cmake options

CMakeLists.txt

@@ -5,11 +5,22 @@ set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
-  set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Choose the type of build." FORCE)
+  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build." FORCE)
   set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
 endif()
 
+# Eigen is the sole mandatory dependency
+find_package(Eigen3 REQUIRED)
+find_package(OpenMP)
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+
 option(BUILD_TESTS "Build test" OFF)
+option(BUILD_BENCHMARKS "Build benchmarks" OFF)
+option(BUILD_WITH_TBB "Build with TBB" ON)
+option(BUILD_WITH_PCL "Build with PCL (required for benchmark and test only)" OFF)
+option(BUILD_WITH_FAST_GICP "Build with fast_gicp (required for benchmark and test only)" OFF)
+option(BUILD_WITH_IRIDESCENCE "Build with Iridescence (required for benchmark)" OFF)
 option(BUILD_WITH_MARCH_NATIVE "Build with -march=native" OFF)
 
 if(BUILD_WITH_MARCH_NATIVE)
@@ -18,106 +29,101 @@ if(BUILD_WITH_MARCH_NATIVE)
   set(CMAKE_CXX_FLAGS "-march=native ${CMAKE_CXX_FLAGS}")
 endif()
 
-find_package(fmt REQUIRED)
-find_package(PCL REQUIRED)
-find_package(TBB REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(Iridescence REQUIRED)
-
-set(FAST_GICP_INCLUDE_DIR /home/koide/workspace/fast_gicp/include)
-
-find_package(OpenMP)
-if (OPENMP_FOUND)
-  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-endif()
-
 ###########
 ## Build ##
 ###########
 
-# add_executable(small_gicp_test
-#   src/small_gicp_test.cpp
-# )
-# target_include_directories(small_gicp_test PUBLIC
-#   include
-#   ${PCL_INCLUDE_DIRS}
-#   ${TBB_INCLUDE_DIRS}
-#   ${EIGEN3_INCLUDE_DIR}
-#   ${Iridescence_INCLUDE_DIRS}
-# )
-# target_link_libraries(small_gicp_test
-#   ${PCL_LIBRARIES}
-#   ${TBB_LIBRARIES}
-#   ${Iridescence_LIBRARIES}
-# )
-
+# Helper library
 add_library(small_gicp SHARED
   src/small_gicp/registration/registration.cpp
   src/small_gicp/registration/registration_helper.cpp
 )
 target_include_directories(small_gicp PUBLIC
   include
-  ${PCL_INCLUDE_DIRS}
-  ${TBB_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
 )
-target_link_libraries(small_gicp
-  ${PCL_LIBRARIES}
-  ${TBB_LIBRARIES}
-)
+install(DIRECTORY include/ DESTINATION include)
+install(TARGETS small_gicp DESTINATION lib)
 
+###############
+## Benchmark ##
+###############
+if(BUILD_BENCHMARKS)
+  find_package(fmt REQUIRED)
+  if (BUILD_WITH_TBB)
+    find_package(TBB REQUIRED)
+    add_compile_definitions(BUILD_WITH_TBB)
+  endif()
+  if (BUILD_WITH_PCL)
+    find_package(PCL REQUIRED)
+    add_compile_definitions(BUILD_WITH_PCL)
+  endif()
+  if (BUILD_WITH_IRIDESCENCE)
+    find_package(Iridescence REQUIRED)
+    add_compile_definitions(BUILD_WITH_IRIDESCENCE)
+  endif()
+  if (BUILD_WITH_FAST_GICP)
+    set(FAST_GICP_INCLUDE_DIR /home/koide/workspace/fast_gicp/include)
+    add_compile_definitions(BUILD_WITH_FAST_GICP)
+  endif()
 
-add_executable(odometry_benchmark
-  src/small_gicp/util/benchmark_odom.cpp
-  src/odometry_benchmark_pcl.cpp
-  src/odometry_benchmark_fast_gicp.cpp
-  src/odometry_benchmark_fast_vgicp.cpp
-  src/odometry_benchmark_small_gicp.cpp
-  src/odometry_benchmark_small_gicp_omp.cpp
-  src/odometry_benchmark_small_vgicp_omp.cpp
-  src/odometry_benchmark_small_gicp_tbb.cpp
-  src/odometry_benchmark_small_vgicp_tbb.cpp
-  src/odometry_benchmark_small_vgicp_model_tbb.cpp
-  src/odometry_benchmark_small_gicp_tbb_flow.cpp
-  src/odometry_benchmark.cpp
-)
-target_include_directories(odometry_benchmark PUBLIC
-  include
-  ${PCL_INCLUDE_DIRS}
-  ${TBB_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
-  ${Iridescence_INCLUDE_DIRS}
-  ${FAST_GICP_INCLUDE_DIR}
-)
-target_link_libraries(odometry_benchmark
-  fmt::fmt
-  ${PCL_LIBRARIES}
-  ${TBB_LIBRARIES}
-  ${Iridescence_LIBRARIES}
-)
+  # Odometry benchmark
+  add_executable(odometry_benchmark
+    src/small_gicp/util/benchmark_odom.cpp
+    src/odometry_benchmark_pcl.cpp
+    src/odometry_benchmark_fast_gicp.cpp
+    src/odometry_benchmark_fast_vgicp.cpp
+    src/odometry_benchmark_small_gicp.cpp
+    src/odometry_benchmark_small_gicp_omp.cpp
+    src/odometry_benchmark_small_vgicp_omp.cpp
+    src/odometry_benchmark_small_gicp_tbb.cpp
+    src/odometry_benchmark_small_vgicp_tbb.cpp
+    src/odometry_benchmark_small_vgicp_model_tbb.cpp
+    src/odometry_benchmark_small_gicp_tbb_flow.cpp
+    src/odometry_benchmark.cpp
+  )
+  target_include_directories(odometry_benchmark PUBLIC
+    include
+    ${PCL_INCLUDE_DIRS}
+    ${TBB_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIR}
+    ${Iridescence_INCLUDE_DIRS}
+    ${FAST_GICP_INCLUDE_DIR}
+  )
+  target_link_libraries(odometry_benchmark
+    fmt::fmt
+    ${PCL_LIBRARIES}
+    ${TBB_LIBRARIES}
+    ${Iridescence_LIBRARIES}
+  )
 
-add_executable(downsampling_benchmark
-  src/downsampling_benchmark.cpp
-)
-target_include_directories(downsampling_benchmark PUBLIC
-  include
-  ${PCL_INCLUDE_DIRS}
-  ${TBB_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
-)
-target_link_libraries(downsampling_benchmark
-  fmt::fmt
-  ${PCL_LIBRARIES}
-  ${TBB_LIBRARIES}
-)
+  if(BUILD_WITH_PCL)
+    # Downsampling benchmark
+    add_executable(downsampling_benchmark
+      src/downsampling_benchmark.cpp
+    )
+    target_include_directories(downsampling_benchmark PUBLIC
+      include
+      ${PCL_INCLUDE_DIRS}
+      ${TBB_INCLUDE_DIRS}
+      ${EIGEN3_INCLUDE_DIR}
+    )
+    target_link_libraries(downsampling_benchmark
+      fmt::fmt
+      ${PCL_LIBRARIES}
+      ${TBB_LIBRARIES}
+    )
+  endif()
+endif()
 
 
 ##########
 ## Test ##
 ##########
-option(BUILD_TESTS "Build test" ON)
 if(BUILD_TESTS)
+  find_package(PCL REQUIRED)
+  find_package(TBB REQUIRED)
+
   include(FetchContent)
   FetchContent_Declare(googletest URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip)
   FetchContent_MakeAvailable(googletest)

include/small_gicp/ann/nanoflann_omp.hpp

@@ -52,6 +52,7 @@
 #define NANOFLANN_OMP_HPP_
 
 #include <atomic>
+#include <iostream>
 #include <small_gicp/ann/nanoflann.hpp>
 
 namespace nanoflann {

include/small_gicp/benchmark/benchmark_odom.hpp

@@ -8,7 +8,9 @@
 #include <small_gicp/util/downsampling.hpp>
 #include <small_gicp/benchmark/benchmark.hpp>
 
+#ifdef BUILD_WITH_IRIDESCENCE
 #include <guik/viewer/async_light_viewer.hpp>
+#endif
 
 namespace small_gicp {
 
@@ -56,6 +58,7 @@ public:
       const Eigen::Isometry3d T = estimate(downsampled);
       traj.emplace_back(T);
 
+#ifdef BUILD_WITH_IRIDESCENCE
       if (params.visualize) {
         auto async_viewer = guik::async_viewer();
         z_range[0] = std::min<double>(z_range[0], T.translation().z() - 5.0f);
@@ -65,6 +68,7 @@ public:
         async_viewer->update_points(guik::anon(), voxelgrid_sampling(*downsampled, 1.0)->points, guik::Rainbow(T));
         async_viewer->lookat(T.translation().cast<float>());
       }
+#endif
 
       points[i].reset();
 

include/small_gicp/registration/reduction_omp.hpp

@@ -4,6 +4,12 @@
 
 namespace small_gicp {
 
+#ifdef _OPENMP
+inline int omp_get_thread_num() {
+  return 0;
+}
+#endif
+
 /// @brief Parallel reduction with OpenMP backend
 struct ParallelReductionOMP {
   ParallelReductionOMP() : num_threads(8) {}

src/downsampling_benchmark.cpp

@@ -7,7 +7,9 @@
 
 #include <small_gicp/util/downsampling.hpp>
 #include <small_gicp/util/downsampling_omp.hpp>
+#ifdef BUILD_WITH_TBB
 #include <small_gicp/util/downsampling_tbb.hpp>
+#endif
 #include <small_gicp/points/point_cloud.hpp>
 #include <small_gicp/points/pcl_point.hpp>
 #include <small_gicp/points/pcl_point_traits.hpp>
@@ -75,7 +77,9 @@ int main(int argc, char** argv) {
   std::cout << "max_num_frames=" << max_num_frames << std::endl;
   std::cout << "num_threads=" << num_threads << std::endl;
 
+#ifdef BUILD_WITH_TBB
   tbb::global_control control(tbb::global_control::max_allowed_parallelism, num_threads);
+#endif
 
   KittiDataset kitti(dataset_path, max_num_frames);
   std::cout << "num_frames=" << kitti.points.size() << std::endl;
@@ -91,8 +95,10 @@ int main(int argc, char** argv) {
   benchmark(points_pcl, 0.5, [](const auto& points, double leaf_size) { return downsample_pcl<pcl::ApproximateVoxelGrid<pcl::PointXYZ>>(points, leaf_size); });
   std::cout << fmt::format("{:25}: ", "small_voxelgrid") << std::flush;
   benchmark(points_pcl, 0.5, [](const auto& points, double leaf_size) { return voxelgrid_sampling(*points, leaf_size); });
+#ifdef BUILD_WITH_TBB
   std::cout << fmt::format("{:25}: ", "small_voxelgrid_tbb") << std::flush;
   benchmark(points_pcl, 0.5, [](const auto& points, double leaf_size) { return voxelgrid_sampling_tbb(*points, leaf_size); });
+#endif
   std::cout << fmt::format("{:25}: ", "small_voxelgrid_omp") << std::flush;
   benchmark(points_pcl, 0.5, [=](const auto& points, double leaf_size) { return voxelgrid_sampling_omp(*points, leaf_size, num_threads); });
 
@@ -105,8 +111,10 @@ int main(int argc, char** argv) {
     benchmark(points_pcl, leaf_size, [](const auto& points, double leaf_size) { return downsample_pcl<pcl::ApproximateVoxelGrid<pcl::PointXYZ>>(points, leaf_size); });
     std::cout << fmt::format("{:25}: ", "small_voxelgrid") << std::flush;
     benchmark(points_pcl, leaf_size, [](const auto& points, double leaf_size) { return voxelgrid_sampling(*points, leaf_size); });
+#ifdef BUILD_WITH_TBB
     std::cout << fmt::format("{:25}: ", "small_voxelgrid_tbb") << std::flush;
     benchmark(points_pcl, leaf_size, [](const auto& points, double leaf_size) { return voxelgrid_sampling_tbb(*points, leaf_size); });
+#endif
     std::cout << fmt::format("{:25}: ", "small_voxelgrid_omp") << std::flush;
     benchmark(points_pcl, leaf_size, [=](const auto& points, double leaf_size) { return voxelgrid_sampling_omp(*points, leaf_size, num_threads); });
   }

src/odometry_benchmark.cpp

@@ -3,10 +3,6 @@
 #include <small_gicp/benchmark/benchmark.hpp>
 #include <small_gicp/benchmark/benchmark_odom.hpp>
 
-#include <small_gicp/ann/kdtree.hpp>
-#include <small_gicp/ann/kdtree_omp.hpp>
-#include <small_gicp/ann/kdtree_tbb.hpp>
-
 int main(int argc, char** argv) {
   using namespace small_gicp;
 

src/odometry_benchmark_fast_gicp.cpp

@@ -1,3 +1,5 @@
+#ifdef BUILD_WITH_FAST_GICP
+
 #include <small_gicp/benchmark/benchmark_odom.hpp>
 
 #include <pcl/point_types.h>
@@ -59,4 +61,6 @@ private:
 
 static auto fast_gicp_registry = register_odometry("fast_gicp", [](const OdometryEstimationParams& params) { return std::make_shared<FastGICPOdometryEstimation>(params); });
 
-}  // namespace small_gicp
+}  // namespace small_gicp
+
+#endif

src/odometry_benchmark_fast_vgicp.cpp

@@ -1,3 +1,5 @@
+#ifdef BUILD_WITH_FAST_GICP
+
 #include <small_gicp/benchmark/benchmark_odom.hpp>
 
 #include <pcl/point_types.h>
@@ -62,4 +64,6 @@ private:
 
 static auto fast_vgicp_registry = register_odometry("fast_vgicp", [](const OdometryEstimationParams& params) { return std::make_shared<FastVGICPOdometryEstimation>(params); });
 
-}  // namespace small_gicp
+}  // namespace small_gicp
+
+#endif

src/odometry_benchmark_pcl.cpp

@@ -1,3 +1,5 @@
+#ifdef BUILD_WITH_PCL
+
 #include <small_gicp/benchmark/benchmark_odom.hpp>
 
 #include <pcl/point_types.h>
@@ -56,4 +58,6 @@ private:
 
 static auto pcl_odom_registry = register_odometry("pcl", [](const OdometryEstimationParams& params) { return std::make_shared<PCLOnlineOdometryEstimation>(params); });
 
-}
+}  // namespace small_gicp
+
+#endif

src/odometry_benchmark_small_gicp.cpp

@@ -54,7 +54,7 @@ private:
   Eigen::Isometry3d T;
 };
 
-static auto small_gicp_tbb_registry =
+static auto small_gicp_registry =
   register_odometry("small_gicp", [](const OdometryEstimationParams& params) { return std::make_shared<SmallGICPOnlineOdometryEstimation>(params); });
 
 }  // namespace small_gicp

src/odometry_benchmark_small_gicp_omp.cpp

@@ -58,4 +58,4 @@ private:
 static auto small_gicp_omp_registry =
   register_odometry("small_gicp_omp", [](const OdometryEstimationParams& params) { return std::make_shared<SmallGICPOnlineOdometryEstimationOMP>(params); });
 
-}  // namespace small_gicp
+}  // namespace small_gicp

src/odometry_benchmark_small_gicp_tbb.cpp

@@ -1,3 +1,5 @@
+#ifdef BUILD_WITH_TBB
+
 #include <small_gicp/benchmark/benchmark_odom.hpp>
 
 #include <tbb/tbb.h>
@@ -63,4 +65,6 @@ private:
 static auto small_gicp_tbb_registry =
   register_odometry("small_gicp_tbb", [](const OdometryEstimationParams& params) { return std::make_shared<SmallGICPOnlineOdometryEstimationTBB>(params); });
 
-}  // namespace small_gicp
+}  // namespace small_gicp
+
+#endif

src/odometry_benchmark_small_gicp_tbb_flow.cpp

@@ -1,3 +1,5 @@
+#ifdef BUILD_WITH_TBB
+
 #include <small_gicp/benchmark/benchmark_odom.hpp>
 
 #include <tbb/tbb.h>
@@ -30,7 +32,11 @@ public:
     control(tbb::global_control::max_allowed_parallelism, params.num_threads),
     throughput(0.0) {}
 
-  ~SmallGICPFlowEstimationTBB() { guik::async_destroy(); }
+  ~SmallGICPFlowEstimationTBB() {
+#ifdef BUILD_WITH_IRIDESCENCE
+    guik::async_destroy();
+#endif
+  }
 
   std::vector<Eigen::Isometry3d> estimate(std::vector<PointCloud::Ptr>& points) override {
     std::vector<Eigen::Isometry3d> traj;
@@ -84,6 +90,7 @@ public:
         report();
       }
 
+#ifdef BUILD_WITH_IRIDESCENCE
       if (params.visualize) {
         static Eigen::Vector2f z_range(0.0f, 0.0f);
         z_range[0] = std::min<double>(z_range[0], T.translation().z() - 5.0f);
@@ -94,6 +101,7 @@ public:
         async_viewer->update_points(guik::anon(), input->points->points, guik::Rainbow(T));
         async_viewer->update_points("points", input->points->points, guik::FlatOrange(T).set_point_scale(2.0f));
       }
+#endif
     });
 
     tbb::flow::make_edge(input_node, preprocess_node);
@@ -135,4 +143,6 @@ private:
 static auto small_gicp_tbb_flow_registry =
   register_odometry("small_gicp_tbb_flow", [](const OdometryEstimationParams& params) { return std::make_shared<SmallGICPFlowEstimationTBB>(params); });
 
-}  // namespace small_gicp
+}  // namespace small_gicp
+
+#endif

src/odometry_benchmark_small_vgicp_model_tbb.cpp

@@ -1,3 +1,5 @@
+#ifdef BUILD_WITH_TBB
+
 #include <small_gicp/benchmark/benchmark_odom.hpp>
 
 #include <tbb/tbb.h>
@@ -57,4 +59,6 @@ private:
 static auto small_gicp_model_tbb_registry =
   register_odometry("small_vgicp_model_tbb", [](const OdometryEstimationParams& params) { return std::make_shared<SmallVGICPModelOnlineOdometryEstimationTBB>(params); });
 
-}  // namespace small_gicp
+}  // namespace small_gicp
+
+#endif

src/odometry_benchmark_small_vgicp_omp.cpp

@@ -62,4 +62,4 @@ private:
 static auto small_vgicp_omp_registry =
   register_odometry("small_vgicp_omp", [](const OdometryEstimationParams& params) { return std::make_shared<SmallVGICPOnlineOdometryEstimationOMP>(params); });
 
-}  // namespace small_gicp
+}  // namespace small_gicp

src/odometry_benchmark_small_vgicp_tbb.cpp

@@ -1,3 +1,5 @@
+#ifdef BUILD_WITH_TBB
+
 #include <small_gicp/benchmark/benchmark_odom.hpp>
 
 #include <tbb/tbb.h>
@@ -66,4 +68,6 @@ private:
 static auto small_gicp_tbb_registry =
   register_odometry("small_vgicp_tbb", [](const OdometryEstimationParams& params) { return std::make_shared<SmallVGICPOnlineOdometryEstimationTBB>(params); });
 
-}  // namespace small_gicp
+}  // namespace small_gicp
+
+#endif

src/small_gicp/registration/registration_helper.cpp

@@ -1,7 +1,7 @@
 #include <small_gicp/registration/registration_helper.hpp>
 
 #include <small_gicp/ann/kdtree.hpp>
-#include <small_gicp/ann/kdtree_tbb.hpp>
+#include <small_gicp/ann/kdtree_omp.hpp>
 #include <small_gicp/ann/gaussian_voxelmap.hpp>
 #include <small_gicp/util/downsampling.hpp>
 #include <small_gicp/util/downsampling_omp.hpp>

src/test/registration_test.cpp

@@ -1,4 +1,3 @@
-#include <fmt/format.h>
 #include <gtest/gtest.h>
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
@@ -180,7 +179,11 @@ INSTANTIATE_TEST_SUITE_P(
   RegistrationTest,
   RegistrationTest,
   testing::Combine(testing::Values("ICP", "PLANE_ICP", "GICP", "VGICP"), testing::Values("SERIAL", "TBB", "OMP")),
-  [](const auto& info) { return fmt::format("{}_{}", std::get<0>(info.param), std::get<1>(info.param)); });
+  [](const auto& info) {
+    std::stringstream sst;
+    sst << std::get<0>(info.param) << "_" << std::get<1>(info.param);
+    return sst.str();
+  });
 
 TEST_P(RegistrationTest, EmptyTest) {
   const std::string factor = std::get<0>(GetParam());