Branch in use for fast_gicp testing in glyd

CMakeLists.txt

@@ -1,7 +1,12 @@
 cmake_minimum_required(VERSION 3.10.0)
-project(fast_gicp)
 
-option(BUILD_VGICP_CUDA "Build GPU-powered VGICP" OFF)
+if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
+set(CMAKE_CUDA_ARCHITECTURES 61)
+endif()
+
+project(fast_gicp LANGUAGES CXX CUDA)
+
+option(BUILD_VGICP_CUDA "Build GPU-powered VGICP" ON)
 option(BUILD_apps "Build application programs" ON)
 option(BUILD_test "Build test programs" OFF)
 option(BUILD_PYTHON_BINDINGS "Build python bindings" OFF)
@@ -12,179 +17,103 @@ find_package(PCL REQUIRED)
 find_package(Eigen3 REQUIRED)
 add_definitions(${PCL_DEFINITIONS})
 
-if(DEFINED ENV{ROS_VERSION})
-  set(ROS_VERSION $ENV{ROS_VERSION})
-endif()
 
-if(NOT BUILD_PYTHON_BINDINGS)
-  if(${ROS_VERSION})
-    if(${ROS_VERSION} EQUAL 1)
-      find_package(catkin)
-    elseif (${ROS_VERSION} EQUAL 2)
-      find_package(ament_cmake)
-    endif()
-  endif()
-endif()
-
-find_package(OpenMP)
-if (OPENMP_FOUND)
-  set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
-  set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-endif()
-
-if(BUILD_VGICP_CUDA)
-  find_package(CUDA REQUIRED)
-  include_directories(${CUDA_INCLUDE_DIRS})
-  link_directories(${CUDA_LIBRARY_DIRS})
-endif()
-
-###################################
-## catkin specific configuration ##
-###################################
-if(catkin_FOUND)
-  catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES fast_gicp
-  )
-endif()
 
 ###########
 ## Build ##
 ###########
 
-add_library(fast_gicp SHARED
-  src/fast_gicp/gicp/lsq_registration.cpp
-  src/fast_gicp/gicp/fast_gicp.cpp
-  src/fast_gicp/gicp/fast_gicp_st.cpp
-  src/fast_gicp/gicp/fast_vgicp.cpp
-)
-target_link_libraries(fast_gicp
-  ${PCL_LIBRARIES}
+glyd_add_library(fast_gicp SHARED
+    SOURCES
+        src/fast_gicp/gicp/lsq_registration.cpp
+        src/fast_gicp/gicp/fast_gicp.cpp
+        src/fast_gicp/gicp/fast_gicp_st.cpp
+        src/fast_gicp/gicp/fast_vgicp.cpp
+        src/fast_gicp/gicp/fast_vgicp_cuda.cpp
+        src/fast_gicp/ndt/ndt_cuda.cpp
+    LIBRARIES
+        pcl::pcl_common
+        pcl::pcl_features
+        pcl::pcl_filters
+        pcl::pcl_io
+        pcl::pcl_kdtree
+        pcl::pcl_octree
+        pcl::pcl_registration
+        pcl::pcl_sample_consensus
+        pcl::pcl_search
+        fast_vgicp_cuda
+    COMPILE_OPTIONS
+        ${OpenMP_CXX_FLAGS}
 )
-if (OPENMP_FOUND)
-    if (TARGET OpenMP::OpenMP_CXX)
-        target_link_libraries(fast_gicp OpenMP::OpenMP_CXX)
-    endif ()
-endif ()
+
 target_include_directories(fast_gicp PUBLIC
   include
-  ${PCL_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIR}
 )
 
-### APPS ###
-if(BUILD_apps)
-  add_executable(gicp_align src/align.cpp)
-  add_dependencies(gicp_align fast_gicp)
-  target_link_libraries(gicp_align
-    ${PCL_LIBRARIES}
-    fast_gicp
-  )
-
-  add_executable(gicp_kitti src/kitti.cpp)
-  add_dependencies(gicp_kitti fast_gicp)
-  target_link_libraries(gicp_kitti
-    ${PCL_LIBRARIES}
-    fast_gicp
-  )
-endif()
-
-### Python bindings ###
-if(BUILD_PYTHON_BINDINGS)
-  add_subdirectory(thirdparty/pybind11)
-  pybind11_add_module(pygicp
-    src/python/main.cpp
-  )
-  target_include_directories(pygicp PUBLIC
-    include
-    ${PCL_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIR}
-  )
-  target_link_libraries(pygicp PRIVATE
-    fast_gicp
-  )
-endif()
-
 ### CUDA ###
 if(BUILD_VGICP_CUDA)
-  set(CUDA_NVCC_FLAGS "--expt-relaxed-constexpr")
-  add_definitions(-DUSE_VGICP_CUDA)
-
-  cuda_add_library(fast_vgicp_cuda SHARED
-    src/fast_gicp/cuda/fast_vgicp_cuda.cu
-    src/fast_gicp/cuda/brute_force_knn.cu
-    src/fast_gicp/cuda/covariance_estimation.cu
-    src/fast_gicp/cuda/covariance_estimation_rbf.cu
-    src/fast_gicp/cuda/covariance_regularization.cu
-    src/fast_gicp/cuda/gaussian_voxelmap.cu
-    src/fast_gicp/cuda/find_voxel_correspondences.cu
-    src/fast_gicp/cuda/compute_derivatives.cu
-    src/fast_gicp/cuda/compute_mahalanobis.cu
-    src/fast_gicp/cuda/ndt_cuda.cu
-    src/fast_gicp/cuda/ndt_compute_derivatives.cu
-  )
-  target_include_directories(fast_vgicp_cuda PRIVATE
-    include
-    thirdparty/Eigen
-    thirdparty/nvbio
-    ${catkin_INCLUDE_DIRS}
-  )
-  target_link_libraries(fast_vgicp_cuda
-    ${catkin_LIBRARIES}
-  )
-  cuda_add_cublas_to_target(fast_vgicp_cuda)
-
-  # add vgicp_cuda to libfast_gicp
-  target_sources(fast_gicp PRIVATE
-    src/fast_gicp/gicp/fast_vgicp_cuda.cpp
-    src/fast_gicp/ndt/ndt_cuda.cpp
-  )
-  target_link_libraries(fast_gicp
-    fast_vgicp_cuda
-  )
-  add_dependencies(fast_gicp fast_vgicp_cuda)
-  if(catkin_FOUND)
-    install(TARGETS fast_vgicp_cuda
-      LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
-  elseif (ament_cmake_FOUND)
-    install(TARGETS fast_vgicp_cuda
-      LIBRARY DESTINATION lib)
-  endif()
-endif()
-
-### TEST ###
-if(BUILD_test)
-  find_package(GTest REQUIRED)
+    set(CUDA_NVCC_FLAGS "--expt-relaxed-constexpr")
+    add_definitions(-DUSE_VGICP_CUDA)
+    glyd_add_library(fast_vgicp_cuda SHARED
+        SOURCES
+            src/fast_gicp/cuda/fast_vgicp_cuda.cu
+            src/fast_gicp/cuda/brute_force_knn.cu
+            src/fast_gicp/cuda/covariance_estimation.cu
+            src/fast_gicp/cuda/covariance_estimation_rbf.cu
+            src/fast_gicp/cuda/covariance_regularization.cu
+            src/fast_gicp/cuda/gaussian_voxelmap.cu
+            src/fast_gicp/cuda/find_voxel_correspondences.cu
+            src/fast_gicp/cuda/compute_derivatives.cu
+            src/fast_gicp/cuda/compute_mahalanobis.cu
+            src/fast_gicp/cuda/ndt_cuda.cu
+            src/fast_gicp/cuda/ndt_compute_derivatives.cu
+        LIBRARIES
+            pcl::pcl_common
+            pcl::pcl_features
+            pcl::pcl_filters
+            pcl::pcl_io
+            pcl::pcl_kdtree
+            pcl::pcl_octree
+            pcl::pcl_registration
+            pcl::pcl_sample_consensus
+            pcl::pcl_search
+            Eigen3::Eigen
+            CUDA::cublas
+            CUDA::curand
+    )
+    set_property(
+        TARGET
+	          fast_vgicp_cuda
+	      PROPERTY
+            CUDA_STANDARD
+            14
+    )
+    set_target_properties(fast_vgicp_cuda PROPERTIES CUDA_ARCHITECTURES "61;72;86")
 
-  add_executable(gicp_test src/test/gicp_test.cpp)
-  add_dependencies(gicp_test fast_gicp)
-  target_link_libraries(gicp_test ${GTEST_LIBRARIES} ${PCL_LIBRARIES} fast_gicp)
-  gtest_add_tests(TARGET gicp_test WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} EXTRA_ARGS "${CMAKE_SOURCE_DIR}/data")
+    target_include_directories(fast_vgicp_cuda PRIVATE
+        include
+        thirdparty/nvbio
+        ${OpenMP_CXX_FLAGS}
+    )
 endif()
 
-if(catkin_FOUND)
-  ###################################
-  ## catkin specific configuration ##
-  ###################################
-  install(TARGETS ${PROJECT_NAME}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
-
-  install(DIRECTORY include/
-    DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
-    FILES_MATCHING PATTERN "*.hpp")
-elseif (ament_cmake_FOUND)
-  ##################################
-  ## ament specific configuration ##
-  ##################################
-  ament_export_include_directories(include)
-  ament_export_libraries(fast_gicp)
-  ament_package()
-
-  install(TARGETS ${PROJECT_NAME}
-    LIBRARY DESTINATION lib)
-
-  install(
-      DIRECTORY "include/"
-      DESTINATION include
+### APPS ###
+if(BUILD_apps)
+    glyd_add_executable(
+        gicp_align
+        SOURCES
+            src/align.cpp
+        LIBRARIES
+            fast_gicp
+            pcl::pcl_common
+            pcl::pcl_features
+            pcl::pcl_filters
+            pcl::pcl_io
+            pcl::pcl_kdtree
+            pcl::pcl_octree
+            pcl::pcl_registration
+            pcl::pcl_sample_consensus
+	      COMPILE_OPTIONS
+            ${OpenMP_CXX_FLAGS}
     )
 endif()

include/fast_gicp/gicp/impl/lsq_registration_impl.hpp

@@ -167,4 +167,4 @@ bool LsqRegistration<PointTarget, PointSource>::step_lm(Eigen::Isometry3d& x0, E
   return false;
 }
 
-}  // namespace fast_gicp
+}  // namespace fast_gicp

include/fast_gicp/gicp/lsq_registration.hpp

@@ -52,6 +52,8 @@ class LsqRegistration : public pcl::Registration<PointSource, PointTarget, float
   void setInitialLambdaFactor(double init_lambda_factor);
   void setDebugPrint(bool lm_debug_print);
 
+  int getFinalNumIterations() { return nr_iterations_; }
+
   const Eigen::Matrix<double, 6, 6>& getFinalHessian() const;
 
   double evaluateCost(const Eigen::Matrix4f& relative_pose, Eigen::Matrix<double, 6, 6>* H = nullptr, Eigen::Matrix<double, 6, 1>* b = nullptr);
@@ -85,4 +87,4 @@ class LsqRegistration : public pcl::Registration<PointSource, PointTarget, float
 };
 }  // namespace fast_gicp
 
-#endif
+#endif

include/fast_gicp/ndt/impl/ndt_cuda_impl.hpp

@@ -91,4 +91,4 @@ double NDTCuda<PointSource, PointTarget>::compute_error(const Eigen::Isometry3d&
 
 }  // namespace fast_gicp
 
-#endif
+#endif

include/fast_gicp/ndt/ndt_cuda.hpp

@@ -71,4 +71,4 @@ class NDTCuda : public LsqRegistration<PointSource, PointTarget> {
 };
 }  // namespace fast_gicp
 
-#endif
+#endif