mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Adding OpenGV as submodule (optional) and use Github actions for windows CI (#1656)
* Adding OpenGV as submodule (optional) * Remove submodule to migrate to FetchContent * using FetchContent * remove empty .gitmodules * Fixing OpenGV not able to find eigen on windows * patching opengv to adjust -march=native based on PCL * fixing patching on windows * eigen fix * PR cancel on-going CI builds if new commit is added to PR * try another approach * updating patch with some logs * more debug mesage * fixing EIGEN_INCLUDE_DIR * enable rolling_builds on appveyor * removed rolling_builds appveyor * fixing eigen cache * test * more debug logs * another try * cleanup * updated appveyor to work with fetchcontent * removed mkdir build (appveyor) * appveyor: trying ninja to increase CI speed * removed mkdr * appveyor: spitting opengv and rtabmap builds to be under 60 min per job * appveyor: caching dependencies * using global configuration * using baked image * fixing wget in ps * fixing not support for * pip error * reverted pip install * fixed realsense cache * fixing multi step build * removing baked image * typo * Windows: Converted appveyor to github actions * updated boost version * fixing boost * udpated boost config * boost... * platform_version * install boost directly * silent boost install * very silent boost * fixing ls * added boost install dir * showing boost install dir * moved windows dependencies in external action file * explicitly save boost cache to same time on iterations * pip install gdown * update * caching more deps * caching all depts * removed explicit boost cache save * mscv 14.0 * forcing building visual studio 14 2015 * installing v12 in 2022 instead * setup cmd prompt * init right toolset * fixing system version for opengv compilation error * fixing package and artifact * CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION * removing cmd * find manually psapi.lib * resolve * refactor psapi env * forcing 10.0.19041.0 * using windows=2022 runner instead * added vcpkg * commenting windows-latest for now * trying vcpkg instead * search path * updated path * moved json * removed deleted file for git * adding a real version * using version-string * cleanup vcpkg * building artifacts with vcpkg * removed old windows build approach, added custom dependencies (gtsam, libpointmatcher) to vcpkg build * udpated vcpkg version for issue https://github.com/microsoft/vcpkg/pull/49103 * try with minimal dep first * disable opengv for now * try vcpkg single compilation * space * updated link * fixed qupote * fixing cache name * adding debug folder * adjust path * adjust path * providing vcpkg binaries instead * ident * added triplet * added BOOST_ROOT * boost root * boost root * fixed path * adding eigen headers * try path * cmake prefix path * boost timer def * libnabo fixes * pointmatcher prefix * disabling pointmathcer tests * updated cmake parameters * changed how file is downloaded * trying curl instead * puttoing backe InvokeWeb because it is a dropbox issue * skipping optional deps for now * ficing env variable * triplet * installing triplets * not overriding default vcpkg env variables * missing path * manifet install off * that was working locally * missing protobuf path * fixing tiff not found * fixing vtk not found * more vtk fixes * another thy * changing download url * updated url * try * shoudl work now * protobuf exe * readding tiff * explicit vcpkg installed folder * missing commands * try without tiff * ficing vtk comple path * -DPSAPI_LIBRARIES=Psapi.lib * quoting * fixing psapi required * Set up MSVC Developer Command Prompt * disabling pckaging for now * openni.ini * renabling packing * Added stripped deps * fix name * updated binaries * format * updated opengv eigen path * added tbb dep * updatd archive name with vs version * updated archive in action * fixing patch error * corrupted * updated gtsam version / vcpkg * removed appveyor. Set internal opengv build disabled by defaut (because build can be very long on some machines), will enable it inside the ros release branches instead. * updated opengv patch * gtsam mkl dep * updated vcpkg binaries * updated patches * removed mkl dep * missing eigen in gtsam dep * disabling gtsam till we find a compatible version locally * all working locally! * removed ninja * working python calls * fixed hard symlink for python3.dll * fixed qt missing png, fixed opengv not finding eigen with config, fixed python3.dll missing * fixed flaoting dockwidget on start, removed cmd line window when launching bundled app * use sub-packages cudnn * Added cuda dev workflow * fixed archive name * Updated deps with pytorch cuda * updating ci PATH * fixing ci build without torch * rename cuda artifacts * cache cuda, add job to test internal opengv build * Updated output artifacts zip name * windows package: only zip on pull request * Change USE_INTERNAL_OPENGV to BUILD_OPENGV * use use-github-cache * updated artifacts path
This commit is contained in:
matlabbe
589
patches/pointmatcher_7dc58e5.patch
Normal file
589
patches/pointmatcher_7dc58e5.patch
Normal file
@@ -0,0 +1,589 @@
|
||||
diff --git a/.gitignore b/.gitignore
|
||||
index 85152fb..da016a7 100644
|
||||
--- a/.gitignore
|
||||
+++ b/.gitignore
|
||||
@@ -5,3 +5,4 @@
|
||||
*.cur_trans
|
||||
build
|
||||
.ipynb_checkpoints/
|
||||
+pointmatcher/pm_export.h
|
||||
\ No newline at end of file
|
||||
diff --git a/CMakeLists.txt b/CMakeLists.txt
|
||||
index 819a834..d72850a 100644
|
||||
--- a/CMakeLists.txt
|
||||
+++ b/CMakeLists.txt
|
||||
@@ -233,7 +233,7 @@ else()
|
||||
#get_property(yaml-cpp-pm_INCLUDE TARGET yaml-cpp-pm PROPERTY INCLUDE_DIRECTORIES)
|
||||
#include_directories(${yaml-cpp-pm_INCLUDE})
|
||||
|
||||
- list(APPEND EXTERNAL_LIBS $<TARGET_FILE:yaml-cpp-pm>)
|
||||
+ list(APPEND EXTERNAL_LIBS $<TARGET_LINKER_FILE:yaml-cpp-pm>)
|
||||
list(APPEND EXTRA_DEPS yaml-cpp-pm)
|
||||
set(yamlcpp_FOUND)
|
||||
|
||||
@@ -291,6 +291,8 @@ else ()
|
||||
set (CMAKE_CXX_STANDARD 11)
|
||||
endif ()
|
||||
|
||||
+option(BUILD_SHARED_LIBS "Set to ON to build shared libraries" OFF)
|
||||
+
|
||||
# SOURCE
|
||||
|
||||
# Pointmatcher lib and install
|
||||
@@ -363,12 +365,18 @@ set(POINTMATCHER_SRC
|
||||
|
||||
file(GLOB_RECURSE POINTMATCHER_HEADERS "pointmatcher/*.h")
|
||||
|
||||
-
|
||||
# In CMake >=3.4 we can easily build shared libraries in Mac and Windows.
|
||||
# No need to distinguish between operating systems while building targets
|
||||
|
||||
add_library(pointmatcher ${POINTMATCHER_SRC} ${POINTMATCHER_HEADERS} )
|
||||
|
||||
+include(GenerateExportHeader)
|
||||
+generate_export_header(pointmatcher
|
||||
+ BASE_NAME PM
|
||||
+ EXPORT_FILE_NAME "${CMAKE_CURRENT_SOURCE_DIR}/pointmatcher/pm_export.h"
|
||||
+ DEFINE_NO_DEPRECATED
|
||||
+)
|
||||
+
|
||||
target_include_directories(pointmatcher PUBLIC
|
||||
$<INSTALL_INTERFACE:>
|
||||
$<INSTALL_INTERFACE:pointmatcher>
|
||||
@@ -417,6 +425,7 @@ install(FILES
|
||||
pointmatcher/Timer.h
|
||||
pointmatcher/Functions.h
|
||||
pointmatcher/IO.h
|
||||
+ pointmatcher/pm_export.h
|
||||
DESTINATION ${INSTALL_INCLUDE_DIR}/pointmatcher
|
||||
)
|
||||
|
||||
@@ -515,7 +524,7 @@ add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS pointmatcher)
|
||||
get_property(CONF_INCLUDE_DIRS DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
|
||||
|
||||
# Create variable with the library location
|
||||
-set(POINTMATCHER_LIB $<TARGET_FILE:pointmatcher>)
|
||||
+set(POINTMATCHER_LIB $<TARGET_LINKER_FILE:pointmatcher>)
|
||||
|
||||
# Configure config file for local build tree
|
||||
configure_file(libpointmatcherConfig.cmake.in
|
||||
diff --git a/pointmatcher/Bibliography.h b/pointmatcher/Bibliography.h
|
||||
index 17a353d..c86def5 100644
|
||||
--- a/pointmatcher/Bibliography.h
|
||||
+++ b/pointmatcher/Bibliography.h
|
||||
@@ -40,6 +40,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
+#include "pm_export.h"
|
||||
+
|
||||
namespace PointMatcherSupport
|
||||
{
|
||||
typedef std::vector<std::string> StringVector;
|
||||
@@ -48,7 +50,7 @@ namespace PointMatcherSupport
|
||||
typedef StringMapMap Bibliography;
|
||||
typedef std::map<std::string, unsigned> BibIndices;
|
||||
|
||||
- struct CurrentBibliography
|
||||
+ struct PM_EXPORT CurrentBibliography
|
||||
{
|
||||
enum Mode
|
||||
{
|
||||
@@ -68,7 +70,7 @@ namespace PointMatcherSupport
|
||||
void dumpBibtex(std::ostream& os) const;
|
||||
};
|
||||
|
||||
- std::string getAndReplaceBibEntries(const std::string&, CurrentBibliography& curBib);
|
||||
+ PM_EXPORT std::string getAndReplaceBibEntries(const std::string&, CurrentBibliography& curBib);
|
||||
|
||||
}; // PointMatcherSupport
|
||||
|
||||
diff --git a/pointmatcher/DeprecationWarnings.h b/pointmatcher/DeprecationWarnings.h
|
||||
index b1ca8ec..dc84582 100644
|
||||
--- a/pointmatcher/DeprecationWarnings.h
|
||||
+++ b/pointmatcher/DeprecationWarnings.h
|
||||
@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#ifndef __POINTMATCHER_DEPRECATION_WARNINGS_H
|
||||
#define __POINTMATCHER_DEPRECATION_WARNINGS_H
|
||||
|
||||
-
|
||||
#if __cplusplus >= 201402L
|
||||
#define PM_DEPRECATED(msg) [[deprecated(msg)]]
|
||||
#define PM_DEPRECATION_SUPPORTED
|
||||
diff --git a/pointmatcher/IO.cpp b/pointmatcher/IO.cpp
|
||||
index c4288c9..8722747 100644
|
||||
--- a/pointmatcher/IO.cpp
|
||||
+++ b/pointmatcher/IO.cpp
|
||||
@@ -51,7 +51,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#include "boost/lexical_cast.hpp"
|
||||
#include "boost/foreach.hpp"
|
||||
|
||||
-#ifdef WIN32
|
||||
+#ifdef _WIN32
|
||||
#define strtok_r strtok_s
|
||||
#endif // WIN32
|
||||
|
||||
@@ -359,7 +359,9 @@ void PointMatcherSupport::validateFile(const std::string& fileName)
|
||||
ifstream ifs(fileName.c_str());
|
||||
if (!ifs.good() || !boost::filesystem::is_regular_file(fullPath))
|
||||
#if BOOST_FILESYSTEM_VERSION >= 3
|
||||
- #if BOOST_VERSION >= 105000
|
||||
+ #if BOOST_VERSION >= 109000
|
||||
+ throw runtime_error(string("Cannot open file ") + boost::filesystem::absolute(fullPath).generic_string());
|
||||
+ #elif BOOST_VERSION >= 105000
|
||||
throw runtime_error(string("Cannot open file ") + boost::filesystem::complete(fullPath).generic_string());
|
||||
#else
|
||||
throw runtime_error(string("Cannot open file ") + boost::filesystem3::complete(fullPath).generic_string());
|
||||
@@ -375,7 +377,11 @@ template<typename T>
|
||||
typename PointMatcher<T>::DataPoints PointMatcher<T>::DataPoints::load(const std::string& fileName)
|
||||
{
|
||||
const boost::filesystem::path path(fileName);
|
||||
+#if BOOST_VERSION >= 109000
|
||||
+ const string ext = path.extension().string();
|
||||
+#else
|
||||
const string& ext(boost::filesystem::extension(path));
|
||||
+#endif
|
||||
if (boost::iequals(ext, ".vtk"))
|
||||
return PointMatcherIO<T>::loadVTK(fileName);
|
||||
else if (boost::iequals(ext, ".csv"))
|
||||
@@ -809,7 +815,11 @@ template<typename T>
|
||||
void PointMatcher<T>::DataPoints::save(const std::string& fileName, bool binary) const
|
||||
{
|
||||
const boost::filesystem::path path(fileName);
|
||||
+#if BOOST_VERSION >= 109000
|
||||
+ const string ext = path.extension().string();
|
||||
+#else
|
||||
const string& ext(boost::filesystem::extension(path));
|
||||
+#endif
|
||||
if (boost::iequals(ext, ".vtk"))
|
||||
return PointMatcherIO<T>::saveVTK(*this, fileName, binary);
|
||||
|
||||
diff --git a/pointmatcher/IO.h b/pointmatcher/IO.h
|
||||
index 162dc21..8a0cefa 100644
|
||||
--- a/pointmatcher/IO.h
|
||||
+++ b/pointmatcher/IO.h
|
||||
@@ -58,7 +58,7 @@ struct PointMatcherIO
|
||||
//! ex: nx, ny, nz are associated with (0,normals) (1,normals) (2,normals) respectively
|
||||
typedef std::map<std::string, LabelAssociationPair > SublabelAssociationMap;
|
||||
|
||||
- static std::string getColLabel(const Label& label, const int row); //!< convert a descriptor label to an appropriate sub-label
|
||||
+ PM_EXPORT static std::string getColLabel(const Label& label, const int row); //!< convert a descriptor label to an appropriate sub-label
|
||||
|
||||
//! Type of information in a DataPoints. Each type is stored in its own dense matrix.
|
||||
enum PMPropTypes
|
||||
@@ -70,7 +70,7 @@ struct PointMatcherIO
|
||||
};
|
||||
|
||||
//! Structure containing all information required to map external information to PointMatcher internal representation
|
||||
- struct SupportedLabel
|
||||
+ struct PM_EXPORT SupportedLabel
|
||||
{
|
||||
std::string internalName; //!< name used in PointMatcher
|
||||
std::string externalName; //!< name used in external format
|
||||
@@ -84,7 +84,7 @@ struct PointMatcherIO
|
||||
typedef std::vector<SupportedLabel> SupportedLabels;
|
||||
|
||||
//! Helper structure designed to parse file headers
|
||||
- struct GenericInputHeader
|
||||
+ struct PM_EXPORT GenericInputHeader
|
||||
{
|
||||
std::string name; //!< name found in the file
|
||||
unsigned int matrixRowId; //!< on which row the information will be loaded
|
||||
@@ -159,7 +159,7 @@ struct PointMatcherIO
|
||||
}
|
||||
|
||||
//! Generate a vector of Labels by checking for collision is the same name is reused.
|
||||
- class LabelGenerator
|
||||
+ class PM_EXPORT LabelGenerator
|
||||
{
|
||||
Labels labels; //!< vector of labels used to cumulat information
|
||||
|
||||
@@ -180,11 +180,11 @@ struct PointMatcherIO
|
||||
//static PMPropTypes getPMType(const std::string& externalName); //! Return the type of information specific to a DataPoints based on a sulabel name
|
||||
|
||||
// CSV
|
||||
- static DataPoints loadCSV(const std::string& fileName);
|
||||
- static DataPoints loadCSV(std::istream& is);
|
||||
+ PM_EXPORT static DataPoints loadCSV(const std::string& fileName);
|
||||
+ PM_EXPORT static DataPoints loadCSV(std::istream& is);
|
||||
|
||||
- static void saveCSV(const DataPoints& data, const std::string& fileName);
|
||||
- static void saveCSV(const DataPoints& data, std::ostream& os);
|
||||
+ PM_EXPORT static void saveCSV(const DataPoints& data, const std::string& fileName);
|
||||
+ PM_EXPORT static void saveCSV(const DataPoints& data, std::ostream& os);
|
||||
|
||||
// VTK
|
||||
//! Enumeration of legacy VTK data types that can be parsed
|
||||
@@ -209,25 +209,25 @@ struct PointMatcherIO
|
||||
|
||||
};
|
||||
|
||||
- static DataPoints loadVTK(const std::string& fileName);
|
||||
- static DataPoints loadVTK(std::istream& is);
|
||||
+ PM_EXPORT static DataPoints loadVTK(const std::string& fileName);
|
||||
+ PM_EXPORT static DataPoints loadVTK(std::istream& is);
|
||||
|
||||
- static void saveVTK(const DataPoints& data, const std::string& fileName, bool binary = false);
|
||||
+ PM_EXPORT static void saveVTK(const DataPoints& data, const std::string& fileName, bool binary = false);
|
||||
|
||||
// PLY
|
||||
- static DataPoints loadPLY(const std::string& fileName);
|
||||
- static DataPoints loadPLY(std::istream& is);
|
||||
+ PM_EXPORT static DataPoints loadPLY(const std::string& fileName);
|
||||
+ PM_EXPORT static DataPoints loadPLY(std::istream& is);
|
||||
|
||||
- static void savePLY(const DataPoints& data, const std::string& fileName); //!< save datapoints to PLY point cloud format
|
||||
+ PM_EXPORT static void savePLY(const DataPoints& data, const std::string& fileName); //!< save datapoints to PLY point cloud format
|
||||
|
||||
// PCD
|
||||
- static DataPoints loadPCD(const std::string& fileName);
|
||||
- static DataPoints loadPCD(std::istream& is);
|
||||
+ PM_EXPORT static DataPoints loadPCD(const std::string& fileName);
|
||||
+ PM_EXPORT static DataPoints loadPCD(std::istream& is);
|
||||
|
||||
- static void savePCD(const DataPoints& data, const std::string& fileName); //!< save datapoints to PCD point cloud format
|
||||
+ PM_EXPORT static void savePCD(const DataPoints& data, const std::string& fileName); //!< save datapoints to PCD point cloud format
|
||||
|
||||
//! Information to exploit a reading from a file using this library. Fields might be left blank if unused.
|
||||
- struct FileInfo
|
||||
+ struct PM_EXPORT FileInfo
|
||||
{
|
||||
typedef Eigen::Matrix<T, 3, 1> Vector3; //!< alias
|
||||
|
||||
@@ -242,7 +242,7 @@ struct PointMatcherIO
|
||||
};
|
||||
|
||||
//! A vector of file info, to be used in batch processing
|
||||
- struct FileInfoVector: public std::vector<FileInfo>
|
||||
+ struct PM_EXPORT FileInfoVector: public std::vector<FileInfo>
|
||||
{
|
||||
FileInfoVector();
|
||||
FileInfoVector(const std::string& fileName, std::string dataPath = "", std::string configPath = "");
|
||||
@@ -264,7 +264,7 @@ struct PointMatcherIO
|
||||
static bool plyPropTypeValid (const std::string& type);
|
||||
|
||||
//! Interface for PLY property
|
||||
- struct PLYProperty
|
||||
+ struct PM_EXPORT PLYProperty
|
||||
{
|
||||
//PLY information:
|
||||
std::string name; //!< name of PLY property
|
||||
@@ -299,7 +299,7 @@ struct PointMatcherIO
|
||||
typedef typename PLYProperties::iterator it_PLYProp;
|
||||
|
||||
//! Interface for all PLY elements.
|
||||
- class PLYElement
|
||||
+ class PM_EXPORT PLYElement
|
||||
{
|
||||
public:
|
||||
std::string name; //!< name identifying the PLY element
|
||||
@@ -331,7 +331,7 @@ struct PointMatcherIO
|
||||
|
||||
|
||||
//! Implementation of PLY vertex element
|
||||
- class PLYVertex : public PLYElement
|
||||
+ class PM_EXPORT PLYVertex : public PLYElement
|
||||
{
|
||||
public:
|
||||
//! Constructor
|
||||
@@ -346,7 +346,7 @@ struct PointMatcherIO
|
||||
};
|
||||
|
||||
//! Factory for PLY elements
|
||||
- class PLYElementF
|
||||
+ class PM_EXPORT PLYElementF
|
||||
{
|
||||
enum ElementTypes
|
||||
{
|
||||
diff --git a/pointmatcher/Parametrizable.h b/pointmatcher/Parametrizable.h
|
||||
index 318e7f1..edc1355 100644
|
||||
--- a/pointmatcher/Parametrizable.h
|
||||
+++ b/pointmatcher/Parametrizable.h
|
||||
@@ -46,6 +46,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#define BOOST_ASSIGN_MAX_PARAMS 6
|
||||
#include <boost/assign/list_inserter.hpp>
|
||||
|
||||
+#include "pm_export.h"
|
||||
|
||||
namespace PointMatcherSupport
|
||||
{
|
||||
@@ -95,7 +96,7 @@ namespace PointMatcherSupport
|
||||
}
|
||||
|
||||
//! The superclass of classes that are constructed using generic parameters. This class provides the parameter storage and fetching mechanism
|
||||
- struct Parametrizable
|
||||
+ struct PM_EXPORT Parametrizable
|
||||
{
|
||||
//! An exception thrown when one tries to fetch the value of an unexisting parameter
|
||||
struct InvalidParameter: std::runtime_error
|
||||
@@ -114,7 +115,7 @@ namespace PointMatcherSupport
|
||||
}
|
||||
|
||||
//! The documentation of a parameter
|
||||
- struct ParameterDoc
|
||||
+ struct PM_EXPORT ParameterDoc
|
||||
{
|
||||
std::string name; //!< name
|
||||
std::string doc; //!< short documentation
|
||||
@@ -173,7 +174,7 @@ namespace PointMatcherSupport
|
||||
|
||||
friend std::ostream& operator<< (std::ostream& o, const Parametrizable& p);
|
||||
};
|
||||
- std::ostream& operator<< (std::ostream& o, const Parametrizable::ParametersDoc& p);
|
||||
+ PM_EXPORT std::ostream& operator<< (std::ostream& o, const Parametrizable::ParametersDoc& p);
|
||||
} // namespace PointMatcherSupport
|
||||
|
||||
#endif // __POINTMATCHER_PARAMETRIZABLE_H
|
||||
diff --git a/pointmatcher/PointMatcher.h b/pointmatcher/PointMatcher.h
|
||||
index f26aa2c..435a464 100644
|
||||
--- a/pointmatcher/PointMatcher.h
|
||||
+++ b/pointmatcher/PointMatcher.h
|
||||
@@ -101,7 +101,7 @@ namespace PointMatcherSupport
|
||||
|
||||
|
||||
//! The logger interface, used to output warnings and informations
|
||||
- struct Logger: public Parametrizable
|
||||
+ struct PM_EXPORT Logger: public Parametrizable
|
||||
{
|
||||
Logger();
|
||||
Logger(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
|
||||
@@ -127,7 +127,7 @@ namespace PointMatcherSupport
|
||||
|
||||
//! Functions and classes that are dependant on scalar type are defined in this templatized class
|
||||
template<typename T>
|
||||
-struct PointMatcher
|
||||
+struct PM_EXPORT PointMatcher
|
||||
{
|
||||
// ---------------------------------
|
||||
// macros for constants
|
||||
@@ -145,7 +145,7 @@ struct PointMatcher
|
||||
//TODO: gather exceptions here and in Exceptions.cpp
|
||||
|
||||
//! Point matcher did not converge
|
||||
- struct ConvergenceError: std::runtime_error
|
||||
+ struct PM_EXPORT ConvergenceError: std::runtime_error
|
||||
{
|
||||
ConvergenceError(const std::string& reason);
|
||||
};
|
||||
@@ -204,7 +204,7 @@ struct PointMatcher
|
||||
Moreover, the position of the points is in homogeneous coordinates because they need both translation and rotation, while the normals need only rotation.
|
||||
All channels contain scalar values of type ScalarType.
|
||||
*/
|
||||
- struct DataPoints
|
||||
+ struct PM_EXPORT DataPoints
|
||||
{
|
||||
//! A view on a feature or descriptor
|
||||
typedef Eigen::Block<Matrix> View;
|
||||
@@ -218,7 +218,7 @@ struct PointMatcher
|
||||
typedef typename Matrix::Index Index;
|
||||
|
||||
//! The name for a certain number of dim
|
||||
- struct Label
|
||||
+ struct PM_EXPORT Label
|
||||
{
|
||||
std::string text; //!< name of the label
|
||||
size_t span; //!< number of data dimensions the label spans
|
||||
@@ -226,7 +226,7 @@ struct PointMatcher
|
||||
bool operator ==(const Label& that) const;
|
||||
};
|
||||
//! A vector of Label
|
||||
- struct Labels: std::vector<Label>
|
||||
+ struct PM_EXPORT Labels: std::vector<Label>
|
||||
{
|
||||
typedef typename std::vector<Label>::const_iterator const_iterator; //!< alias
|
||||
Labels();
|
||||
@@ -368,7 +368,7 @@ struct PointMatcher
|
||||
This class holds a list of associated reference identifiers, along with the corresponding \e squared distance, for all points in the reading.
|
||||
A single point in the reading can have one or multiple matches.
|
||||
*/
|
||||
- struct Matches
|
||||
+ struct PM_EXPORT Matches
|
||||
{
|
||||
typedef Matrix Dists; //!< Squared distances to closest points, dense matrix of ScalarType
|
||||
typedef IntMatrix Ids; //!< Identifiers of closest points, dense matrix of integers
|
||||
@@ -401,7 +401,7 @@ struct PointMatcher
|
||||
// ---------------------------------
|
||||
|
||||
//! A function that transforms points and their descriptors given a transformation matrix
|
||||
- struct Transformation: public Parametrizable
|
||||
+ struct PM_EXPORT Transformation: public Parametrizable
|
||||
{
|
||||
Transformation();
|
||||
Transformation(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
|
||||
@@ -422,7 +422,7 @@ struct PointMatcher
|
||||
};
|
||||
|
||||
//! A chain of Transformation
|
||||
- struct Transformations: public std::vector<std::shared_ptr<Transformation> >
|
||||
+ struct PM_EXPORT Transformations: public std::vector<std::shared_ptr<Transformation> >
|
||||
{
|
||||
void apply(DataPoints& cloud, const TransformationParameters& parameters) const;
|
||||
};
|
||||
@@ -437,7 +437,7 @@ struct PointMatcher
|
||||
/**
|
||||
The filter might add information, for instance surface normals, or might change the number of points, for instance by randomly removing some of them.
|
||||
*/
|
||||
- struct DataPointsFilter: public Parametrizable
|
||||
+ struct PM_EXPORT DataPointsFilter: public Parametrizable
|
||||
{
|
||||
DataPointsFilter();
|
||||
DataPointsFilter(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
|
||||
@@ -452,7 +452,7 @@ struct PointMatcher
|
||||
};
|
||||
|
||||
//! A chain of DataPointsFilter
|
||||
- struct DataPointsFilters: public std::vector<std::shared_ptr<DataPointsFilter> >
|
||||
+ struct PM_EXPORT DataPointsFilters: public std::vector<std::shared_ptr<DataPointsFilter> >
|
||||
{
|
||||
DataPointsFilters();
|
||||
DataPointsFilters(std::istream& in);
|
||||
@@ -470,7 +470,7 @@ struct PointMatcher
|
||||
/**
|
||||
This typically uses a space-partitioning structure such as a kd-tree for performance optimization.
|
||||
*/
|
||||
- struct Matcher: public Parametrizable
|
||||
+ struct PM_EXPORT Matcher: public Parametrizable
|
||||
{
|
||||
unsigned long visitCounter; //!< number of points visited
|
||||
|
||||
@@ -496,7 +496,7 @@ struct PointMatcher
|
||||
Criteria can be a fixed maximum authorized distance, a factor of the median distance, etc.
|
||||
Points with zero weights are ignored in the subsequent minimization step.
|
||||
*/
|
||||
- struct OutlierFilter: public Parametrizable
|
||||
+ struct PM_EXPORT OutlierFilter: public Parametrizable
|
||||
{
|
||||
OutlierFilter();
|
||||
OutlierFilter(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
|
||||
@@ -509,7 +509,7 @@ struct PointMatcher
|
||||
|
||||
|
||||
//! A chain of OutlierFilter
|
||||
- struct OutlierFilters: public std::vector<std::shared_ptr<OutlierFilter> >
|
||||
+ struct PM_EXPORT OutlierFilters: public std::vector<std::shared_ptr<OutlierFilter> >
|
||||
{
|
||||
|
||||
OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
|
||||
@@ -527,7 +527,7 @@ struct PointMatcher
|
||||
/**
|
||||
Typical error minimized are point-to-point and point-to-plane.
|
||||
*/
|
||||
- struct ErrorMinimizer: public Parametrizable
|
||||
+ struct PM_EXPORT ErrorMinimizer: public Parametrizable
|
||||
{
|
||||
//! A structure holding data ready for minimization. The data are "normalized", for instance there are no points with 0 weight, etc.
|
||||
struct ErrorElements
|
||||
@@ -580,7 +580,7 @@ struct PointMatcher
|
||||
For example, a condition can be the number of times the loop was executed, or it can be related to the matching error.
|
||||
Because the modules can be chained, we defined that the relation between modules must agree through an OR-condition, while all AND-conditions are defined within a single module.
|
||||
*/
|
||||
- struct TransformationChecker: public Parametrizable
|
||||
+ struct PM_EXPORT TransformationChecker: public Parametrizable
|
||||
{
|
||||
protected:
|
||||
typedef std::vector<std::string> StringVector; //!< a vector of strings
|
||||
@@ -608,7 +608,7 @@ struct PointMatcher
|
||||
};
|
||||
|
||||
//! A chain of TransformationChecker
|
||||
- struct TransformationCheckers: public std::vector<std::shared_ptr<TransformationChecker> >
|
||||
+ struct PM_EXPORT TransformationCheckers: public std::vector<std::shared_ptr<TransformationChecker> >
|
||||
{
|
||||
void init(const TransformationParameters& parameters, bool& iterate);
|
||||
void check(const TransformationParameters& parameters, bool& iterate);
|
||||
@@ -621,7 +621,7 @@ struct PointMatcher
|
||||
// ---------------------------------
|
||||
|
||||
//! An inspector allows to log data at the different steps, for analysis.
|
||||
- struct Inspector: public Parametrizable
|
||||
+ struct PM_EXPORT Inspector: public Parametrizable
|
||||
{
|
||||
|
||||
Inspector();
|
||||
@@ -652,7 +652,7 @@ struct PointMatcher
|
||||
// algorithms
|
||||
|
||||
//! Stuff common to all ICP algorithms
|
||||
- struct ICPChainBase
|
||||
+ struct PM_EXPORT ICPChainBase
|
||||
{
|
||||
public:
|
||||
DataPointsFilters readingDataPointsFilters; //!< filters for reading, applied once
|
||||
@@ -699,7 +699,7 @@ struct PointMatcher
|
||||
};
|
||||
|
||||
//! ICP algorithm
|
||||
- struct ICP: ICPChainBase
|
||||
+ struct PM_EXPORT ICP: ICPChainBase
|
||||
{
|
||||
TransformationParameters operator()(
|
||||
const DataPoints& readingIn,
|
||||
@@ -730,7 +730,7 @@ struct PointMatcher
|
||||
|
||||
//! ICP alogrithm, taking a sequence of clouds and using a map
|
||||
//! Warning: used with caution, you need to set the map manually.
|
||||
- struct ICPSequence: public ICP
|
||||
+ struct PM_EXPORT ICPSequence: public ICP
|
||||
{
|
||||
TransformationParameters operator()(
|
||||
const DataPoints& cloudIn);
|
||||
diff --git a/pointmatcher/Registrar.h b/pointmatcher/Registrar.h
|
||||
index 706211f..84557f8 100644
|
||||
--- a/pointmatcher/Registrar.h
|
||||
+++ b/pointmatcher/Registrar.h
|
||||
@@ -63,7 +63,7 @@ namespace PointMatcherSupport
|
||||
#endif
|
||||
|
||||
//! Retrieve name and parameters from a yaml node
|
||||
- void getNameParamsFromYAML(const YAML::Node& module, std::string& name, Parametrizable::Parameters& params);
|
||||
+ PM_EXPORT void getNameParamsFromYAML(const YAML::Node& module, std::string& name, Parametrizable::Parameters& params);
|
||||
|
||||
//! An exception thrown when one tries to instanciate an element that does not exist in the registrar
|
||||
struct InvalidElement: std::runtime_error
|
||||
@@ -73,13 +73,13 @@ namespace PointMatcherSupport
|
||||
|
||||
//! A factor for subclasses of Interface
|
||||
template<typename Interface>
|
||||
- struct Registrar
|
||||
+ struct PM_EXPORT Registrar
|
||||
{
|
||||
public:
|
||||
typedef Interface TargetType; //!< alias to recover the template parameter
|
||||
|
||||
//! The interface for class descriptors
|
||||
- struct ClassDescriptor
|
||||
+ struct PM_EXPORT ClassDescriptor
|
||||
{
|
||||
//! Virtual destructor, do nothing
|
||||
virtual ~ClassDescriptor() {}
|
||||
@@ -93,7 +93,7 @@ namespace PointMatcherSupport
|
||||
|
||||
//! A descriptor for a class C that provides parameters
|
||||
template<typename C>
|
||||
- struct GenericClassDescriptor: public ClassDescriptor
|
||||
+ struct PM_EXPORT GenericClassDescriptor: public ClassDescriptor
|
||||
{
|
||||
virtual std::shared_ptr<Interface> createInstance(const std::string& className, const Parametrizable::Parameters& params) const
|
||||
{
|
||||
@@ -124,7 +124,7 @@ namespace PointMatcherSupport
|
||||
|
||||
//! A descriptor for a class C that does not provide any parameter
|
||||
template<typename C>
|
||||
- struct GenericClassDescriptorNoParam: public ClassDescriptor
|
||||
+ struct PM_EXPORT GenericClassDescriptorNoParam: public ClassDescriptor
|
||||
{
|
||||
virtual std::shared_ptr<Interface> createInstance(const std::string& className, const Parametrizable::Parameters& params) const
|
||||
{
|
||||
diff --git a/pointmatcher/Timer.h b/pointmatcher/Timer.h
|
||||
index 316dbe2..6a9898a 100644
|
||||
--- a/pointmatcher/Timer.h
|
||||
+++ b/pointmatcher/Timer.h
|
||||
@@ -37,7 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#define __POINTMATCHER_TIMER_H
|
||||
|
||||
#include <time.h>
|
||||
-#ifndef WIN32
|
||||
+#ifndef _WIN32
|
||||
#include <unistd.h>
|
||||
#endif // WIN32
|
||||
|
||||
Reference in New Issue
Block a user