go back to C++17

CMakeLists.txt

@@ -1,7 +1,7 @@
-cmake_minimum_required(VERSION 3.5.2)
+cmake_minimum_required(VERSION 3.16)
 project(small_gicp)
 
-set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)

README.md

@@ -14,12 +14,12 @@ Note that GPU-based implementations are NOT included in this package.
 
 ## Requirements
 
-This library uses some C++20 features. While porting it to older environments should be easy, we have no plan to support environments older than Ubuntu 22.04.
+This library uses some C++17 features. While porting it to older environments should be easy, we have no plan to support environments older than Ubuntu 20.04.
 
 ## Dependencies
 
-- [Mandatory] [Eigen](https://eigen.tuxfamily.org/), [nanoflann](https://github.com/jlblancoc/nanoflann) ([bundled1](include/ann/nanoflann.hpp), [bundled2](include/ann/nanoflann_omp.hpp), [bundled3](include/ann/nanoflann_tbb.hpp)), [Sophus](https://github.com/strasdat/Sophus) ([bundled](include/util/lie.hpp))
+- [Mandatory] [Eigen](https://eigen.tuxfamily.org/), [nanoflann](https://github.com/jlblancoc/nanoflann) ([bundled1](include/small_gicp/ann/nanoflann.hpp), [bundled2](include/small_gicp/ann/nanoflann_omp.hpp), [bundled3](include/small_gicp/ann/nanoflann_tbb.hpp)), [Sophus](https://github.com/strasdat/Sophus) ([bundled](include/small_gicp/util/lie.hpp))
-- [Optional] [OpenMP](https://www.openmp.org/), [Intel TBB](https://www.intel.com/content/www/us/en/developer/tools/oneapi/onetbb.html), [PCL](https://pointclouds.org/)
+- [Optional] [OpenMP](https://www.openmp.org/), [Intel TBB](https://www.intel.com/content/www/us/en/developer/tools/oneapi/onetbb.html), [PCL](https://pointclouds.org/), [Iridescence](https://github.com/koide3/iridescence)
 
 ## Installation
 
@@ -342,7 +342,7 @@ open3d.visualization.draw_geometries([target_o3d, source_o3d])
 - Single-threaded `small_gicp::voxelgrid_sampling` is about **1.3x faster** than `pcl::VoxelGrid`.
 - Multi-threaded `small_gicp::voxelgrid_sampling_tbb` (6 threads) is about **3.2x faster** than `pcl::VoxelGrid`.
 - `small_gicp::voxelgrid_sampling` gives accurate downsampling results (almost identical to those of `pcl::VoxelGrid`) while `pcl::ApproximateVoxelGrid` yields spurious points (up to 2x points).
-- `small_gicp::voxelgrid_sampling` can process a larger point cloud with a fine voxel resolution compared to `pcl::VoxelGrid` (for a point cloud of 1000m width, minimum voxel resolution can be 0.5 mm).
+- `small_gicp::voxelgrid_sampling` can process a larger point cloud with a fine voxel resolution compared to `pcl::VoxelGrid` (for a point cloud of 1000m width, the minimum voxel resolution can be **0.5 mm**).
 
 ![downsampling_comp](docs/assets/downsampling_comp.png)
 

include/small_gicp/ann/cached_kdtree.hpp

@@ -28,8 +28,8 @@ public:
 
     CacheTable::const_accessor ca;
     if (cache.find(ca, coord)) {
-      std::ranges::copy(ca->second.first, k_indices);
+      std::copy(ca->second.first.begin(), ca->first.end(), k_indices);
-      std::ranges::copy(ca->second.second, k_sq_dists);
+      std::copy(ca->second.second.begin(), ca->second.end(), k_sq_dists);
       return ca->second.first.size();
     }
 

include/small_gicp/ann/gaussian_voxelmap.hpp

@@ -78,14 +78,14 @@ public:
   /// @brief Get voxel means
   std::vector<Eigen::Vector4d> voxel_means() const {
     std::vector<Eigen::Vector4d> means(flat_voxels.size());
-    std::ranges::transform(flat_voxels, means.begin(), [](const GaussianVoxel& voxel) { return voxel.mean; });
+    std::transform(flat_voxels.begin(), flat_voxels.end(), means.begin(), [](const GaussianVoxel& voxel) { return voxel.mean; });
     return means;
   }
 
   /// @brief Get voxel covariances
   std::vector<Eigen::Matrix4d> voxel_covs() const {
     std::vector<Eigen::Matrix4d> covs(flat_voxels.size());
-    std::ranges::transform(flat_voxels, covs.begin(), [](const GaussianVoxel& voxel) { return voxel.cov; });
+    std::transform(flat_voxels.begin(), flat_voxels.end(), covs.begin(), [](const GaussianVoxel& voxel) { return voxel.cov; });
     return covs;
   }
 
@@ -112,7 +112,8 @@ public:
 
     if ((++lru_counter) % lru_clear_cycle == 0) {
       // Remove least recently used voxels
-      std::erase_if(flat_voxels, [&](const GaussianVoxel& voxel) { return voxel.lru + lru_horizon < lru_counter; });
+      auto remove_counter = std::remove_if(flat_voxels.begin(), flat_voxels.end(), [&](const GaussianVoxel& voxel) { return voxel.lru + lru_horizon < lru_counter; });
+      flat_voxels.erase(remove_counter, flat_voxels.end());
       voxels.clear();
 
       // Rehash

include/small_gicp/ann/traits.hpp

@@ -2,6 +2,7 @@
 // SPDX-License-Identifier: MIT
 #pragma once
 
+#include <type_traits>
 #include <Eigen/Core>
 
 namespace small_gicp {
@@ -24,7 +25,13 @@ size_t knn_search(const T& tree, const Eigen::Vector4d& point, size_t k, size_t*
 }
 
 template <typename T>
-concept HasNearestNeighborSearch = requires(const T& tree) { Traits<T>::nearest_neighbor_search(tree, Eigen::Vector4d(), nullptr, nullptr); };
+struct has_nearest_neighbor_search {
+  template <typename U, int = (&Traits<U>::nearest_neighbor_search, 0)>
+  static std::true_type test(U*);
+  static std::false_type test(...);
+
+  static constexpr bool value = decltype(test((T*)nullptr))::value;
+};
 
 /// @brief Find the nearest neighbor
 /// @param tree       Nearest neighbor search (e.g., KdTree)
@@ -32,12 +39,12 @@ concept HasNearestNeighborSearch = requires(const T& tree) { Traits<T>::nearest_
 /// @param k_index    [out] Index of the nearest neighbor
 /// @param k_sq_dist  [out] Squared distance to the nearest neighbor
 /// @return 1 if a neighbor is found else 0
-template <HasNearestNeighborSearch T>
+template <typename T, std::enable_if_t<has_nearest_neighbor_search<T>::value, bool> = true>
 size_t nearest_neighbor_search(const T& tree, const Eigen::Vector4d& point, size_t* k_index, double* k_sq_dist) {
   return Traits<T>::nearest_neighbor_search(tree, point, k_index, k_sq_dist);
 }
 
-template <typename T>
+template <typename T, std::enable_if_t<!has_nearest_neighbor_search<T>::value, bool> = true>
 size_t nearest_neighbor_search(const T& tree, const Eigen::Vector4d& point, size_t* k_index, double* k_sq_dist) {
   return Traits<T>::knn_search(tree, point, 1, k_index, k_sq_dist);
 }

include/small_gicp/benchmark/benchmark.hpp

@@ -57,7 +57,7 @@ public:
     }
 
     std::vector<double> sorted(full_data.begin(), full_data.end());
-    std::ranges::nth_element(sorted, sorted.begin() + sorted.size() / 2);
+    std::nth_element(sorted.begin(), sorted.end(), sorted.begin() + sorted.size() / 2);
     return sorted[sorted.size() / 2];
   }
 
@@ -105,19 +105,19 @@ public:
       filenames.emplace_back(path.path().string());
     }
 
-    std::ranges::sort(filenames);
+    std::sort(filenames.begin(), filenames.end());
     if (filenames.size() > max_num_data) {
       filenames.resize(max_num_data);
     }
 
     points.resize(filenames.size());
-    std::ranges::transform(filenames, points.begin(), [](const std::string& filename) { return read_points(filename); });
+    std::transform(filenames.begin(), filenames.end(), points.begin(), [](const std::string& filename) { return read_points(filename); });
   }
 
   template <typename PointCloud>
   std::vector<std::shared_ptr<PointCloud>> convert(bool release = false) {
     std::vector<std::shared_ptr<PointCloud>> converted(points.size());
-    std::ranges::transform(points, converted.begin(), [=](auto& raw_points) {
+    std::transform(points.begin(), points.end(), converted.begin(), [=](auto& raw_points) {
       auto points = std::make_shared<PointCloud>();
       traits::resize(*points, raw_points.size());
       for (size_t i = 0; i < raw_points.size(); i++) {

include/small_gicp/benchmark/read_points.hpp

@@ -64,7 +64,7 @@ static std::vector<Eigen::Vector4f> read_ply(const std::string& filename) {
       break;
     }
 
-    if (line.starts_with("element")) {
+    if (line.find("element") == 0) {
       std::stringstream sst(line);
       std::string token, vertex, num_points;
       sst >> token >> vertex >> num_points;
@@ -74,7 +74,7 @@ static std::vector<Eigen::Vector4f> read_ply(const std::string& filename) {
       }
 
       points.resize(std::stol(num_points));
-    } else if (line.starts_with("property")) {
+    } else if (line.find("property") == 0) {
       std::stringstream sst(line);
       std::string token, type, name;
       sst >> token >> type >> name;

include/small_gicp/points/point_cloud.hpp

@@ -3,6 +3,7 @@
 #pragma once
 
 #include <memory>
+#include <vector>
 #include <Eigen/Core>
 #include <small_gicp/points/traits.hpp>
 

include/small_gicp/registration/optimizer.hpp

@@ -54,7 +54,7 @@ struct GaussNewtonOptimizer {
       result.error = e;
     }
 
-    result.num_inliers = std::ranges::count_if(factors, [](const auto& factor) { return factor.inlier(); });
+    result.num_inliers = std::count_if(factors.begin(), factors.end(), [](const auto& factor) { return factor.inlier(); });
 
     return result;
   }
@@ -128,7 +128,7 @@ struct LevenbergMarquardtOptimizer {
       result.error = e;
     }
 
-    result.num_inliers = std::ranges::count_if(factors, [](const auto& factor) { return factor.inlier(); });
+    result.num_inliers = std::count_if(factors.begin(), factors.end(), [](const auto& factor) { return factor.inlier(); });
 
     return result;
   }

include/small_gicp/registration/reduction.hpp

@@ -2,6 +2,7 @@
 // SPDX-License-Identifier: MIT
 #pragma once
 
+#include <vector>
 #include <Eigen/Core>
 
 namespace small_gicp {

include/small_gicp/util/downsampling.hpp

@@ -48,7 +48,7 @@ std::shared_ptr<OutputPointCloud> voxelgrid_sampling(const InputPointCloud& poin
 
   // Sort by voxel coord
   const auto compare = [](const auto& lhs, const auto& rhs) { return lhs.first < rhs.first; };
-  std::ranges::sort(coord_pt, compare);
+  std::sort(coord_pt.begin(), coord_pt.end(), compare);
 
   auto downsampled = std::make_shared<OutputPointCloud>();
   traits::resize(*downsampled, traits::size(points));

src/small_gicp/util/benchmark_odom.cpp

@@ -13,7 +13,7 @@ size_t register_odometry(const std::string& name, std::function<OdometryEstimati
 
 std::vector<std::string> odometry_names() {
   std::vector<std::string> names(odometry_registry.size());
-  std::ranges::transform(odometry_registry.begin(), odometry_registry.end(), names.begin(), [](const auto& p) { return p.first; });
+  std::transform(odometry_registry.begin(), odometry_registry.end(), names.begin(), [](const auto& p) { return p.first; });
   return names;
 }
 

src/test/kdtree_test.cpp

@@ -120,7 +120,7 @@ TEST_F(KdTreeTest, LoadCheck) {
   for (size_t i = 0; i < queries.size(); i++) {
     EXPECT_EQ(k_indices[i].size(), k);
     EXPECT_EQ(k_sq_dists[i].size(), k);
-    EXPECT_TRUE(std::ranges::is_sorted(k_sq_dists[i])) << "Must be sorted by distance";
+    EXPECT_TRUE(std::is_sorted(k_sq_dists[i].begin(), k_sq_dists[i].end())) << "Must be sorted by distance";
   }
 }
 

src/test/points_test.cpp

@@ -47,7 +47,7 @@ TEST(PointsTest, PointsTest) {
   std::uniform_real_distribution<> dist(-100.0, 100.0);
 
   std::vector<Eigen::Vector4d> src_points(100);
-  std::ranges::generate(src_points, [&] { return Eigen::Vector4d(dist(mt), dist(mt), dist(mt), 1.0); });
+  std::generate(src_points.begin(), src_points.end(), [&] { return Eigen::Vector4d(dist(mt), dist(mt), dist(mt), 1.0); });
 
   auto points = std::make_shared<PointCloud>(src_points);
   test_points(src_points, *points, mt);

src/test/registration_test.cpp

@@ -80,7 +80,7 @@ public:
       const Eigen::Isometry3d T_shifted_source = T_source_shifted[i].inverse();
 
       shifted[i] = std::make_shared<PointCloud>(source->points);
-      std::ranges::transform(source->points, shifted[i]->points.begin(), [&](const auto& p) -> Eigen::Vector4d { return T_shifted_source * p; });
+      std::transform(source->points.begin(), source->points.end(), shifted[i]->points.begin(), [&](const auto& p) -> Eigen::Vector4d { return T_shifted_source * p; });
       estimate_normals_covariances_omp(*shifted[i]);
     }
 

src/test/sort_omp_test.cpp

@@ -32,10 +32,10 @@ TEST(SortOMP, MergeSortTest) {
   for (int i = 0; i < 100; i++) {
     std::uniform_int_distribution<> data_dist(-100, 100);
     std::vector<int> data(size_dist(mt));
-    std::ranges::generate(data, [&] { return data_dist(mt); });
+    std::generate(data.begin(), data.end(), [&] { return data_dist(mt); });
 
     std::vector<int> sorted = data;
-    std::ranges::sort(sorted);
+    std::sort(sorted.begin(), sorted.end());
 
     std::vector<int> sorted_omp = data;
     merge_sort_omp(sorted_omp.begin(), sorted_omp.end(), std::less<int>(), 4);
@@ -47,10 +47,10 @@ TEST(SortOMP, MergeSortTest) {
   for (int i = 0; i < 100; i++) {
     std::uniform_real_distribution<> data_dist(-100, 100);
     std::vector<double> data(size_dist(mt));
-    std::ranges::generate(data, [&] { return data_dist(mt); });
+    std::generate(data.begin(), data.end(), [&] { return data_dist(mt); });
 
     std::vector<double> sorted = data;
-    std::ranges::sort(sorted);
+    std::sort(sorted.begin(), sorted.end());
 
     std::vector<double> sorted_omp = data;
     merge_sort_omp(sorted_omp.begin(), sorted_omp.end(), std::less<double>(), 4);
@@ -74,10 +74,10 @@ TEST(SortOMP, QuickSortTest) {
   for (int i = 0; i < 100; i++) {
     std::uniform_int_distribution<> data_dist(-100, 100);
     std::vector<int> data(size_dist(mt));
-    std::ranges::generate(data, [&] { return data_dist(mt); });
+    std::generate(data.begin(), data.end(), [&] { return data_dist(mt); });
 
     std::vector<int> sorted = data;
-    std::ranges::sort(sorted);
+    std::sort(sorted.begin(), sorted.end());
 
     std::vector<int> sorted_omp = data;
     quick_sort_omp(sorted_omp.begin(), sorted_omp.end(), std::less<int>(), 4);
@@ -89,10 +89,10 @@ TEST(SortOMP, QuickSortTest) {
   for (int i = 0; i < 100; i++) {
     std::uniform_real_distribution<> data_dist(-100, 100);
     std::vector<double> data(size_dist(mt));
-    std::ranges::generate(data, [&] { return data_dist(mt); });
+    std::generate(data.begin(), data.end(), [&] { return data_dist(mt); });
 
     std::vector<double> sorted = data;
-    std::ranges::sort(sorted);
+    std::sort(sorted.begin(), sorted.end());
 
     std::vector<double> sorted_omp = data;
     quick_sort_omp(sorted_omp.begin(), sorted_omp.end(), std::less<double>(), 4);