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Added PyDetector (#677)

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* Added PyDetector. Refactored PyMatcher.

* Fixed python freezing with multi-threading
This commit is contained in:
matlabbe
2021-01-17 01:56:27 -05:00
committed by GitHub
parent 0bc483b6d3
commit c49785061f
26 changed files with 733 additions and 115 deletions
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29
CMakeLists.txt
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@@ -163,8 +163,9 @@ ELSE()
option(WITH_QT "Include Qt support" ON)
ENDIF()
option(WITH_ORB_OCTREE "Include ORB Octree feature support" ON)
option(WITH_SUPERPOINT_TORCH "Include SuperPoint Torch feature support" ON)
option(WITH_PYMATCHER "Include Python3 matchers support" OFF)
option(WITH_TORCH "Include Torch support (SuperPoint)" OFF)
option(WITH_PYTHON "Include Python3 support (PyMatcher, PyDetector)" OFF)
option(WITH_PYTHON_THREADING "Use more than one Python interpreter." OFF)
option(WITH_PDAL "Include PDAL support" ON)
option(WITH_FREENECT "Include Freenect support" ON)
option(WITH_FREENECT2 "Include Freenect2 support" ON)
@@ -323,19 +324,19 @@ IF(WITH_QT)
ENDIF(QT4_FOUND OR Qt5_FOUND)
ENDIF(WITH_QT)
IF(WITH_SUPERPOINT_TORCH)
IF(WITH_TORCH)
FIND_PACKAGE(Torch QUIET)
IF(TORCH_FOUND)
MESSAGE(STATUS "Found Torch: ${TORCH_INCLUDE_DIRS}")
ENDIF(TORCH_FOUND)
ENDIF(WITH_SUPERPOINT_TORCH)
ENDIF(WITH_TORCH)
IF(WITH_PYMATCHER)
IF(WITH_PYTHON)
FIND_PACKAGE(Python3 COMPONENTS Interpreter Development)
IF(Python3_FOUND)
MESSAGE(STATUS "Found Python3")
ENDIF(Python3_FOUND)
ENDIF(WITH_PYMATCHER)
ENDIF(WITH_PYTHON)
IF(WITH_PDAL)
FIND_PACKAGE(PDAL QUIET)
@@ -857,10 +858,10 @@ IF(NOT WITH_ORB_OCTREE)
SET(ORB_OCTREE "//")
ENDIF()
IF(NOT TORCH_FOUND)
SET(SUPERPOINT_TORCH "//")
SET(TORCH "//")
ENDIF()
IF(NOT Python3_FOUND)
SET(PYMATCHER "//")
SET(PYTHON "//")
ENDIF()
IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
SET(CONF_VTK_QT true)
@@ -1115,18 +1116,18 @@ ENDIF()
IF(TORCH_FOUND)
MESSAGE(STATUS " With SupertPoint = YES (License: GPLv3) libtorch=${Torch_VERSION}")
ELSEIF(NOT WITH_SUPERPOINT_TORCH)
MESSAGE(STATUS " With SupertPoint = NO (WITH_SUPERPOINT_TORCH=OFF)")
ELSEIF(NOT WITH_TORCH)
MESSAGE(STATUS " With SupertPoint = NO (WITH_TORCH=OFF)")
ELSE()
MESSAGE(STATUS " With SupertPoint = NO (libtorch not found)")
ENDIF()
IF(Python3_FOUND)
MESSAGE(STATUS " With Python3 = YES (License: PSF)")
ELSEIF(NOT WITH_PYMATCHER)
MESSAGE(STATUS " With Python3 = NO (WITH_PYMATCHER=OFF)")
MESSAGE(STATUS " With Python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR} = YES (License: PSF)")
ELSEIF(NOT WITH_PYTHON)
MESSAGE(STATUS " With Python3 = NO (WITH_PYTHON=OFF)")
ELSE()
MESSAGE(STATUS " With Python3 = NO (python3 not found)")
MESSAGE(STATUS " With Python3 = NO (python not found)")
ENDIF()
IF(WITH_MADGWICK)