Only module branch

.gitignore

@@ -1,48 +1 @@
-.codes/*
-.cmake/*
-
-build/*
-
-cmake-build-release/*
-cmake-build-debug/*
-
-materials/*.bin
-materials/*.pcd
-*bin
-*pcd
-
-.idea/
-.vscode/
-
-# Prerequisites
-*.d
-
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-*.smod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
+.vscode/

CMakeLists.txt

@@ -1,82 +1,77 @@
-cmake_minimum_required(VERSION 3.13)
+cmake_minimum_required(VERSION 3.10)
 project(quatro)
 
-set(CMAKE_CXX_STANDARD 17)
-
-if (NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE "Release")
-endif ()
-
-find_package(catkin REQUIRED COMPONENTS
-        roscpp
-        rospy
-        std_msgs
-        geometry_msgs
-        message_generation
-        sensor_msgs
-        nav_msgs
-        pcl_ros
-        cv_bridge
-)
-
-find_package(OpenCV REQUIRED)
-find_package(OpenCV REQUIRED QUIET)
-find_package(OpenMP)
-find_package(PCL 1.8 REQUIRED)
-find_package(Boost 1.54 REQUIRED)
-find_package(Eigen3 3.2 QUIET REQUIRED NO_MODULE)
-find_package(catkin QUIET)
-
-add_message_files(
-        FILES
-        cloud_info.msg
-)
-
-generate_messages(
-        DEPENDENCIES
-        geometry_msgs
-        std_msgs
-        nav_msgs
-)
-
-catkin_package(
-        INCLUDE_DIRS
-        LIBRARIES
-        CATKIN_DEPENDS roscpp rospy std_msgs
+### set compiler
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++17 -fexceptions -g -ggdb")
+include(FindOpenMP) #The best way to set proper compiler settings for using OpenMP in all platforms
+if(OPENMP_FOUND) #The best way to set proper compiler settings for using OpenMP in all platforms
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
+else(OPENMP_FOUND)
+  message("ERROR: OpenMP could not be found.")
+endif(OPENMP_FOUND)
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall ${CMAKE_CXX_FLAGS}")
+
+### get packages
+find_package(Eigen3 REQUIRED)
+find_package(PCL REQUIRED)
+find_package(teaserpp REQUIRED)
+if(PCL_FOUND)
+  message(WARNING "PCL_VER: ${PCL_VERSION}, and PCL_DIR: ${PCL_INCLUDE_DIRS}")
+endif()
+if(Eigen3_FOUND)
+  message(WARNING "EIGEN_VER: ${EIGEN3_VERSION_STRING}, and Eigen DIR: ${EIGEN3_INCLUDE_DIR}")
+endif()
+if(teaserpp_FOUND)
+  message(WARNING "teaserpp found")
+endif()
+
+#### for tbb
+option(QUATRO_TBB "Enable TBB support" ON)
+if(QUATRO_TBB)
+  message(WARNING "Quatro with TBB")
+  list(APPEND CMAKE_MODULE_PATH /usr/local/include /usr/include)
+  find_library(TBB_LIBRARY tbb HINTS /usr/lib /usr/local/lib)
+  message(WARNING "TBB FOUND, ${TBB_LIBRARY}")
+  add_definitions(-DTBB_EN)
+  include(ProcessorCount)
+  ProcessorCount(N)
+  message(WARNING "Processer number: ${N}")
+  if(N GREATER 4)
+    add_definitions(-DTBB_PROC_NUM=${N})
+  else()
+    add_definitions(-DTBB_PROC_NUM=1)
+  endif()
+endif()
+
+#### for debug output
+if(QUATRO_DEBUG)
+  add_definitions(-DQUATRO_DEBUG)
+endif()
+
+### output as catkin package
+find_package(catkin REQUIRED)
+catkin_package( #this automatically adds/installs the results of build
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
 )
 
+### get packages' headers
 include_directories(
-        ${catkin_INCLUDE_DIRS}
-        ${OpenCV_INCLUDE_DIRS}
-        ${PCL_INCLUDE_DIRS}
-        include
+  include
+  ${EIGEN3_INCLUDE_DIR}
+  ${PCL_INCLUDE_DIRS}
 )
 
-include(3rdparty/find_dependencies.cmake)
-
-file(DOWNLOAD https://urserver.kaist.ac.kr/publicdata/quatro/000540.bin ${CMAKE_CURRENT_LIST_DIR}/materials/000540.bin)
-file(DOWNLOAD https://urserver.kaist.ac.kr/publicdata/quatro/001319.bin ${CMAKE_CURRENT_LIST_DIR}/materials/001319.bin)
-
-if (OPENMP_FOUND)
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-endif ()
-
-
-
-####### Executable ####### 
-set(teaser_src
-        src/graph.cc
-        src/teaser_utils/feature_matcher.cc
-        src/teaser_utils/fpfh.cc
-        )
-
-add_executable(run_example examples/run_global_registration.cpp ${teaser_src})
-
-target_link_libraries(run_example
-        PUBLIC
-        ${PCL_LIBRARY_DIRS}
-        ${catkin_LIBRARIES}
-        stdc++fs
-        pmc::pmc
-        )
+###########
+## Build ##
+###########
+### main
+add_library(${PROJECT_NAME} src/fpfh.cc src/matcher.cc src/quatro_module.cc)
+if (QUATRO_TBB)
+  target_link_libraries(${PROJECT_NAME} ${OpenMP_LIBS} ${EIGEN3_LIBS} ${PCL_LIBRARIES} teaserpp::teaser_registration teaserpp::teaser_io ${TBB_LIBRARY})
+else()
+  target_link_libraries(${PROJECT_NAME} ${OpenMP_LIBS} ${EIGEN3_LIBS} ${PCL_LIBRARIES} teaserpp::teaser_registration teaserpp::teaser_io)
+endif()