small_gicp: update

recipes/small_gicp/all/conandata.yml

@@ -1,4 +1,4 @@
 sources:
-  "cci.20240421":
-    url: "https://github.com/koide3/small_gicp/archive/b6b57e03269ca3adb020b23cdf1bc44b40fb968a.zip"
-    sha256: "f27a3f1e36ff6f3d1151dc4400efbb26190f3010be9850699a85c9ffb5adb81b"
+  "cci.20240508":
+    url: "https://github.com/koide3/small_gicp/archive/eec9c4af60635b069c4d58433a8197b118ca0756.zip"
+    sha256: "160c18e52921eaacae08e9aa06d618b268ec593a227e75da8836097dcfa43ab2"

recipes/small_gicp/all/conanfile.py

@@ -14,7 +14,7 @@
 class IridescenceConan(ConanFile):
     name = "small_gicp"
     description = "Efficient and parallelized algorithms for point cloud registration"
-    license = "MIT AND BSD" # BSD is from nanoflann
+    license = "MIT AND BSD" # BSD is from nanoflann and Sophus
     url = "https://github.com/conan-io/conan-center-index"
     homepage = "https://github.com/koide3/small_gicp"
     topics = ("point-cloud", "icp", "registration", "scan-matching", "pcl")
@@ -64,8 +64,6 @@ def requirements(self):
         self.requires("llvm-openmp/17.0.6", transitive_headers=True, transitive_libs=True)
         if self.options.with_tbb:
             self.requires("onetbb/2021.12.0", transitive_headers=True, transitive_libs=True)
-        # The project vendors nanoflann, but it has been heavily extended and should be kept intact
-        # Also uses some fragments from Sophus
 
     def validate(self):
         if self.settings.compiler.cppstd:
@@ -106,6 +104,7 @@ def build(self):
 
     def package(self):
         copy(self, "LICENSE", self.source_folder, os.path.join(self.package_folder, "licenses"))
+        # The source code contains fragments from nanoflann and Sophus
         copy(self, "LICENSE.nanoflann", self.source_folder, os.path.join(self.package_folder, "licenses"))
         copy(self, "LICENSE.sophus", self.source_folder, os.path.join(self.package_folder, "licenses"))
         cmake = CMake(self)

recipes/small_gicp/all/test_package/test_package.cpp

@@ -1,67 +1,24 @@
-// https://github.com/koide3/small_gicp/blob/ff8269ec09c9ddccff8358a4b7cc5e4c5fda134f/src/example/03_registration_template.cpp
-// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide
-// SPDX-License-Identifier: MIT
-
-/// @brief Basic point cloud registration example with small_gicp::align()
-#include <iostream>
-#include <small_gicp/benchmark/read_points.hpp>
-#include <small_gicp/registration/registration_helper.hpp>
-
+#include <small_gicp/points/point_cloud.hpp>
 #include <small_gicp/ann/kdtree_omp.hpp>
 #ifdef WITH_TBB
 #include <small_gicp/ann/kdtree_tbb.hpp>
 #endif
 
 using namespace small_gicp;
 
-/// @brief Most basic registration example.
-void example1(const std::vector<Eigen::Vector4f>& target_points, const std::vector<Eigen::Vector4f>& source_points) {
-  RegistrationSetting setting;
-  setting.num_threads = 4;                    // Number of threads to be used
-  setting.downsampling_resolution = 0.25;     // Downsampling resolution
-  setting.max_correspondence_distance = 1.0;  // Maximum correspondence distance between points (e.g., trimming threshold)
-
-  Eigen::Isometry3d init_T_target_source = Eigen::Isometry3d::Identity();
-  RegistrationResult result = align(target_points, source_points, init_T_target_source, setting);
-
-  std::cout << "--- T_target_source ---" << std::endl << result.T_target_source.matrix() << std::endl;
-  std::cout << "converged:" << result.converged << std::endl;
-  std::cout << "error:" << result.error << std::endl;
-  std::cout << "iterations:" << result.iterations << std::endl;
-  std::cout << "num_inliers:" << result.num_inliers << std::endl;
-  std::cout << "--- H ---" << std::endl << result.H << std::endl;
-  std::cout << "--- b ---" << std::endl << result.b.transpose() << std::endl;
-}
-
-int main(int argc, char** argv) {
+int main() {
   std::vector<Eigen::Vector4f> target_points = {
     {1.0f, 2.0f, 3.0f, 1.0f},
     {4.0f, 5.0f, 6.0f, 1.0f},
     {7.0f, 8.0f, 9.0f, 1.0f},
-    {10.0f, 11.0f, 12.0f, 1.0f},
-    {13.0f, 14.0f, 15.0f, 1.0f},
-    {16.0f, 17.0f, 18.0f, 1.0f},
-    {19.0f, 20.0f, 21.0f, 1.0f},
-    {22.0f, 23.0f, 24.0f, 1.0f}
-  };
-  std::vector<Eigen::Vector4f> source_points = {
-    {1.1f, 2.1f, 3.2f, 1.0f},
-    {4.2f, 4.9f, 6.1f, 1.0f},
-    {6.9f, 8.2f, 9.1f, 1.0f},
-    {10.2f, 10.8f, 12.2f, 1.0f},
-    {13.1f, 14.0f, 15.2f, 1.0f},
-    {15.9f, 17.2f, 18.1f, 1.0f},
-    {19.2f, 20.1f, 21.2f, 1.0f},
-    {22.1f, 23.1f, 24.2f, 1.0f}
   };
+  auto target = std::make_shared<PointCloud>(target_points);
 
-  example1(target_points, source_points);
+  const int num_threads = 1;
+  std::make_shared<KdTree<PointCloud>>(target, KdTreeBuilderOMP(num_threads));
 
-  // test that these compile and link
-  KdTreeOMP<PointCloud>::Ptr kdtree_omp;
 #ifdef WITH_TBB
-  KdTreeTBB<PointCloud>::Ptr kdtree_tbb;
+  std::make_shared<KdTree<PointCloud>>(target, KdTreeBuilderTBB());
 #endif
 
-  return 0;
 }

recipes/small_gicp/config.yml

@@ -1,3 +1,3 @@
 versions:
-  "cci.20240421":
+  "cci.20240508":
     folder: all