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Refactored RegistrationIcp: libpointmatcher yaml config usage / integrated CCCoreLib (#704)

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* Refactored RegistrationIcp so that libpointmatcher yaml can work with icp odometry (we can then avoid refiltering data with local map of F2M). All data filtering (including libpointmatcher DataFilters) are done at the beginning of the function.

* ICP: Restored ref and data scans order for libpointmatcher (seems more stable this way).

* Fixed compilation error without libpointmatcher

* CCCoreLib integration (Icp/Strategy=2). Icp/PMForce4DoF is now Icp/Force4DoF. Icp/PM is now Icp/Strategy. Icp/PMOutlierRatio is now Icp/OutlierRatio.

* Fixed build without CCCoreLib

* Cleanup RegistrationIcp from third party functions.

* Preferences: disable libpointmatcher and cccorlib options if not available
This commit is contained in:
matlabbe
2021-03-27 15:11:20 -04:00
committed by GitHub
parent c4d127cae4
commit 06e85e140c
18 changed files with 3153 additions and 2686 deletions
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25
CMakeLists.txt
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@@ -180,6 +180,7 @@ option(WITH_CERES "Include Ceres support" ON)
option(WITH_VERTIGO "Include Vertigo support" ON)
option(WITH_CVSBA "Include cvsba support" ON)
option(WITH_POINTMATCHER "Include libpointmatcher support" ON)
option(WITH_CCCORELIB "Include CCCoreLib support" ON)
option(WITH_LOAM "Include LOAM support" ON)
option(WITH_FLYCAPTURE2 "Include FlyCapture2/Triclops support" ON)
option(WITH_ZED "Include ZED sdk support" ON)
@@ -460,6 +461,13 @@ IF(libpointmatcher_FOUND OR GTSAM_FOUND)
ENDIF(WIN32)
ENDIF(libpointmatcher_FOUND OR GTSAM_FOUND)
IF(WITH_CCCORELIB)
find_package(CCCoreLib QUIET)
IF(CCCoreLib_FOUND)
MESSAGE(STATUS "Found CCCoreLib: ${CCCoreLib_INCLUDE_DIRS}")
ENDIF(CCCoreLib_FOUND)
ENDIF(WITH_CCCORELIB)
IF(WITH_LOAM)
find_package(loam_velodyne QUIET)
IF(loam_velodyne_FOUND)
@@ -642,8 +650,8 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
IF(NOT MSVC)
IF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND)
#LOAM, PCL>=1.10 and latest g2o require c++14
IF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
#LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
IF(COMPILER_SUPPORTS_CXX14)
@@ -652,7 +660,7 @@ IF(NOT MSVC)
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM, latest PCL or g2o.")
ENDIF()
ENDIF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND)
ENDIF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
G2O_FOUND OR
@@ -764,6 +772,9 @@ ENDIF()
IF(NOT libpointmatcher_FOUND)
SET(POINTMATCHER "//")
ENDIF(NOT libpointmatcher_FOUND)
IF(NOT CCCoreLib_FOUND)
SET(CCCORELIB "//")
ENDIF(NOT CCCoreLib_FOUND)
IF(NOT FastCV_FOUND)
SET(FASTCV "//")
ENDIF(NOT FastCV_FOUND)
@@ -1254,6 +1265,14 @@ ELSE()
MESSAGE(STATUS " *With libpointmatcher = NO (libpointmatcher not found)")
ENDIF()
IF(CCCoreLib_FOUND)
MESSAGE(STATUS " *With CCCoreLib = YES (License: GPLv2)")
ELSEIF(NOT WITH_POINTMATCHER)
MESSAGE(STATUS " *With CCCoreLib = NO (WITH_CCCORELIB=OFF)")
ELSE()
MESSAGE(STATUS " *With CCCoreLib = NO (CCCoreLib not found)")
ENDIF()
MESSAGE(STATUS "")
MESSAGE(STATUS " Reconstruction Approaches:")
IF(octomap_FOUND)