -2.095300144813141; + cloud[46].getVector3fMap() << 0.18809078359436793, -1.6008222007566066, + -1.9699784955663424; + cloud[47].getVector3fMap() << -1.1753993948548627, 1.5857927603987902, + 0.14497327864750886; + cloud[48].getVector3fMap() << 1.121788740853686, -0.27095183911320286, + -0.12199102154089814; + cloud[49].getVector3fMap() << 0.768999145889063, -2.0309651709863434, + 0.7930530394403963; + normals[25].getNormalVector3fMap() << -0.5835940349115277, 0.1757014210775822, + 0.7928095692201251; + normals[26].getNormalVector3fMap() << -0.6960838602866861, -0.42094642891496487, + -0.5816110069729798; + normals[27].getNormalVector3fMap() << 0.255914777841287, 0.6279839361250196, + -0.7349447614966528; + normals[28].getNormalVector3fMap() << -0.6075736135140413, 0.1336509980609126, + -0.7829378742140479; + normals[29].getNormalVector3fMap() << -0.4983181083004855, 0.6669454154651717, + -0.5539520518328415; + normals[30].getNormalVector3fMap() << -0.7745671302471588, 0.5084406300820161, + -0.37620989676307437; + normals[31].getNormalVector3fMap() << -0.424778132583581, -0.3243720781494619, + 0.8451900928168792; + normals[32].getNormalVector3fMap() << -0.5821055941507861, 0.35171580987235973, + 0.73310917764286; + normals[33].getNormalVector3fMap() << 0.8396655225180351, -0.48303927894460474, + 0.2482637011147448; + normals[34].getNormalVector3fMap() << 0.256742174797301, 0.7352345686595317, + 0.6273066114177216; + normals[35].getNormalVector3fMap() << -0.0652239383938407, -0.5360244339035914, + 0.8416790624214975; + normals[36].getNormalVector3fMap() << 0.6702382164209467, -0.3031905309377628, + 0.6773892789220579; + normals[37].getNormalVector3fMap() << -0.6040272704362459, -0.10302003040831528, + -0.7902771222197995; + normals[38].getNormalVector3fMap() << 0.9983521281387145, 0.041967677271189614, + -0.03913747954788317; + normals[39].getNormalVector3fMap() << -0.573664090993926, 0.46793032429526715, + 0.6722728034875713; + normals[40].getNormalVector3fMap() << -0.5945467180061245, -0.48897233716525434, + -0.6382948014791401; + normals[41].getNormalVector3fMap() << 0.11334045761805764, -0.6164053590067436, + 0.7792293462483921; + normals[42].getNormalVector3fMap() << -0.766256491311007, 0.13240541094009678, + -0.6287446196012567; + normals[43].getNormalVector3fMap() << 0.43564165550696804, 0.7816025130800787, + 0.4464458080596722; + normals[44].getNormalVector3fMap() << 0.7597220695940338, -0.5120511261307517, + -0.4007817625591101; + normals[45].getNormalVector3fMap() << -0.6597147170804349, -0.27171235425320656, + -0.7006774497681952; + normals[46].getNormalVector3fMap() << -0.14344953607996272, 0.06349058786868034, + -0.9876189426345229; + normals[47].getNormalVector3fMap() << 0.2696193746529791, 0.8928064202811087, + -0.36083526534496174; + normals[48].getNormalVector3fMap() << 0.5473019047514905, 0.29388155846326774, + -0.7836416621457739; + normals[49].getNormalVector3fMap() << 0.053697689135186716, 0.05924709269452209, + -0.9967980438327452; + + SampleConsensusModelTorus::Ptr model( + new SampleConsensusModelTorus(cloud.makeShared())); + + model->setInputNormals(normals.makeShared()); + + // Create the RANSAC object + // Small threshold to filter out the numerous outliers + RandomSampleConsensus sac(model, 0.001); + + // Algorithm tests + bool result = sac.computeModel(); + ASSERT_TRUE(result); + + pcl::Indices sample; + sac.getModel(sample); + EXPECT_EQ(4, sample.size()); + pcl::Indices inliers; + sac.getInliers(inliers); + EXPECT_EQ(25, inliers.size()); + + Eigen::VectorXf coeff; + sac.getModelCoefficients(coeff); + + EXPECT_EQ(8, coeff.size()); + + EXPECT_NEAR(coeff[0], 2, 1e-2); + EXPECT_NEAR(coeff[1], 0.25, 1e-2); + EXPECT_NEAR(coeff[2], 3, 1e-2); + EXPECT_NEAR(coeff[3], -1, 1e-2); + EXPECT_NEAR(coeff[4], 2, 1e-2); + EXPECT_NEAR(coeff[5], 0.0, 1e-2); + EXPECT_NEAR(std::abs(coeff[6]), 1.0, 1e-2); + EXPECT_NEAR(coeff[7], 0.0, 1e-2); + Eigen::VectorXf coeff_refined; + model->optimizeModelCoefficients(inliers, coeff, coeff_refined); + EXPECT_EQ(8, coeff.size()); + + EXPECT_NEAR(coeff[0], 2, 1e-2); + EXPECT_NEAR(coeff[1], 0.25, 1e-2); + EXPECT_NEAR(coeff[2], 3, 1e-2); + EXPECT_NEAR(coeff[3], -1, 1e-2); + EXPECT_NEAR(coeff[4], 2, 1e-2); + EXPECT_NEAR(coeff[5], 0.0, 1e-2); + EXPECT_NEAR(std::abs(coeff[6]), 1.0, 1e-2); + EXPECT_NEAR(coeff[7], 2.220446049250313e-16, 1e-2); +} + +// A horn shaped torus +TEST(SampleConsensusModelTorusHorn, RANSAC) +{ + + srand(0); + + PointCloud cloud; + PointCloud normals; + + cloud.resize(7); + normals.resize(7); + + cloud[0].getVector3fMap() << 3.000501648262739, -1.0005866141772064, + 2.0196299263944386; + cloud[1].getVector3fMap() << 2.9306387358067587, -0.9355559306559758, + 1.804104008927194; + cloud[2].getVector3fMap() << 3.1148967392352143, -1.3928055353556932, + 2.1927039488583757; + cloud[3].getVector3fMap() << 3.0736420787608285, -0.8370133320562925, + 1.7603380061176133; + cloud[4].getVector3fMap() << 2.88008899080742, -1.245300517665885, 1.7510639730129496; + cloud[5].getVector3fMap() << 3.0000040500927305, -1.0005041529688534, + 2.0158691660694794; + cloud[6].getVector3fMap() << 2.983210284063484, -0.5044792022516073, + 2.0456050860401795; + normals[0].getNormalVector3fMap() << -0.6479150922982518, 0.7576547294171206, + 0.07851970557775474; + normals[1].getNormalVector3fMap() << 0.45515258767393824, -0.4228856734855979, + -0.783583964291224; + normals[2].getNormalVector3fMap() << 0.17884740355312917, -0.6114381536611204, + 0.7708157954335032; + normals[3].getNormalVector3fMap() << -0.11718185523562125, -0.2593500950773666, + -0.958647975529547; + normals[4].getNormalVector3fMap() << -0.04047436729113163, -0.08279792919404502, + -0.995744107948202; + normals[5].getNormalVector3fMap() << -0.008017000458096018, 0.9979511214462377, + 0.06347666427791779; + normals[6].getNormalVector3fMap() << -0.03329532756428898, 0.9826567250055698, + 0.18242034416071792; + + SampleConsensusModelTorus::Ptr model( + new SampleConsensusModelTorus(cloud.makeShared())); + + model->setInputNormals(normals.makeShared()); + + // Create the RANSAC object + RandomSampleConsensus sac(model, 0.2); + + // Algorithm tests + bool result = sac.computeModel(); + ASSERT_TRUE(result); + + pcl::Indices sample; + sac.getModel(sample); + EXPECT_EQ(4, sample.size()); + pcl::Indices inliers; + sac.getInliers(inliers); + EXPECT_EQ(7, inliers.size()); + + Eigen::VectorXf coeff; + sac.getModelCoefficients(coeff); + + EXPECT_EQ(8, coeff.size()); + + EXPECT_NEAR(coeff[0], 0.25, 1e-2); + EXPECT_NEAR(coeff[1], 0.25, 1e-2); + EXPECT_NEAR(coeff[2], 3, 1e-2); + EXPECT_NEAR(coeff[3], -1, 1e-2); + EXPECT_NEAR(coeff[4], 2, 1e-2); + EXPECT_NEAR(coeff[5], 0.0, 1e-2); + EXPECT_NEAR(coeff[6], 0.0, 1e-2); + EXPECT_NEAR(std::abs(coeff[7]), 1.0, 1e-2); + return; + + Eigen::VectorXf coeff_refined; + model->optimizeModelCoefficients(inliers, coeff, coeff_refined); + EXPECT_EQ(8, coeff.size()); + + EXPECT_NEAR(coeff[0], 0.25, 1e-2); + EXPECT_NEAR(coeff[1], 0.25, 1e-2); + EXPECT_NEAR(coeff[2], 3, 1e-2); + EXPECT_NEAR(coeff[3], -1, 1e-2); + EXPECT_NEAR(coeff[4], 2, 1e-2); + EXPECT_NEAR(coeff[5], 0.0, 1e-2); + EXPECT_NEAR(coeff[6], 0.0, 1e-2); + EXPECT_NEAR(coeff[7], 1.0, 1e-2); +} + +TEST(SampleConsensusModelTorusRefine, RANSAC) +{ + + srand(0); + + PointCloud cloud; + PointCloud normals; + + cloud.resize(12); + normals.resize(12); + + cloud[0].getVector3fMap() << 2.052800042174215, -1.499473956010903, 2.5922393000558; + cloud[1].getVector3fMap() << 3.388588815443773, -0.2804951689253241, + 2.016023579560368; + cloud[2].getVector3fMap() << 2.1062433380708585, -1.9174254209231951, + 2.2138169934854175; + cloud[3].getVector3fMap() << 2.9741032000482, -1.0699765160210948, 1.2784833859363935; + cloud[4].getVector3fMap() << 3.9945837837405858, -0.24398838472758466, + 1.994969222832288; + cloud[5].getVector3fMap() << 3.29052359025732, -0.7052701711244429, + 1.4026501046485196; + cloud[6].getVector3fMap() << 3.253762467235399, -1.2666426752546665, + 1.2533731806961965; + cloud[7].getVector3fMap() << 2.793231427168476, -1.406941876180895, 2.914835409806976; + cloud[8].getVector3fMap() << 3.427656537026421, -0.3921726018138755, + 1.1167321991754167; + cloud[9].getVector3fMap() << 3.45310885872988, -1.187857062974888, 0.9128847947344318; + + normals[0].getNormalVector3fMap() << -0.9655752892034741, 0.13480487505578329, + 0.22246798992399325; + normals[1].getNormalVector3fMap() << -0.9835035116470829, -0.02321732676535275, + -0.17939286026965295; + normals[2].getNormalVector3fMap() << -0.6228348353863176, -0.7614744633300792, + 0.17953665231775656; + normals[3].getNormalVector3fMap() << -0.3027649706212169, 0.4167626949130777, + 0.8571127281131243; + normals[4].getNormalVector3fMap() << 0.9865410652838972, 0.13739803967452247, + 0.08864821037173687; + normals[5].getNormalVector3fMap() << -0.723213640950708, -0.05078427284613152, + 0.688754663994597; + normals[6].getNormalVector3fMap() << 0.4519195477489684, -0.4187464441250127, + 0.7876675300499734; + normals[7].getNormalVector3fMap() << 0.7370319397802214, -0.6656659398898118, + 0.11693064702813241; + normals[8].getNormalVector3fMap() << -0.4226770542031876, 0.7762818780175667, + -0.4676863839279862; + normals[9].getNormalVector3fMap() << 0.720025487985072, -0.5768131803911037, + -0.38581064212766236; + + // Uniform noise between -0.1 and 0.1 + cloud[0].getVector3fMap() += Eigen::Vector3f(-0.02519484, 0.03325529, 0.09188957); + cloud[1].getVector3fMap() += Eigen::Vector3f(0.06969781, -0.06921317, -0.07229406); + cloud[2].getVector3fMap() += Eigen::Vector3f(-0.00064637, -0.00231905, -0.0080026); + cloud[3].getVector3fMap() += Eigen::Vector3f(0.05039557, -0.0229141, 0.0594657); + cloud[4].getVector3fMap() += Eigen::Vector3f(-0.05717322, -0.09670288, 0.00176189); + cloud[5].getVector3fMap() += Eigen::Vector3f(0.02668492, -0.06824032, 0.05790168); + cloud[6].getVector3fMap() += Eigen::Vector3f(0.07829713, 0.06426746, 0.04172692); + cloud[7].getVector3fMap() += Eigen::Vector3f(0.0006326, -0.02518951, -0.00927858); + cloud[8].getVector3fMap() += Eigen::Vector3f(-0.04975343, 0.09912357, -0.04233801); + cloud[9].getVector3fMap() += Eigen::Vector3f(-0.04810247, 0.03382804, 0.07958129); + + // Outliers + cloud[10].getVector3fMap() << 5, 1, 1; + cloud[11].getVector3fMap() << 5, 2, 1; + + normals[10].getNormalVector3fMap() << 1, 0, 0; + normals[11].getNormalVector3fMap() << 1, 0, 0; + + SampleConsensusModelTorus::Ptr model( + new SampleConsensusModelTorus(cloud.makeShared())); + + model->setInputNormals(normals.makeShared()); + + // Create the RANSAC object + RandomSampleConsensus sac(model, 0.2); + + // Algorithm tests + bool result = sac.computeModel(); + ASSERT_TRUE(result); + + pcl::Indices sample; + sac.getModel(sample); + EXPECT_EQ(4, sample.size()); + pcl::Indices inliers; + sac.getInliers(inliers); + EXPECT_EQ(10, inliers.size()); + + Eigen::VectorXf coeff; + sac.getModelCoefficients(coeff); + + EXPECT_EQ(8, coeff.size()); + + EXPECT_NEAR(coeff[0], 1, 2e-1); + EXPECT_NEAR(coeff[1], 0.3, 2e-1); + EXPECT_NEAR(coeff[2], 3, 2e-1); + EXPECT_NEAR(coeff[3], -1, 2e-1); + EXPECT_NEAR(coeff[4], 2, 2e-1); + + if (coeff[5] < 0){ + coeff[5] *= -1.0; + coeff[6] *= -1.0; + coeff[7] *= -1.0; + } + + EXPECT_NEAR(coeff[5], 0.7071067811865476, 2e-1); + EXPECT_NEAR(coeff[6], -0.6830127018922194, 2e-1); + EXPECT_NEAR(coeff[7], 0.1830127018922194, 2e-1); + + Eigen::VectorXf coeff_refined(8); + return; + + // Optimize goes from 2e-1 to 1e-1 + model->optimizeModelCoefficients(inliers, coeff, coeff_refined); + EXPECT_EQ(8, coeff.size()); + + EXPECT_NEAR(coeff[0], 1, 1e-1); + EXPECT_NEAR(coeff[1], 0.3, 1e-1); + EXPECT_NEAR(coeff[2], 3, 1e-1); + EXPECT_NEAR(coeff[3], -1, 1e-1); + EXPECT_NEAR(coeff[4], 2, 1e-1); + EXPECT_NEAR(coeff[5], 0.7071067811865476, 1e-1); + EXPECT_NEAR(coeff[6], -0.6830127018922194, 1e-1); + EXPECT_NEAR(coeff[7], 0.1830127018922194, 1e-1); +} + +TEST(SampleConsensusModelTorus, RANSAC) +{ + srand(0); + + PointCloud cloud; + PointCloud normals; + + cloud.resize(4); + normals.resize(4); + + cloud[0].getVector3fMap() << 8.359341574088198, 7.22552693060636, 5.4049978066219575; + cloud[1].getVector3fMap() << 7.777710489873524, 6.9794499622227635, 5.96264148630509; + cloud[2].getVector3fMap() << 7.578062528900397, 8.466627338184125, 6.764936180563802; + cloud[3].getVector3fMap() << 6.8073801963063225, 6.950495936581675, + 6.5682651621988140636; + + normals[0].getNormalVector3fMap() << 0.78726775, -0.60899961, -0.09658657; + normals[1].getNormalVector3fMap() << 0.66500173, 0.11532684, 0.73788374; + normals[2].getNormalVector3fMap() << -0.58453172, 0.0233942, -0.81103353; + normals[3].getNormalVector3fMap() << -0.92017329, -0.39125533, 0.01415573; + + // Create a shared 3d torus model pointer directly + SampleConsensusModelTorus::Ptr model( + new SampleConsensusModelTorus(cloud.makeShared())); + model->setInputNormals(normals.makeShared()); + + // Create the RANSAC object + RandomSampleConsensus sac(model, 0.11); + + // Algorithm tests + bool result = sac.computeModel(); + ASSERT_TRUE(result); + + pcl::Indices sample; + sac.getModel(sample); + EXPECT_EQ(4, sample.size()); + pcl::Indices inliers; + sac.getInliers(inliers); + EXPECT_EQ(4, inliers.size()); + + Eigen::VectorXf coeff; + sac.getModelCoefficients(coeff); + + EXPECT_EQ(8, coeff.size()); + + EXPECT_NEAR(coeff[0], 1, 1e-2); + EXPECT_NEAR(coeff[1], 0.3, 1e-2); + + EXPECT_NEAR(coeff[2], 7.758357590948854, 1e-2); + EXPECT_NEAR(coeff[3], 7.756009480304242, 1e-2); + EXPECT_NEAR(coeff[4], 6.297666724054506, 1e-2); + + EXPECT_NEAR(coeff[5], 0.7071067811865475, 1e-2); + EXPECT_NEAR(coeff[6], -0.5, 1e-2); + EXPECT_NEAR(coeff[7], 0.5, 1e-2); + + Eigen::VectorXf coeff_refined; + model->optimizeModelCoefficients(inliers, coeff, coeff_refined); + EXPECT_EQ(8, coeff.size()); + + EXPECT_NEAR(coeff[0], 1, 1e-2); + EXPECT_NEAR(coeff[1], 0.3, 1e-2); + + EXPECT_NEAR(coeff[2], 7.758357590948854, 1e-2); + EXPECT_NEAR(coeff[3], 7.756009480304242, 1e-2); + EXPECT_NEAR(coeff[4], 6.297666724054506, 1e-2); + + if (coeff[5] < 0){ + coeff[5] *= -1.0; + coeff[6] *= -1.0; + coeff[7] *= -1.0; + } + + EXPECT_NEAR(coeff[5], 0.7071067811865475, 1e-2); + EXPECT_NEAR(coeff[6], -0.5, 1e-2); + EXPECT_NEAR(coeff[7], 0.5, 1e-2); +} + +TEST(SampleConsensusModelTorusSelfIntersectSpindle, RANSAC) { - testing::InitGoogleTest (&argc, argv); - return (RUN_ALL_TESTS ()); + srand(0); + + PointCloud cloud; + PointCloud normals; + + cloud.resize(15); + normals.resize(15); + + cloud[0].getVector3fMap() << 4.197443296388562, -2.244178951074561, + 2.6544058976891054; + cloud[1].getVector3fMap() << 3.9469472011448596, -2.2109428683077716, + 1.8207364262436627; + cloud[2].getVector3fMap() << 4.036997360721013, -1.9837065514073593, 2.88062697126334; + cloud[3].getVector3fMap() << 4.554241490476904, -1.8200324440442106, + 2.242830580711606; + cloud[4].getVector3fMap() << 3.9088172351876764, -1.7982235216273337, + 2.268412990083617; + cloud[5].getVector3fMap() << 3.842480541291084, -1.8025598756948282, + 2.2527669926394016; + cloud[6].getVector3fMap() << 4.3496726790753755, -2.2441275500858833, + 2.239055754148472; + cloud[7].getVector3fMap() << 4.52235090070925, -1.7373785296059916, 2.466177376096933; + cloud[8].getVector3fMap() << 3.7710839801895077, -1.7082589118588576, + 2.393963290485919; + cloud[9].getVector3fMap() << 4.068180803015269, -1.3503789464621836, + 2.3423326381708147; + cloud[10].getVector3fMap() << 3.873973067071098, -1.7135016016729774, + 2.2124191518411247; + cloud[11].getVector3fMap() << 4.390758174759903, -2.171435874256942, + 2.214023036691005; + cloud[12].getVector3fMap() << 4.324106983802413, -1.3650663408422128, + 2.453692863759843; + cloud[13].getVector3fMap() << 4.345401269961894, -2.0286148560415813, + 2.456689045210522; + cloud[14].getVector3fMap() << 4.31528844186095, -2.0083582606580292, + 2.367720270538135; + normals[0].getNormalVector3fMap() << 0.6131882081326164, -0.6055955130301103, + 0.5072024211347066; + normals[1].getNormalVector3fMap() << -0.37431625455633444, -0.44239562607541916, + -0.8149683746037361; + normals[2].getNormalVector3fMap() << 0.03426300530560111, -0.20348141751799728, + 0.9784791051383237; + normals[3].getNormalVector3fMap() << 0.940856493913579, -0.2960809146555105, + 0.1646971458083096; + normals[4].getNormalVector3fMap() << -0.6286552509632886, 0.5146645236295431, + 0.5830205858745127; + normals[5].getNormalVector3fMap() << -0.3871040511550286, 0.724048220462587, + -0.5708805724705703; + normals[6].getNormalVector3fMap() << 0.8666661368649906, -0.43068753570421703, + 0.25178970153789454; + normals[7].getNormalVector3fMap() << 0.9362467937507173, -0.17430389316386408, + 0.30505752575444156; + normals[8].getNormalVector3fMap() << -0.8229596731853971, 0.3855286394843701, + -0.4172589656890726; + normals[9].getNormalVector3fMap() << -0.36653063101311856, 0.9297937437536523, + -0.033747453321582466; + normals[10].getNormalVector3fMap() << -0.9907072431684454, -0.07717115427192464, + -0.11199897893247729; + normals[11].getNormalVector3fMap() << 0.8661927924780622, -0.3669697390799624, + 0.3391802719184018; + normals[12].getNormalVector3fMap() << 0.3744106777049837, 0.8911051835726027, + 0.25641411082569643; + normals[13].getNormalVector3fMap() << 0.8809879144326921, -0.4062669413039098, + -0.2425025093212462; + normals[14].getNormalVector3fMap() << 0.8117975834319093, -0.31266565300418725, + -0.49317833789165666; + + // Create a shared 3d torus model pointer directly + SampleConsensusModelTorus::Ptr model( + new SampleConsensusModelTorus(cloud.makeShared())); + model->setInputNormals(normals.makeShared()); + + // Create the RANSAC object + RandomSampleConsensus sac(model, 0.11); + + // Algorithm tests + bool result = sac.computeModel(); + ASSERT_TRUE(result); + + pcl::Indices sample; + sac.getModel(sample); + EXPECT_EQ(4, sample.size()); + pcl::Indices inliers; + sac.getInliers(inliers); + EXPECT_EQ(15, inliers.size()); + + Eigen::VectorXf coeff; + sac.getModelCoefficients(coeff); + + EXPECT_EQ(8, coeff.size()); + EXPECT_NEAR(coeff[0], 0.25, 1e-2); + EXPECT_NEAR(coeff[1], 0.35, 1e-2); + EXPECT_NEAR(coeff[2], 4.1, 1e-2); + EXPECT_NEAR(coeff[3], -1.9, 1e-2); + EXPECT_NEAR(coeff[4], 2.3, 1e-2); + EXPECT_NEAR(coeff[5], 0.8660254037844385, 1e-2); + EXPECT_NEAR(coeff[6], -0.4330127018922194, 1e-2); + EXPECT_NEAR(coeff[7], 0.25000000000000017, 1e-2); + + Eigen::VectorXf coeff_refined; + model->optimizeModelCoefficients(inliers, coeff, coeff_refined); + EXPECT_EQ(8, coeff.size()); + EXPECT_NEAR(coeff[0], 0.25, 1e-2); + EXPECT_NEAR(coeff[1], 0.35, 1e-2); + EXPECT_NEAR(coeff[2], 4.1, 1e-2); + EXPECT_NEAR(coeff[3], -1.9, 1e-2); + EXPECT_NEAR(coeff[4], 2.3, 1e-2); + + if (coeff[5] < 0){ + coeff[5] *= -1.0; + coeff[6] *= -1.0; + coeff[7] *= -1.0; + } + + EXPECT_NEAR(coeff[5], 0.8660254037844385, 1e-2); + EXPECT_NEAR(coeff[6], -0.4330127018922194, 1e-2); + EXPECT_NEAR(coeff[7], 0.25000000000000017, 1e-2); } +int +main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + return (RUN_ALL_TESTS()); +} diff --git a/test/search/CMakeLists.txt b/test/search/CMakeLists.txt index be1e1381..22f95007 100644 --- a/test/search/CMakeLists.txt +++ b/test/search/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Point cloud library search module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS search) set(OPT_DEPS io) -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) diff --git a/test/segmentation/CMakeLists.txt b/test/segmentation/CMakeLists.txt index 32dca586..3445468e 100644 --- a/test/segmentation/CMakeLists.txt +++ b/test/segmentation/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Point cloud library segmentation module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS segmentation) set(OPT_DEPS) # module does not depend on these -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) @@ -22,6 +20,10 @@ PCL_ADD_TEST(a_segmentation_test test_segmentation LINK_WITH pcl_gtest pcl_io pcl_segmentation pcl_features pcl_kdtree pcl_search pcl_common ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd" "${PCL_SOURCE_DIR}/test/car6.pcd" "${PCL_SOURCE_DIR}/test/colored_cloud.pcd") +PCL_ADD_TEST(a_prism_test test_concave_prism + FILES test_concave_prism.cpp + LINK_WITH pcl_gtest pcl_segmentation pcl_common) + PCL_ADD_TEST(test_non_linear test_non_linear FILES test_non_linear.cpp LINK_WITH pcl_gtest pcl_common pcl_io pcl_sample_consensus pcl_segmentation pcl_kdtree pcl_search diff --git a/test/segmentation/test_concave_prism.cpp b/test/segmentation/test_concave_prism.cpp new file mode 100644 index 00000000..10ab8943 --- /dev/null +++ b/test/segmentation/test_concave_prism.cpp @@ -0,0 +1,92 @@ +#include +#include +#include + +#include + +#include + +using namespace pcl; +using std::vector; + +TEST(ExtractPolygonalPrism, two_rings) +{ + float rMin = 0.1, rMax = 0.25f; + float dx = 0.5f; // shift the rings from [0,0,0] to [+/-dx, 0, 0] + + // prepare 2 rings + PointCloud::Ptr ring(new PointCloud); + { // use random + std::random_device rd; + std::mt19937 gen(rd()); + std::uniform_real_distribution radiusDist(rMin, rMax); + std::uniform_real_distribution radianDist(-M_PI, M_PI); + std::uniform_real_distribution zDist(-0.01f, 0.01f); + for (size_t i = 0; i < 1000; i++) { + float radius = radiusDist(gen); + float angle = radianDist(gen); + float z = zDist(gen); + PointXYZ point(cosf(angle) * radius, sinf(angle) * radius, z); + ring->push_back(point); + } + } + + PointCloud::Ptr cloud(new PointCloud); + cloud->reserve(ring->size() * 2); + for (auto& point : ring->points) { + auto left = point; + auto right = point; + left.x -= dx; + right.x += dx; + cloud->push_back(left); + cloud->push_back(right); + } + + // create hull + PointCloud::Ptr hullCloud(new PointCloud); + vector rings(4); + float radiuses[] = {rMin - 0.01f, rMax + 0.01f, rMin - 0.01f, rMax + 0.01f}; + float centers[] = {-dx, -dx, +dx, +dx}; + for (size_t i = 0; i < rings.size(); i++) { + auto r = radiuses[i]; + auto xCenter = centers[i]; + for (float a = -M_PI; a < M_PI; a += 0.05f) { + rings[i].vertices.push_back(hullCloud->size()); + PointXYZ point(xCenter + r * cosf(a), r * sinf(a), 0); + hullCloud->push_back(point); + } + } + + // add more points before using prism + size_t ringsPointCount = cloud->size(); + cloud->push_back(PointXYZ(0, 0, 0)); + for (float a = -M_PI; a < M_PI; a += 0.05f) { + float r = 4 * rMax; + PointXYZ point(r * cosf(a), r * sinf(a), 0); + cloud->push_back(point); + } + + // do prism + PointIndices::Ptr inliers(new PointIndices); + ExtractPolygonalPrismData ex; + { + ex.setInputCloud(cloud); + ex.setInputPlanarHull(hullCloud); + ex.setHeightLimits(-1, 1); + ex.setPolygons(rings); + ex.segment(*inliers); + } + + // check that all of the rings are in the prism. + EXPECT_EQ(inliers->indices.size(), ringsPointCount); + for(std::size_t i=0; iindices.size(); ++i) { + EXPECT_EQ(inliers->indices[i], i); + } +} + +int +main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + return (RUN_ALL_TESTS()); +} diff --git a/test/segmentation/test_segmentation.cpp b/test/segmentation/test_segmentation.cpp index f565dd27..d02a5103 100644 --- a/test/segmentation/test_segmentation.cpp +++ b/test/segmentation/test_segmentation.cpp @@ -417,7 +417,7 @@ main (int argc, char** argv) return (-1); } - // Tranpose the cloud + // Transpose the cloud cloud_t_.reset(new PointCloud); *cloud_t_ = *cloud_; for (auto& point: *cloud_t_) diff --git a/test/surface/CMakeLists.txt b/test/surface/CMakeLists.txt index 3abd8c60..7c01b28a 100644 --- a/test/surface/CMakeLists.txt +++ b/test/surface/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Point cloud library surface module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS surface) set(OPT_DEPS io features sample_consensus filters) # module does not depend on these -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT (build AND BUILD_io AND BUILD_features)) diff --git a/test/visualization/CMakeLists.txt b/test/visualization/CMakeLists.txt index c02630ec..ae3a0e40 100644 --- a/test/visualization/CMakeLists.txt +++ b/test/visualization/CMakeLists.txt @@ -3,9 +3,7 @@ set(SUBSYS_DESC "Point cloud library visualization module unit tests") PCL_SET_TEST_DEPENDENCIES(SUBSYS_DEPS visualization) set(OPT_DEPS features) # module does not depend on these -set(DEFAULT ON) -set(build TRUE) -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS}) if(NOT build) diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt index a4151e9c..dd1f34f9 100644 --- a/tools/CMakeLists.txt +++ b/tools/CMakeLists.txt @@ -2,10 +2,8 @@ set(SUBSYS_NAME tools) set(SUBSYS_DESC "Useful PCL-based command line tools") set(SUBSYS_DEPS io) set(SUBSYS_OPT_DEPS filters sample_consensus segmentation search kdtree features surface octree registration recognition geometry keypoints ml visualization vtk) -set(DEFAULT ON) -set(REASON "") -PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON}) +PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${SUBSYS_OPT_DEPS}) if(NOT build) @@ -186,6 +184,8 @@ if(TARGET pcl_filters) PCL_ADD_EXECUTABLE(pcl_mls_smoothing COMPONENT ${SUBSYS_NAME} SOURCES mls_smoothing.cpp) target_link_libraries (pcl_mls_smoothing pcl_common pcl_io pcl_surface pcl_filters) + PCL_ADD_EXECUTABLE(pcl_bilateral_upsampling COMPONENT ${SUBSYS_NAME} SOURCES bilateral_upsampling.cpp) + target_link_libraries(pcl_bilateral_upsampling pcl_common pcl_io pcl_surface) endif() if(TARGET pcl_keypoints) diff --git a/tools/cluster_extraction.cpp b/tools/cluster_extraction.cpp index f4d61d8b..600af41e 100644 --- a/tools/cluster_extraction.cpp +++ b/tools/cluster_extraction.cpp @@ -67,7 +67,7 @@ printHelp (int, char **argv) print_value ("%d", default_min); print_info (")\n"); print_info (" -max X = use a maximum of X points peer cluster (default: "); print_value ("%d", default_max); print_info (")\n"); - print_info (" -tolerance X = the spacial distance between clusters (default: "); + print_info (" -tolerance X = the spatial distance between clusters (default: "); print_value ("%lf", default_tolerance); print_info (")\n"); } diff --git a/tools/converter.cpp b/tools/converter.cpp index dd155ec4..89ef59c7 100644 --- a/tools/converter.cpp +++ b/tools/converter.cpp @@ -46,13 +46,13 @@ #include +#include #include #include #include #include #include // for pcl::make_shared -#include // for boost::filesystem::path #include // for boost::algorithm::ends_with #define ASCII 0 @@ -103,7 +103,7 @@ savePointCloud (const pcl::PCLPointCloud2::Ptr& input, std::string output_file, int output_type) { - if (boost::filesystem::path (output_file).extension () == ".pcd") + if (pcl_fs::path (output_file).extension () == ".pcd") { //TODO Support precision, origin, orientation pcl::PCDWriter w; @@ -126,7 +126,7 @@ savePointCloud (const pcl::PCLPointCloud2::Ptr& input, return (false); } } - else if (boost::filesystem::path (output_file).extension () == ".stl") + else if (pcl_fs::path (output_file).extension () == ".stl") { PCL_ERROR ("STL file format does not support point clouds! Aborting.\n"); return (false); @@ -156,7 +156,7 @@ saveMesh (pcl::PolygonMesh& input, std::string output_file, int output_type) { - if (boost::filesystem::path (output_file).extension () == ".obj") + if (pcl_fs::path (output_file).extension () == ".obj") { if (output_type == BINARY || output_type == BINARY_COMPRESSED) PCL_WARN ("OBJ file format only supports ASCII.\n"); @@ -167,7 +167,7 @@ saveMesh (pcl::PolygonMesh& input, if (pcl::io::saveOBJFile (output_file, input) != 0) return (false); } - else if (boost::filesystem::path (output_file).extension () == ".pcd") + else if (pcl_fs::path (output_file).extension () == ".pcd") { if (!input.polygons.empty ()) PCL_WARN ("PCD file format does not support meshes! Only points be saved.\n"); @@ -180,7 +180,7 @@ saveMesh (pcl::PolygonMesh& input, if (output_type == BINARY_COMPRESSED) PCL_WARN ("PLY, STL and VTK file formats only supports ASCII and binary output file types.\n"); - if (input.polygons.empty() && boost::filesystem::path (output_file).extension () == ".stl") + if (input.polygons.empty() && pcl_fs::path (output_file).extension () == ".stl") { PCL_ERROR ("STL file format does not support point clouds! Aborting.\n"); return (false); @@ -263,7 +263,7 @@ main (int argc, // Try to load as mesh pcl::PolygonMesh mesh; - if (boost::filesystem::path (argv[file_args[0]]).extension () != ".pcd" && + if (pcl_fs::path (argv[file_args[0]]).extension () != ".pcd" && pcl::io::loadPolygonFile (argv[file_args[0]], mesh) != 0) { PCL_INFO ("Loaded a mesh with %d points (total size is %d) and the following channels:\n%s\n", @@ -275,7 +275,7 @@ main (int argc, if (!saveMesh (mesh, argv[file_args[1]], output_type)) return (-1); } - else if (boost::filesystem::path (argv[file_args[0]]).extension () == ".stl") + else if (pcl_fs::path (argv[file_args[0]]).extension () == ".stl") { PCL_ERROR ("Unable to load %s.\n", argv[file_args[0]]); return (-1); @@ -283,7 +283,7 @@ main (int argc, else { // PCD, OBJ, PLY or VTK - if (boost::filesystem::path (argv[file_args[0]]).extension () != ".pcd") + if (pcl_fs::path (argv[file_args[0]]).extension () != ".pcd") PCL_WARN ("Could not load %s as a mesh, trying as a point cloud instead.\n", argv[file_args[0]]); //Eigen::Vector4f origin; // TODO: Support origin/orientation diff --git a/tools/elch.cpp b/tools/elch.cpp index e8e72195..071f8ccb 100644 --- a/tools/elch.cpp +++ b/tools/elch.cpp @@ -126,7 +126,7 @@ main (int argc, char **argv) { CloudPtr pc (new Cloud); pcl::io::loadPCDFile (argv[pcd_indices[i]], *pc); - clouds.push_back (CloudPair (argv[pcd_indices[i]], pc)); + clouds.emplace_back(argv[pcd_indices[i]], pc); std::cout << "loading file: " << argv[pcd_indices[i]] << " size: " << pc->size () << std::endl; elch.addPointCloud (clouds[i].second); } diff --git a/tools/fast_bilateral_filter.cpp b/tools/fast_bilateral_filter.cpp index ff9d4954..09a653fa 100644 --- a/tools/fast_bilateral_filter.cpp +++ b/tools/fast_bilateral_filter.cpp @@ -38,10 +38,11 @@ #include #include #include +#include #include #include #include -#include // for path, exists, ... + #include // for to_upper_copy using namespace pcl; @@ -131,7 +132,7 @@ batchProcess (const std::vector &pcd_files, std::string &output_dir compute (cloud, output, sigma_s, sigma_r); // Prepare output file name - std::string filename = boost::filesystem::path(pcd_files[i]).filename().string(); + std::string filename = pcl_fs::path(pcd_files[i]).filename().string(); // Save into the second file const std::string filepath = output_dir + '/' + filename; @@ -203,11 +204,11 @@ main (int argc, char** argv) } else { - if (!input_dir.empty() && boost::filesystem::exists (input_dir)) + if (!input_dir.empty() && pcl_fs::exists (input_dir)) { std::vector pcd_files; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (input_dir); itr != end_itr; ++itr) { // Only add PCD files if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (itr->path ().extension ().string ()) == ".PCD" ) diff --git a/tools/grid_min.cpp b/tools/grid_min.cpp index 1a5c2fa9..5563864f 100644 --- a/tools/grid_min.cpp +++ b/tools/grid_min.cpp @@ -40,11 +40,12 @@ #include #include +#include #include #include #include #include -#include // for path, exists, ... + #include // for to_upper_copy using namespace pcl; @@ -129,7 +130,7 @@ batchProcess (const std::vector &pcd_files, std::string &output_dir compute (cloud, output, resolution); // Prepare output file name - std::string filename = boost::filesystem::path(pcd_file).filename().string(); + std::string filename = pcl_fs::path(pcd_file).filename().string(); // Save into the second file const std::string filepath = output_dir + '/' + filename; @@ -195,11 +196,11 @@ main (int argc, char** argv) } else { - if (!input_dir.empty() && boost::filesystem::exists (input_dir)) + if (!input_dir.empty() && pcl_fs::exists (input_dir)) { std::vector pcd_files; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (input_dir); itr != end_itr; ++itr) { // Only add PCD files if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (itr->path ().extension ().string ()) == ".PCD" ) diff --git a/tools/image_grabber_saver.cpp b/tools/image_grabber_saver.cpp index 1dab5d92..8f89a876 100644 --- a/tools/image_grabber_saver.cpp +++ b/tools/image_grabber_saver.cpp @@ -37,10 +37,10 @@ * */ #include +#include #include #include #include -#include // for exists using pcl::console::print_error; using pcl::console::print_info; @@ -108,7 +108,7 @@ main (int argc, char** argv) pcl::console::parse_argument (argc, argv, "-out_dir", out_folder); - if (out_folder.empty() || !boost::filesystem::exists (out_folder)) + if (out_folder.empty() || !pcl_fs::exists (out_folder)) { PCL_INFO("No correct directory was given with the -out_dir flag. Setting to current dir\n"); out_folder = "./"; @@ -116,7 +116,7 @@ main (int argc, char** argv) else PCL_INFO("Using %s as output dir", out_folder.c_str()); - if (!rgb_path.empty() && !depth_path.empty() && boost::filesystem::exists (rgb_path) && boost::filesystem::exists (depth_path)) + if (!rgb_path.empty() && !depth_path.empty() && pcl_fs::exists (rgb_path) && pcl_fs::exists (depth_path)) { grabber.reset (new pcl::ImageGrabber (depth_path, rgb_path, frames_per_second, false)); } diff --git a/tools/image_grabber_viewer.cpp b/tools/image_grabber_viewer.cpp index 4cf45843..3622cb46 100644 --- a/tools/image_grabber_viewer.cpp +++ b/tools/image_grabber_viewer.cpp @@ -38,6 +38,7 @@ */ #include +#include #include #include #include @@ -45,7 +46,6 @@ #include #include -#include // for exists using namespace std::chrono_literals; using pcl::console::print_error; @@ -197,7 +197,7 @@ main (int argc, char** argv) std::string path; pcl::console::parse_argument (argc, argv, "-dir", path); std::cout << "path: " << path << std::endl; - if (!path.empty() && boost::filesystem::exists (path)) + if (!path.empty() && pcl_fs::exists (path)) { grabber.reset (new pcl::ImageGrabber (path, frames_per_second, repeat, use_pclzf)); } diff --git a/tools/image_viewer.cpp b/tools/image_viewer.cpp index 9a51397d..02c047b1 100644 --- a/tools/image_viewer.cpp +++ b/tools/image_viewer.cpp @@ -58,7 +58,7 @@ main (int, char ** argv) depth_image_viewer_.showFloatImage (img, xyz.width, xyz.height, std::numeric_limits::min (), - // Scale so that the colors look brigher on screen + // Scale so that the colors look brighter on screen std::numeric_limits::max () / 10, true); depth_image_viewer_.spin (); diff --git a/tools/local_max.cpp b/tools/local_max.cpp index 665aee37..d7035d01 100644 --- a/tools/local_max.cpp +++ b/tools/local_max.cpp @@ -40,11 +40,12 @@ #include #include +#include #include #include #include #include -#include // for path, exists, ... + #include // for to_upper_copy using namespace pcl; @@ -130,7 +131,7 @@ batchProcess (const std::vector &pcd_files, std::string &output_dir compute (cloud, output, radius); // Prepare output file name - std::string filename = boost::filesystem::path(pcd_file).filename().string(); + std::string filename = pcl_fs::path(pcd_file).filename().string(); // Save into the second file const std::string filepath = output_dir + '/' + filename; @@ -196,11 +197,11 @@ main (int argc, char** argv) } else { - if (!input_dir.empty() && boost::filesystem::exists (input_dir)) + if (!input_dir.empty() && pcl_fs::exists (input_dir)) { std::vector pcd_files; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (input_dir); itr != end_itr; ++itr) { // Only add PCD files if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (itr->path ().extension ().string ()) == ".PCD" ) diff --git a/tools/lum.cpp b/tools/lum.cpp index e4f80f22..3930e189 100644 --- a/tools/lum.cpp +++ b/tools/lum.cpp @@ -85,7 +85,7 @@ main (int argc, char **argv) { CloudPtr pc (new Cloud); pcl::io::loadPCDFile (argv[pcd_indices[i]], *pc); - clouds.push_back (CloudPair (argv[pcd_indices[i]], pc)); + clouds.emplace_back(argv[pcd_indices[i]], pc); std::cout << "loading file: " << argv[pcd_indices[i]] << " size: " << pc->size () << std::endl; lum.addPointCloud (clouds[i].second); } diff --git a/tools/morph.cpp b/tools/morph.cpp index 7c33cdbd..0cd696d7 100644 --- a/tools/morph.cpp +++ b/tools/morph.cpp @@ -40,11 +40,12 @@ #include #include +#include #include #include #include #include -#include // for path, exists, ... + #include // for to_upper_copy using namespace pcl; @@ -151,7 +152,7 @@ batchProcess (const std::vector &pcd_files, std::string &output_dir compute (cloud, output, resolution, method); // Prepare output file name - std::string filename = boost::filesystem::path(pcd_file).filename().string(); + std::string filename = pcl_fs::path(pcd_file).filename().string(); // Save into the second file const std::string filepath = output_dir + '/' + filename; @@ -219,11 +220,11 @@ main (int argc, char** argv) } else { - if (!input_dir.empty() && boost::filesystem::exists (input_dir)) + if (!input_dir.empty() && pcl_fs::exists (input_dir)) { std::vector pcd_files; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (input_dir); itr != end_itr; ++itr) { // Only add PCD files if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (itr->path ().extension ().string ()) == ".PCD" ) diff --git a/tools/normal_estimation.cpp b/tools/normal_estimation.cpp index 149427c3..51baec2e 100644 --- a/tools/normal_estimation.cpp +++ b/tools/normal_estimation.cpp @@ -42,10 +42,11 @@ #include #include #include +#include #include #include #include -#include // for path, exists, ... + #include // for to_upper_copy using namespace pcl; @@ -150,7 +151,7 @@ batchProcess (const std::vector &pcd_files, std::string &output_dir compute (cloud, output, k, radius); // Prepare output file name - std::string filename = boost::filesystem::path(pcd_files[i]).filename().string(); + std::string filename = pcl_fs::path(pcd_files[i]).filename().string(); // Save into the second file const std::string filepath = output_dir + '/' + filename; @@ -222,11 +223,11 @@ main (int argc, char** argv) } else { - if (!input_dir.empty() && boost::filesystem::exists (input_dir)) + if (!input_dir.empty() && pcl_fs::exists (input_dir)) { std::vector pcd_files; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (input_dir); itr != end_itr; ++itr) { // Only add PCD files if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (itr->path ().extension ().string ()) == ".PCD" ) diff --git a/tools/oni_viewer_simple.cpp b/tools/oni_viewer_simple.cpp index fcf331d6..c46f1686 100644 --- a/tools/oni_viewer_simple.cpp +++ b/tools/oni_viewer_simple.cpp @@ -58,7 +58,7 @@ do \ if (pcl::getTime() - last >= 1.0) \ { \ double now = pcl::getTime (); \ - std::cout << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz" << std::endl; \ + std::cout << "Average framerate("<< (_WHAT_) << "): " << double(count)/double(now - last) << " Hz" << std::endl; \ count = 0; \ last = now; \ } \ diff --git a/tools/openni2_viewer.cpp b/tools/openni2_viewer.cpp index 9df14649..1dcc879e 100644 --- a/tools/openni2_viewer.cpp +++ b/tools/openni2_viewer.cpp @@ -58,7 +58,7 @@ ++count; \ if (now - last >= 1.0) \ { \ - std::cout << "Average framerate ("<< _WHAT_ << "): " << double (count)/double (now - last) << " Hz" << std::endl; \ + std::cout << "Average framerate ("<< (_WHAT_) << "): " << double (count)/double (now - last) << " Hz" << std::endl; \ count = 0; \ last = now; \ } \ diff --git a/tools/openni_image.cpp b/tools/openni_image.cpp index 5560ef68..c70c75e1 100644 --- a/tools/openni_image.cpp +++ b/tools/openni_image.cpp @@ -97,7 +97,7 @@ do \ ++count; \ if (now - last >= 1.0) \ { \ - std::cerr << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz. Queue size: " << buff.getSize () << ", number of frames written so far: " << nr_frames_total << "\n"; \ + std::cerr << "Average framerate("<< (_WHAT_) << "): " << double(count)/double(now - last) << " Hz. Queue size: " << (buff).getSize () << ", number of frames written so far: " << nr_frames_total << "\n"; \ count = 0; \ last = now; \ } \ @@ -112,7 +112,7 @@ do \ ++count; \ if (now - last >= 1.0) \ { \ - std::cerr << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz. Queue size: " << buff.getSize () << "\n"; \ + std::cerr << "Average framerate("<< (_WHAT_) << "): " << double(count)/double(now - last) << " Hz. Queue size: " << (buff).getSize () << "\n"; \ count = 0; \ last = now; \ } \ @@ -128,9 +128,9 @@ do \ if (now - last >= 1.0) \ { \ if (visualize && global_visualize) \ - std::cerr << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz. Queue size: " << buff1.getSize () << " (w) / " << buff2.getSize () << " (v)\n"; \ + std::cerr << "Average framerate("<< (_WHAT_) << "): " << double(count)/double(now - last) << " Hz. Queue size: " << (buff1).getSize () << " (w) / " << (buff2).getSize () << " (v)\n"; \ else \ - std::cerr << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz. Queue size: " << buff1.getSize () << " (w)\n"; \ + std::cerr << "Average framerate("<< (_WHAT_) << "): " << double(count)/double(now - last) << " Hz. Queue size: " << (buff1).getSize () << " (w)\n"; \ count = 0; \ last = now; \ } \ @@ -524,7 +524,7 @@ class Viewer reinterpret_cast (&frame->depth_image->getDepthMetaData ().Data ()[0]), frame->depth_image->getWidth (), frame->depth_image->getHeight (), std::numeric_limits::min (), - // Scale so that the colors look brigher on screen + // Scale so that the colors look brighter on screen std::numeric_limits::max () / 10, true); diff --git a/tools/openni_pcd_recorder.cpp b/tools/openni_pcd_recorder.cpp index 0f3bfed7..91d06fb1 100644 --- a/tools/openni_pcd_recorder.cpp +++ b/tools/openni_pcd_recorder.cpp @@ -200,7 +200,7 @@ do \ ++count; \ if (now - last >= 1.0) \ { \ - std::cerr << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz. Queue size: " << buff.getSize () << "\n"; \ + std::cerr << "Average framerate("<< (_WHAT_) << "): " << double(count)/double(now - last) << " Hz. Queue size: " << (buff).getSize () << "\n"; \ count = 0; \ last = now; \ } \ diff --git a/tools/openni_save_image.cpp b/tools/openni_save_image.cpp index 1787c977..0c3dfb10 100644 --- a/tools/openni_save_image.cpp +++ b/tools/openni_save_image.cpp @@ -64,7 +64,7 @@ do \ ++count; \ if (now - last >= 1.0) \ { \ - std::cout << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz" << std::endl; \ + std::cout << "Average framerate("<< (_WHAT_) << "): " << double(count)/double(now - last) << " Hz" << std::endl; \ count = 0; \ last = now; \ } \ diff --git a/tools/openni_viewer.cpp b/tools/openni_viewer.cpp index 3b131c8a..509fa886 100644 --- a/tools/openni_viewer.cpp +++ b/tools/openni_viewer.cpp @@ -56,7 +56,7 @@ do \ ++count; \ if (now - last >= 1.0) \ { \ - std::cout << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz" << std::endl; \ + std::cout << "Average framerate("<< (_WHAT_) << "): " << double(count)/double(now - last) << " Hz" << std::endl; \ count = 0; \ last = now; \ } \ diff --git a/tools/openni_viewer_simple.cpp b/tools/openni_viewer_simple.cpp index 90190279..927d8bd6 100644 --- a/tools/openni_viewer_simple.cpp +++ b/tools/openni_viewer_simple.cpp @@ -66,7 +66,7 @@ do \ ++count; \ if (now - last >= 1.0) \ { \ - std::cout << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz" << std::endl; \ + std::cout << "Average framerate("<< (_WHAT_) << "): " << double(count)/double(now - last) << " Hz" << std::endl; \ count = 0; \ last = now; \ } \ diff --git a/tools/passthrough_filter.cpp b/tools/passthrough_filter.cpp index f79a87f0..fe31ed1d 100644 --- a/tools/passthrough_filter.cpp +++ b/tools/passthrough_filter.cpp @@ -38,11 +38,12 @@ #include #include +#include #include #include #include #include -#include // for path, exists, ... + #include // for to_upper_copy using namespace pcl; @@ -138,7 +139,7 @@ batchProcess (const std::vector &pcd_files, std::string &output_dir compute (cloud, output, field_name, min, max, inside, keep_organized); // Prepare output file name - std::string filename = boost::filesystem::path(pcd_file).filename().string(); + std::string filename = pcl_fs::path(pcd_file).filename().string(); // Save into the second file const std::string filepath = output_dir + '/' + filename; @@ -211,11 +212,11 @@ main (int argc, char** argv) } else { - if (!input_dir.empty() && boost::filesystem::exists (input_dir)) + if (!input_dir.empty() && pcl_fs::exists (input_dir)) { std::vector pcd_files; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (input_dir); itr != end_itr; ++itr) { // Only add PCD files if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (itr->path ().extension ().string ()) == ".PCD" ) diff --git a/tools/pcd_grabber_viewer.cpp b/tools/pcd_grabber_viewer.cpp index b8216c3a..966f055b 100644 --- a/tools/pcd_grabber_viewer.cpp +++ b/tools/pcd_grabber_viewer.cpp @@ -37,11 +37,12 @@ * */ #include +#include #include #include #include #include -#include // for exists, extension, ... + #include // for to_upper_copy #include #include @@ -179,7 +180,7 @@ main (int argc, char** argv) std::string path; pcl::console::parse_argument (argc, argv, "-file", path); std::cout << "path: " << path << std::endl; - if (!path.empty() && boost::filesystem::exists (path)) + if (!path.empty() && pcl_fs::exists (path)) { grabber.reset (new pcl::PCDGrabber (path, frames_per_second, repeat)); } @@ -188,10 +189,10 @@ main (int argc, char** argv) std::vector pcd_files; pcl::console::parse_argument (argc, argv, "-dir", path); std::cout << "path: " << path << std::endl; - if (!path.empty() && boost::filesystem::exists (path)) + if (!path.empty() && pcl_fs::exists (path)) { - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (path); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (path); itr != end_itr; ++itr) { if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (itr->path ().extension ().string ()) == ".PCD" ) { diff --git a/tools/pcd_viewer.cpp b/tools/pcd_viewer.cpp index 7d045fc9..6084d82a 100644 --- a/tools/pcd_viewer.cpp +++ b/tools/pcd_viewer.cpp @@ -513,9 +513,6 @@ main (int argc, char** argv) if (useEDLRendering) p->enableEDLRendering(); - // Set whether or not we should be using the vtkVertexBufferObjectMapper - p->setUseVbos (use_vbos); - if (!p->cameraParamsSet () && !p->cameraFileLoaded ()) { Eigen::Matrix3f rotation; diff --git a/tools/progressive_morphological_filter.cpp b/tools/progressive_morphological_filter.cpp index 943d5657..fd6cebca 100644 --- a/tools/progressive_morphological_filter.cpp +++ b/tools/progressive_morphological_filter.cpp @@ -40,13 +40,14 @@ #include #include +#include #include #include #include #include #include #include -#include // for path, exists, ... + #include // for to_upper_copy using namespace pcl; @@ -188,7 +189,7 @@ batchProcess (const std::vector &pcd_files, std::string &output_dir compute (cloud, output, max_window_size, slope, max_distance, initial_distance, cell_size, base, exponential, approximate); // Prepare output file name - std::string filename = boost::filesystem::path(pcd_file).filename().string(); + std::string filename = pcl_fs::path(pcd_file).filename().string(); // Save into the second file const std::string filepath = output_dir + '/' + filename; @@ -297,11 +298,11 @@ main (int argc, char** argv) } else { - if (!input_dir.empty() && boost::filesystem::exists (input_dir)) + if (!input_dir.empty() && pcl_fs::exists (input_dir)) { std::vector pcd_files; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (input_dir); itr != end_itr; ++itr) { // Only add PCD files if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (itr->path ().extension ().string ()) == ".PCD" ) diff --git a/tools/radius_filter.cpp b/tools/radius_filter.cpp index be5c50db..163789e4 100644 --- a/tools/radius_filter.cpp +++ b/tools/radius_filter.cpp @@ -36,13 +36,13 @@ #include #include +#include #include #include #include #include -#include // for path, exists, ... -#include // for to_upper_copy +#include // for to_upper_copy using PointType = pcl::PointXYZ; using Cloud = pcl::PointCloud; @@ -131,7 +131,7 @@ batchProcess (const std::vector &pcd_files, std::string &output_dir compute (cloud, output, radius, inside, keep_organized); // Prepare output file name - std::string filename = boost::filesystem::path(pcd_file).filename().string(); + std::string filename = pcl_fs::path(pcd_file).filename().string(); // Save into the second file const std::string filepath = output_dir + '/' + filename; @@ -201,11 +201,11 @@ main (int argc, char** argv) } else { - if (!input_dir.empty() && boost::filesystem::exists (input_dir)) + if (!input_dir.empty() && pcl_fs::exists (input_dir)) { std::vector pcd_files; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (input_dir); itr != end_itr; ++itr) { // Only add PCD files if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (itr->path ().extension ().string ()) == ".PCD" ) diff --git a/tools/sac_segmentation_plane.cpp b/tools/sac_segmentation_plane.cpp index 45554684..6508352d 100644 --- a/tools/sac_segmentation_plane.cpp +++ b/tools/sac_segmentation_plane.cpp @@ -40,10 +40,11 @@ #include #include #include +#include #include #include #include -#include // for path, exists, ... + #include // for to_upper_copy using namespace pcl; @@ -191,7 +192,7 @@ batchProcess (const std::vector &pcd_files, std::string &output_dir compute (cloud, output, max_it, thresh, negative); // Prepare output file name - std::string filename = boost::filesystem::path(pcd_file).filename().string(); + std::string filename = pcl_fs::path(pcd_file).filename().string(); // Save into the second file const std::string filepath = output_dir + '/' + filename; @@ -276,11 +277,11 @@ main (int argc, char** argv) } else { - if (!input_dir.empty() && boost::filesystem::exists (input_dir)) + if (!input_dir.empty() && pcl_fs::exists (input_dir)) { std::vector pcd_files; - boost::filesystem::directory_iterator end_itr; - for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr) + pcl_fs::directory_iterator end_itr; + for (pcl_fs::directory_iterator itr (input_dir); itr != end_itr; ++itr) { // Only add PCD files if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (itr->path ().extension ().string ()) == ".PCD" ) diff --git a/tools/tiff2pcd.cpp b/tools/tiff2pcd.cpp index d92eddab..011d26b0 100644 --- a/tools/tiff2pcd.cpp +++ b/tools/tiff2pcd.cpp @@ -40,10 +40,10 @@ **/ #include -#include #include #include +#include #include #include #include @@ -235,12 +235,12 @@ int main(int argc, char ** argv) PCL_INFO ("Creating RGB Tiff List\n"); std::vector tiff_rgb_files; - std::vector tiff_rgb_paths; - boost::filesystem::directory_iterator end_itr; + std::vector tiff_rgb_paths; + pcl_fs::directory_iterator end_itr; - if(boost::filesystem::is_directory(rgb_path_)) + if(pcl_fs::is_directory(rgb_path_)) { - for (boost::filesystem::directory_iterator itr(rgb_path_); itr != end_itr; ++itr) + for (pcl_fs::directory_iterator itr(rgb_path_); itr != end_itr; ++itr) { std::string ext = itr->path().extension().string(); if(ext == ".tiff") @@ -278,11 +278,11 @@ int main(int argc, char ** argv) PCL_INFO ("Creating Depth Tiff List\n"); std::vector tiff_depth_files; - std::vector tiff_depth_paths; + std::vector tiff_depth_paths; - if(boost::filesystem::is_directory(depth_path_)) + if(pcl_fs::is_directory(depth_path_)) { - for (boost::filesystem::directory_iterator itr(depth_path_); itr != end_itr; ++itr) + for (pcl_fs::directory_iterator itr(depth_path_); itr != end_itr; ++itr) { std::string ext = itr->path().extension().string(); if(ext == ".tiff") diff --git a/tools/transform_point_cloud.cpp b/tools/transform_point_cloud.cpp index e7dcfd6b..ddd23c45 100644 --- a/tools/transform_point_cloud.cpp +++ b/tools/transform_point_cloud.cpp @@ -225,7 +225,7 @@ scaleInPlace (pcl::PCLPointCloud2 &cloud, double* multiplier) #define MULTIPLY(CASE_LABEL) \ case CASE_LABEL: { \ for (int i = 0; i < 3; ++i) \ - multiply>( \ + multiply>( \ cloud, xyz_offset[i], multiplier[i]); \ break; \ } @@ -295,7 +295,7 @@ main (int argc, char** argv) const float& y = values[1]; const float& z = values[2]; const float& w = values[3]; - tform.topLeftCorner (3, 3) = Eigen::Matrix3f (Eigen::Quaternionf (w, x, y, z)); + tform.topLeftCorner<3, 3> () = Eigen::Matrix3f (Eigen::Quaternionf (w, x, y, z)); } else { @@ -312,7 +312,7 @@ main (int argc, char** argv) const float& ay = values[1]; const float& az = values[2]; const float& theta = values[3]; - tform.topLeftCorner (3, 3) = Eigen::Matrix3f (Eigen::AngleAxisf (theta, Eigen::Vector3f (ax, ay, az))); + tform.topLeftCorner<3, 3> () = Eigen::Matrix3f (Eigen::AngleAxisf (theta, Eigen::Vector3f (ax, ay, az))); } else { diff --git a/tools/unary_classifier_segment.cpp b/tools/unary_classifier_segment.cpp index cdec686d..926d8c78 100644 --- a/tools/unary_classifier_segment.cpp +++ b/tools/unary_classifier_segment.cpp @@ -39,13 +39,13 @@ #include +#include #include #include #include #include // for removeNaNFromPointCloud #include -#include // for path, exists, ... using namespace pcl; using namespace pcl::io; @@ -76,14 +76,14 @@ printHelp (int, char **argv) bool loadTrainedFeatures (std::vector &out, - const boost::filesystem::path &base_dir) + const pcl_fs::path &base_dir) { - if (!boost::filesystem::exists (base_dir) && !boost::filesystem::is_directory (base_dir)) + if (!pcl_fs::exists (base_dir) && !pcl_fs::is_directory (base_dir)) return false; - for (boost::filesystem::directory_iterator it (base_dir); it != boost::filesystem::directory_iterator (); ++it) + for (pcl_fs::directory_iterator it (base_dir); it != pcl_fs::directory_iterator (); ++it) { - if (!boost::filesystem::is_directory (it->status ()) && + if (!pcl_fs::is_directory (it->status ()) && it->path ().extension ().string () == ".pcd") { const std::string path = it->path ().string (); diff --git a/tools/uniform_sampling.cpp b/tools/uniform_sampling.cpp index 269552b1..fef5cfd5 100644 --- a/tools/uniform_sampling.cpp +++ b/tools/uniform_sampling.cpp @@ -38,10 +38,11 @@ #include #include #include +#include #include #include #include -#include + #include #include @@ -129,7 +130,7 @@ saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &output) PCDWriter w_pcd; PLYWriter w_ply; - std::string output_ext = boost::filesystem::path (filename).extension ().string (); + std::string output_ext = pcl_fs::path (filename).extension ().string (); std::transform (output_ext.begin (), output_ext.end (), output_ext.begin (), ::tolower); if (output_ext == ".pcd") diff --git a/tools/virtual_scanner.cpp b/tools/virtual_scanner.cpp index d339a884..8d714241 100644 --- a/tools/virtual_scanner.cpp +++ b/tools/virtual_scanner.cpp @@ -53,6 +53,7 @@ #include #include // for pcl::make_shared #include +#include #include #include @@ -64,7 +65,6 @@ #include #include // for boost::is_any_of, boost::split, boost::token_compress_on, boost::trim -#include // for boost::filesystem::create_directories, boost::filesystem::exists, boost::filesystem::path, boost::filesystem::path::extension using namespace pcl; @@ -87,7 +87,7 @@ struct ScanParameters vtkPolyData* loadDataSet (const char* file_name) { - std::string extension = boost::filesystem::path (file_name).extension ().string (); + std::string extension = pcl_fs::path (file_name).extension ().string (); if (extension == ".ply") { vtkPLYReader* reader = vtkPLYReader::New (); @@ -413,10 +413,10 @@ main (int argc, char** argv) const std::string output_dir = st.at (st.size () - 1) + "_output"; - boost::filesystem::path outpath (output_dir); - if (!boost::filesystem::exists (outpath)) + pcl_fs::path outpath (output_dir); + if (!pcl_fs::exists (outpath)) { - if (!boost::filesystem::create_directories (outpath)) + if (!pcl_fs::create_directories (outpath)) { PCL_ERROR ("Error creating directory %s.\n", output_dir.c_str ()); return (-1); diff --git a/tracking/CMakeLists.txt b/tracking/CMakeLists.txt index 985e4ce6..cd1fb877 100644 --- a/tracking/CMakeLists.txt +++ b/tracking/CMakeLists.txt @@ -2,7 +2,6 @@ set(SUBSYS_NAME tracking) set(SUBSYS_DESC "Point cloud tracking library") set(SUBSYS_DEPS common search kdtree filters octree) -set(build TRUE) PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP) @@ -52,7 +51,6 @@ set(impl_incs ) set(LIB_NAME "pcl_${SUBSYS_NAME}") -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs}) target_link_libraries("${LIB_NAME}" pcl_common pcl_kdtree pcl_search pcl_filters pcl_octree) PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS}) diff --git a/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h b/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h index f7d6eda2..e096baaa 100644 --- a/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h +++ b/tracking/include/pcl/tracking/nearest_pair_point_cloud_coherence.h @@ -11,7 +11,8 @@ namespace tracking { * \ingroup tracking */ template -class NearestPairPointCloudCoherence : public PointCloudCoherence { +class PCL_EXPORTS NearestPairPointCloudCoherence +: public PointCloudCoherence { public: using PointCloudCoherence::getClassName; using PointCloudCoherence::coherence_name_; diff --git a/tracking/include/pcl/tracking/particle_filter.h b/tracking/include/pcl/tracking/particle_filter.h index 122d4b54..216c2784 100644 --- a/tracking/include/pcl/tracking/particle_filter.h +++ b/tracking/include/pcl/tracking/particle_filter.h @@ -472,7 +472,7 @@ protected: /** \brief Resampling phase of particle filter method. Sampling the particles * according to the weights calculated in weight method. In particular, - * "sample with replacement" is archieved by walker's alias method. + * "sample with replacement" is achieved by walker's alias method. */ virtual void resample(); diff --git a/tracking/include/pcl/tracking/pyramidal_klt.h b/tracking/include/pcl/tracking/pyramidal_klt.h index fa410114..d5b44908 100644 --- a/tracking/include/pcl/tracking/pyramidal_klt.h +++ b/tracking/include/pcl/tracking/pyramidal_klt.h @@ -49,7 +49,7 @@ namespace tracking { /** Pyramidal Kanade Lucas Tomasi tracker. * This is an implementation of the Pyramidal Kanade Lucas Tomasi tracker that * operates on organized 3D keypoints with color/intensity information (this is - * the default behaviour but you can alterate it by providing another operator + * the default behaviour but you can alternate it by providing another operator * as second template argument). It is an affine tracker that iteratively * computes the optical flow to find the best guess for a point p at t given its * location at t-1. User is advised to respect the Tomasi condition: the @@ -254,22 +254,6 @@ public: return (keypoints_); }; - /** \return the status of points to track. - * Status == 0 --> points successfully tracked; - * Status < 0 --> point is lost; - * Status == -1 --> point is out of bond; - * Status == -2 --> optical flow can not be computed for this point. - */ - PCL_DEPRECATED(1, 15, "use getStatusOfPointsToTrack instead") - inline pcl::PointIndicesConstPtr - getPointsToTrackStatus() const - { - pcl::PointIndicesPtr res(new pcl::PointIndices); - res->indices.insert( - res->indices.end(), keypoints_status_->begin(), keypoints_status_->end()); - return (res); - } - /** \return the status of points to track. * Status == 0 --> points successfully tracked; * Status < 0 --> point is lost; diff --git a/tracking/src/coherence.cpp b/tracking/src/coherence.cpp index 325e03ae..f5bcb806 100644 --- a/tracking/src/coherence.cpp +++ b/tracking/src/coherence.cpp @@ -45,13 +45,15 @@ #include // clang-format off -PCL_INSTANTIATE(ApproxNearestPairPointCloudCoherence, PCL_XYZ_POINT_TYPES) PCL_INSTANTIATE(DistanceCoherence, PCL_XYZ_POINT_TYPES) PCL_INSTANTIATE(HSVColorCoherence, (pcl::PointXYZRGB) (pcl::PointXYZRGBNormal) (pcl::PointXYZRGBA)) PCL_INSTANTIATE(NearestPairPointCloudCoherence, PCL_XYZ_POINT_TYPES) +// NearestPairPointCloudCoherence is the parent class of ApproxNearestPairPointCloudCoherence. +// They must be instantiated in this order, otherwise visibility attributes of the former are not applied correctly. +PCL_INSTANTIATE(ApproxNearestPairPointCloudCoherence, PCL_XYZ_POINT_TYPES) PCL_INSTANTIATE(NormalCoherence, PCL_NORMAL_POINT_TYPES) // clang-format on #endif // PCL_NO_PRECOMPILE diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt index 9c4e000e..6e6ce0c7 100644 --- a/visualization/CMakeLists.txt +++ b/visualization/CMakeLists.txt @@ -2,27 +2,15 @@ set(SUBSYS_NAME visualization) set(SUBSYS_DESC "Point cloud visualization library") set(SUBSYS_DEPS common io kdtree geometry search octree) -if(NOT VTK_FOUND) - set(DEFAULT FALSE) - set(REASON "VTK was not found.") -else() - set(DEFAULT TRUE) - set(REASON) - include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") -endif() - -PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}") +PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON) PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS vtk OPT_DEPS openni openni2 ensenso davidSDK dssdk rssdk) if(ANDROID) - set(build FALSE) message("VTK was found, but cannot be compiled for Android. Please use VES instead.") + return() endif() if(OPENGL_FOUND) - if(OPENGL_INCLUDE_DIR) - include_directories(SYSTEM "${OPENGL_INCLUDE_DIR}") - endif() if(OPENGL_DEFINITIONS) add_definitions("${OPENGL_DEFINITIONS}") endif() @@ -69,7 +57,6 @@ if(NOT (${VTK_VERSION} VERSION_LESS 9.0)) endif() set(incs - "include/pcl/${SUBSYS_NAME}/eigen.h" "include/pcl/${SUBSYS_NAME}/boost.h" "include/pcl/${SUBSYS_NAME}/cloud_viewer.h" "include/pcl/${SUBSYS_NAME}/histogram_visualizer.h" @@ -87,7 +74,6 @@ set(incs "include/pcl/${SUBSYS_NAME}/mouse_event.h" "include/pcl/${SUBSYS_NAME}/window.h" "include/pcl/${SUBSYS_NAME}/range_image_visualizer.h" - "include/pcl/${SUBSYS_NAME}/vtk.h" "include/pcl/${SUBSYS_NAME}/simple_buffer_visualizer.h" "include/pcl/${SUBSYS_NAME}/pcl_plotter.h" "include/pcl/${SUBSYS_NAME}/qvtk_compatibility.h" @@ -152,7 +138,7 @@ if(APPLE) target_link_libraries("${LIB_NAME}" "-framework Cocoa") endif() -target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree ${OPENGL_LIBRARIES}) +target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree pcl_geometry pcl_search ${OPENGL_LIBRARIES}) if(${VTK_VERSION} VERSION_GREATER_EQUAL 9.0) #Some libs are referenced through depending on IO diff --git a/visualization/include/pcl/visualization/area_picking_event.h b/visualization/include/pcl/visualization/area_picking_event.h index 26cb2176..eba9764d 100644 --- a/visualization/include/pcl/visualization/area_picking_event.h +++ b/visualization/include/pcl/visualization/area_picking_event.h @@ -81,6 +81,8 @@ namespace pcl getCloudNames () const { std::vector names; + names.reserve(cloud_indices_.size()); + for (const auto& i : cloud_indices_) names.push_back (i.first); return names; diff --git a/visualization/include/pcl/visualization/common/ren_win_interact_map.h b/visualization/include/pcl/visualization/common/ren_win_interact_map.h index 1841f13a..31810c5f 100644 --- a/visualization/include/pcl/visualization/common/ren_win_interact_map.h +++ b/visualization/include/pcl/visualization/common/ren_win_interact_map.h @@ -38,6 +38,8 @@ #pragma once +#include + #include #include @@ -53,7 +55,7 @@ namespace pcl { namespace visualization { - class RenWinInteract + class PCL_EXPORTS RenWinInteract { public: diff --git a/visualization/include/pcl/visualization/eigen.h b/visualization/include/pcl/visualization/eigen.h deleted file mode 100644 index 09d57c50..00000000 --- a/visualization/include/pcl/visualization/eigen.h +++ /dev/null @@ -1,48 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2012-, Open Perception, Inc. - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the copyright holder(s) nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: lmeds.h 1370 2011-06-19 01:06:01Z jspricke $ - * - */ - -#pragma once - -#if defined __GNUC__ -# pragma GCC system_header -#endif -PCL_DEPRECATED_HEADER(1, 15, "Please include the needed eigen headers directly.") - -#include -#include diff --git a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp index 0f746cab..f8060868 100644 --- a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp +++ b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp @@ -259,9 +259,7 @@ pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData ( for (vtkIdType i = 0; i < nr_points; ++i) { // Check if the point is invalid - if (!std::isfinite ((*cloud)[i].x) || - !std::isfinite ((*cloud)[i].y) || - !std::isfinite ((*cloud)[i].z)) + if (!pcl::isXYZFinite((*cloud)[i])) continue; std::copy (&(*cloud)[i].x, &(*cloud)[i].x + 3, &data[ptr]); @@ -482,7 +480,7 @@ pcl::visualization::PCLVisualizer::addPolygon ( const typename pcl::PointCloud::ConstPtr &cloud, const std::string &id, int viewport) { - return (!addPolygon (cloud, 0.5, 0.5, 0.5, id, viewport)); + return (addPolygon (cloud, 0.5, 0.5, 0.5, id, viewport)); } //////////////////////////////////////////////////////////////////////////////////////////// @@ -603,7 +601,7 @@ pcl::visualization::PCLVisualizer::addArrow (const P1 &pt1, const P2 &pt2, template bool pcl::visualization::PCLVisualizer::addLine (const P1 &pt1, const P2 &pt2, const std::string &id, int viewport) { - return (!addLine (pt1, pt2, 0.5, 0.5, 0.5, id, viewport)); + return (addLine (pt1, pt2, 0.5, 0.5, 0.5, id, viewport)); } //////////////////////////////////////////////////////////////////////////////////////////// @@ -924,13 +922,15 @@ pcl::visualization::PCLVisualizer::addPointCloudNormals ( lines->InsertCellPoint (2 * cell_count + 1); cell_count ++; } + nr_normals = cell_count; } else { nr_normals = (cloud->size () - 1) / level + 1 ; pts = new float[2 * nr_normals * 3]; - for (vtkIdType i = 0, j = 0; (j < nr_normals) && (i < static_cast(cloud->size())); i += level) + vtkIdType j = 0; + for (vtkIdType i = 0; (j < nr_normals) && (i < static_cast(cloud->size())); i += level) { if (!pcl::isFinite((*cloud)[i]) || !pcl::isNormalFinite((*normals)[i])) continue; @@ -951,6 +951,7 @@ pcl::visualization::PCLVisualizer::addPointCloudNormals ( lines->InsertCellPoint (2 * j + 1); ++j; } + nr_normals = j; } data->SetArray (&pts[0], 2 * nr_normals * 3, 0, vtkFloatArray::VTK_DATA_ARRAY_DELETE); @@ -1249,10 +1250,10 @@ pcl::visualization::PCLVisualizer::addCorrespondences ( Eigen::Affine3f source_transformation; source_transformation.linear () = source_points->sensor_orientation_.matrix (); - source_transformation.translation () = source_points->sensor_origin_.head (3); + source_transformation.translation () = source_points->sensor_origin_.template head<3> (); Eigen::Affine3f target_transformation; target_transformation.linear () = target_points->sensor_orientation_.matrix (); - target_transformation.translation () = target_points->sensor_origin_.head (3); + target_transformation.translation () = target_points->sensor_origin_.template head<3> (); int j = 0; // Draw lines between the best corresponding points diff --git a/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp b/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp index 991991db..4e5aa57b 100644 --- a/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp +++ b/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp @@ -171,9 +171,7 @@ PointCloudColorHandlerRGBField::getColor () const for (vtkIdType cp = 0; cp < nr_points; ++cp) { // Copy the value at the specified field - if (!std::isfinite ((*cloud_)[cp].x) || - !std::isfinite ((*cloud_)[cp].y) || - !std::isfinite ((*cloud_)[cp].z)) + if (!pcl::isXYZFinite((*cloud_)[cp])) continue; memcpy (&rgb, (reinterpret_cast (&(*cloud_)[cp])) + rgba_offset, sizeof (pcl::RGB)); colors[j ] = rgb.r; @@ -256,9 +254,7 @@ PointCloudColorHandlerHSVField::getColor () const for (vtkIdType cp = 0; cp < nr_points; ++cp) { // Copy the value at the specified field - if (!std::isfinite ((*cloud_)[cp].x) || - !std::isfinite ((*cloud_)[cp].y) || - !std::isfinite ((*cloud_)[cp].z)) + if (!pcl::isXYZFinite((*cloud_)[cp])) continue; ///@todo do this with the point_types_conversion in common, first template it! @@ -372,10 +368,16 @@ PointCloudColorHandlerGenericField::setInputCloud ( { PointCloudColorHandler::setInputCloud (cloud); field_idx_ = pcl::getFieldIndex (field_name_, fields_); - if (field_idx_ != -1) - capable_ = true; - else + if (field_idx_ == -1) { capable_ = false; + return; + } + if (fields_[field_idx_].datatype != pcl::PCLPointField::PointFieldTypes::FLOAT32) { + capable_ = false; + PCL_ERROR("[pcl::PointCloudColorHandlerGenericField::setInputCloud] This currently only works with float32 fields, but field %s has a different type.\n", field_name_.c_str()); + return; + } + capable_ = true; } @@ -409,7 +411,7 @@ PointCloudColorHandlerGenericField::getColor () const for (vtkIdType cp = 0; cp < nr_points; ++cp) { // Copy the value at the specified field - if (!std::isfinite ((*cloud_)[cp].x) || !std::isfinite ((*cloud_)[cp].y) || !std::isfinite ((*cloud_)[cp].z)) + if (!pcl::isXYZFinite((*cloud_)[cp])) continue; const std::uint8_t* pt_data = reinterpret_cast (&(*cloud_)[cp]); @@ -479,9 +481,7 @@ PointCloudColorHandlerRGBAField::getColor () const for (vtkIdType cp = 0; cp < nr_points; ++cp) { // Copy the value at the specified field - if (!std::isfinite ((*cloud_)[cp].x) || - !std::isfinite ((*cloud_)[cp].y) || - !std::isfinite ((*cloud_)[cp].z)) + if (!pcl::isXYZFinite((*cloud_)[cp])) continue; colors[j ] = (*cloud_)[cp].r; diff --git a/visualization/include/pcl/visualization/interactor_style.h b/visualization/include/pcl/visualization/interactor_style.h index 4202b195..823235e0 100644 --- a/visualization/include/pcl/visualization/interactor_style.h +++ b/visualization/include/pcl/visualization/interactor_style.h @@ -155,6 +155,7 @@ namespace pcl * buffer objects by default, transparently for the user. * \param[in] use_vbos set to true to use VBOs */ + PCL_DEPRECATED(1, 18, "this function has no effect") inline void setUseVbos (const bool use_vbos) { use_vbos_ = use_vbos; } diff --git a/visualization/include/pcl/visualization/pcl_visualizer.h b/visualization/include/pcl/visualization/pcl_visualizer.h index 8e5d42fa..bd76e4f0 100644 --- a/visualization/include/pcl/visualization/pcl_visualizer.h +++ b/visualization/include/pcl/visualization/pcl_visualizer.h @@ -111,7 +111,7 @@ namespace pcl PCLVisualizer (const std::string &name = "", const bool create_interactor = true); /** \brief PCL Visualizer constructor. It looks through the passed argv arguments to find the "-cam *.cam" argument. - * If the search failed, the name for cam file is calculated with boost uuid. If there is no such file, camera is not initilalized. + * If the search failed, the name for cam file is calculated with boost uuid. If there is no such file, camera is not initialized. * \param[in] argc * \param[in] argv * \param[in] name the window name (empty by default) @@ -1818,11 +1818,6 @@ namespace pcl std::string getCameraFile () const; - /** \brief Update camera parameters and render. */ - PCL_DEPRECATED(1,15,"updateCamera will be removed, as it does nothing.") - inline void - updateCamera () {}; - /** \brief Reset camera parameters and render. */ void resetCamera (); @@ -1966,6 +1961,7 @@ namespace pcl * buffer objects by default, transparently for the user. * \param[in] use_vbos set to true to use VBOs */ + PCL_DEPRECATED(1, 18, "this function has no effect") void setUseVbos (bool use_vbos); diff --git a/visualization/include/pcl/visualization/qvtk_compatibility.h b/visualization/include/pcl/visualization/qvtk_compatibility.h index b6ac0e72..8285bc6a 100644 --- a/visualization/include/pcl/visualization/qvtk_compatibility.h +++ b/visualization/include/pcl/visualization/qvtk_compatibility.h @@ -6,6 +6,8 @@ * * All rights reserved */ +#pragma once + #include #include diff --git a/visualization/include/pcl/visualization/vtk.h b/visualization/include/pcl/visualization/vtk.h deleted file mode 100644 index 1df02a3d..00000000 --- a/visualization/include/pcl/visualization/vtk.h +++ /dev/null @@ -1,10 +0,0 @@ -/* - * SPDX-License-Identifier: BSD-3-Clause - * - * Point Cloud Library (PCL) - www.pointclouds.org - * Copyright (c) 2020-, Open Perception - * - * All rights reserved - */ - -PCL_DEPRECATED_HEADER(1, 15, "Use required vtk includes instead.") diff --git a/visualization/include/pcl/visualization/vtk/vtkRenderWindowInteractorFix.h b/visualization/include/pcl/visualization/vtk/vtkRenderWindowInteractorFix.h index b427e76d..7958f80e 100644 --- a/visualization/include/pcl/visualization/vtk/vtkRenderWindowInteractorFix.h +++ b/visualization/include/pcl/visualization/vtk/vtkRenderWindowInteractorFix.h @@ -38,5 +38,6 @@ #pragma once #include +#include -vtkRenderWindowInteractor* vtkRenderWindowInteractorFixNew (); +PCL_EXPORTS vtkRenderWindowInteractor* vtkRenderWindowInteractorFixNew (); diff --git a/visualization/src/interactor_style.cpp b/visualization/src/interactor_style.cpp index 58633fe5..3d1a89c1 100644 --- a/visualization/src/interactor_style.cpp +++ b/visualization/src/interactor_style.cpp @@ -39,6 +39,7 @@ #include #include #include +#include #include #include #include @@ -69,7 +70,6 @@ #include // for is_any_of #include // for split -#include // for exists #define ORIENT_MODE 0 #define SELECT_MODE 1 @@ -225,7 +225,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::setCameraParameters (const Eig Eigen::Vector3f pos_vec = extrinsics.block<3, 1> (0, 3); // Rotate the view vector - Eigen::Matrix3f rotation = extrinsics.block<3, 3> (0, 0); + Eigen::Matrix3f rotation = extrinsics.topLeftCorner<3, 3> (); Eigen::Vector3f y_axis (0.f, 1.f, 0.f); Eigen::Vector3f up_vec (rotation * y_axis); @@ -610,7 +610,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown () } else { - if (boost::filesystem::exists (camera_file_)) + if (pcl_fs::exists (camera_file_)) { if (loadCameraParameters (camera_file_)) { diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp index 85c4061f..c7f2b4b7 100644 --- a/visualization/src/pcl_visualizer.cpp +++ b/visualization/src/pcl_visualizer.cpp @@ -93,6 +93,7 @@ #endif #include +#include #include #include @@ -102,7 +103,7 @@ #else #include #endif -#include + #include // for split #include // pcl::utils::ignore #include @@ -438,7 +439,6 @@ void pcl::visualization::PCLVisualizer::setupStyle () style_->setCloudActorMap (cloud_actor_map_); style_->setShapeActorMap (shape_actor_map_); style_->UseTimersOn (); - style_->setUseVbos (use_vbos_); } ///////////////////////////////////////////////////////////////////////////////////////////// @@ -465,7 +465,7 @@ void pcl::visualization::PCLVisualizer::setupCamera (int argc, char **argv) std::string camera_file = getUniqueCameraFile (argc, argv); if (!camera_file.empty ()) { - if (boost::filesystem::exists (camera_file) && style_->loadCameraParameters (camera_file)) + if (pcl_fs::exists (camera_file) && style_->loadCameraParameters (camera_file)) { camera_file_loaded_ = true; } @@ -1759,7 +1759,7 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties ( } // Get the actor pointer vtkActor* actor = vtkActor::SafeDownCast (am_it->second); - if (!actor) + if (!actor && property != PCL_VISUALIZER_FONT_SIZE) // vtkTextActor is not a subclass of vtkActor return (false); switch (property) @@ -2179,7 +2179,7 @@ void pcl::visualization::PCLVisualizer::resetCameraViewpoint (const std::string &id) { vtkSmartPointer camera_pose; - const CloudActorMap::iterator it = cloud_actor_map_->find(id); + const auto it = cloud_actor_map_->find(id); if (it != cloud_actor_map_->end ()) camera_pose = it->second.viewpoint_transformation_; else @@ -3906,7 +3906,7 @@ pcl::visualization::PCLVisualizer::renderViewTesselatedSphere ( trans_view (x, y) = static_cast (view_transform->GetElement (x, y)); //NOTE: vtk view coordinate system is different than the standard camera coordinates (z forward, y down, x right) - //thus, the fliping in y and z + //thus, the flipping in y and z for (auto &point : cloud->points) { point.getVector4fMap () = trans_view * point.getVector4fMap (); @@ -3928,7 +3928,7 @@ pcl::visualization::PCLVisualizer::renderViewTesselatedSphere ( transOCtoCC->Concatenate (cam_tmp->GetViewTransformMatrix ()); //NOTE: vtk view coordinate system is different than the standard camera coordinates (z forward, y down, x right) - //thus, the fliping in y and z + //thus, the flipping in y and z vtkSmartPointer cameraSTD = vtkSmartPointer::New (); cameraSTD->Identity (); cameraSTD->SetElement (0, 0, 1); @@ -4010,7 +4010,7 @@ pcl::visualization::PCLVisualizer::renderView (int xres, int yres, pcl::PointClo float w3 = 1.0f / world_coords[3]; world_coords[0] *= w3; - // vtk view coordinate system is different than the standard camera coordinates (z forward, y down, x right), thus, the fliping in y and z + // vtk view coordinate system is different than the standard camera coordinates (z forward, y down, x right), thus, the flipping in y and z world_coords[1] *= -w3; world_coords[2] *= -w3; @@ -4161,8 +4161,8 @@ pcl::visualization::PCLVisualizer::getTransformationMatrix ( Eigen::Matrix4f &transformation) { transformation.setIdentity (); - transformation.block<3, 3> (0, 0) = orientation.toRotationMatrix (); - transformation.block<3, 1> (0, 3) = origin.head (3); + transformation.topLeftCorner<3, 3> () = orientation.toRotationMatrix (); + transformation.block<3, 1> (0, 3) = origin.head<3> (); } ////////////////////////////////////////////////////////////////////////////////////////////// @@ -4358,7 +4358,7 @@ int pcl::visualization::PCLVisualizer::getGeometryHandlerIndex (const std::string &id) { auto am_it = style_->getCloudActorMap ()->find (id); - if (am_it != cloud_actor_map_->end ()) + if (am_it == cloud_actor_map_->end ()) return (-1); return (am_it->second.geometry_handler_index_); @@ -4451,39 +4451,39 @@ pcl::visualization::PCLVisualizer::textureFromTexMaterial (const pcl::TexMateria return (-1); } - boost::filesystem::path full_path (tex_mat.tex_file.c_str ()); - if (!boost::filesystem::exists (full_path)) + pcl_fs::path full_path (tex_mat.tex_file.c_str ()); + if (!pcl_fs::exists (full_path)) { - boost::filesystem::path parent_dir = full_path.parent_path (); + pcl_fs::path parent_dir = full_path.parent_path (); std::string upper_filename = tex_mat.tex_file; boost::to_upper (upper_filename); std::string real_name; try { - if (!boost::filesystem::exists (parent_dir)) + if (!pcl_fs::exists (parent_dir)) { PCL_WARN ("[PCLVisualizer::textureFromTexMaterial] Parent directory '%s' doesn't exist!\n", parent_dir.string ().c_str ()); return (-1); } - if (!boost::filesystem::is_directory (parent_dir)) + if (!pcl_fs::is_directory (parent_dir)) { PCL_WARN ("[PCLVisualizer::textureFromTexMaterial] Parent '%s' is not a directory !\n", parent_dir.string ().c_str ()); return (-1); } - using paths_vector = std::vector; + using paths_vector = std::vector; paths_vector paths; - std::copy (boost::filesystem::directory_iterator (parent_dir), - boost::filesystem::directory_iterator (), + std::copy (pcl_fs::directory_iterator (parent_dir), + pcl_fs::directory_iterator (), back_inserter (paths)); for (const auto& path : paths) { - if (boost::filesystem::is_regular_file (path)) + if (pcl_fs::is_regular_file (path)) { std::string name = path.string (); boost::to_upper (name); @@ -4502,7 +4502,7 @@ pcl::visualization::PCLVisualizer::textureFromTexMaterial (const pcl::TexMateria return (-1); } } - catch (const boost::filesystem::filesystem_error& ex) + catch (const pcl_fs::filesystem_error& ex) { PCL_WARN ("[PCLVisualizer::textureFromTexMaterial] Error %s when looking for file %s\n!", @@ -4577,10 +4577,10 @@ pcl::visualization::PCLVisualizer::getUniqueCameraFile (int argc, char **argv) // Calculate sha1 using canonical paths for (const int &p_file_index : p_file_indices) { - boost::filesystem::path path (argv[p_file_index]); - if (boost::filesystem::exists (path)) + pcl_fs::path path (argv[p_file_index]); + if (pcl_fs::exists (path)) { - path = boost::filesystem::canonical (path); + path = pcl_fs::canonical (path); const auto pathStr = path.string (); sha1.process_bytes (pathStr.c_str(), pathStr.size()); valid = true; @@ -4590,10 +4590,12 @@ pcl::visualization::PCLVisualizer::getUniqueCameraFile (int argc, char **argv) // Build camera filename if (valid) { - unsigned int digest[5]; + boost::uuids::detail::sha1::digest_type digest; sha1.get_digest (digest); sstream << "."; - sstream << std::hex << digest[0] << digest[1] << digest[2] << digest[3] << digest[4]; + for (int i = 0; i < static_cast(sizeof(digest)/sizeof(unsigned int)); ++i) { + sstream << std::hex << *(reinterpret_cast(&digest[0]) + i); + } sstream << ".cam"; } } diff --git a/visualization/src/point_cloud_handlers.cpp b/visualization/src/point_cloud_handlers.cpp index 4b70dd9e..00dedb9b 100644 --- a/visualization/src/point_cloud_handlers.cpp +++ b/visualization/src/point_cloud_handlers.cpp @@ -420,6 +420,10 @@ pcl::visualization::PointCloudColorHandlerGenericField::Poi { field_idx_ = pcl::getFieldIndex (*cloud, field_name); capable_ = field_idx_ != -1; + if (field_idx_ != -1 && cloud_->fields[field_idx_].datatype != pcl::PCLPointField::PointFieldTypes::FLOAT32) { + capable_ = false; + PCL_ERROR("[pcl::PointCloudColorHandlerGenericField] This currently only works with float32 fields, but field %s has a different type.\n", field_name.c_str()); + } } /////////////////////////////////////////////////////////////////////////////////////////// @@ -575,6 +579,10 @@ pcl::visualization::PointCloudColorHandlerLabelField::Point field_idx_ = pcl::getFieldIndex (*cloud, "label"); capable_ = field_idx_ != -1; static_mapping_ = static_mapping; + if (field_idx_ != -1 && cloud_->fields[field_idx_].datatype != pcl::PCLPointField::PointFieldTypes::UINT32) { + capable_ = false; + PCL_ERROR("[pcl::PointCloudColorHandlerLabelField] This currently only works with uint32 fields, but label field has a different type.\n"); + } } /////////////////////////////////////////////////////////////////////////////////////////// -- 2.30.2