Restore hdmapper

CMakeLists.txt

@@ -24,6 +24,7 @@ set_property(CACHE HD_CPU_OPTIMIZATION PROPERTY STRINGS AUTO INTEL AMD ARM GENER
 
 # Options to enable / disable specific components
 option(BUILD_WITH_CLI_TOOLS "Build with command line tools" ON)
+option(BUILD_WITH_HD_MAPPER_APPLICATION "Build with hd_mapper tool" OFF)
 option(UTL_PROFILER_DISABLE "Disable UTL profiler (zero overhead when ON)" ON)
 option(BUILD_WITH_BUNDLED_FREEGLUT "Build with bundled FreeGlut" ON)
 option(BUILD_WITH_BUNDLED_GLEW "Build with bundled GLEW" ON)
@@ -200,17 +201,18 @@ add_subdirectory(${THIRDPARTY_DIRECTORY}/vqf/vqf/cpp)
 add_subdirectory(${THIRDPARTY_DIRECTORY}/Fusion/Fusion)
 
 add_subdirectory(core)
-add_subdirectory(core_hd_mapping)
 
-set(CORE_LIBRARIES core core-hd-mapping)
+set(CORE_LIBRARIES core)
 set(GUI_LIBRARIES imgui imguizmo implot)
 
-#add_subdirectory(apps/hd_mapper)
-
 if(BUILD_WITH_CLI_TOOLS)
     add_subdirectory(apps/console_tools)
 endif()
 
+if(BUILD_WITH_HD_MAPPER_APPLICATION)
+    add_subdirectory(apps/hd_mapper)
+endif()
+
 add_subdirectory(apps/lidar_odometry_step_1)    
 add_subdirectory(apps/manual_color)
 add_subdirectory(apps/multi_session_registration)
@@ -240,7 +242,6 @@ else()
     disable_target_warnings(laszip_api3)
 endif()
 
-
 if(NOT WIN32)
     disable_target_warnings(tbb)
     disable_target_warnings(tbbbind_2_5)

apps/hd_mapper/CMakeLists.txt

@@ -2,13 +2,21 @@ cmake_minimum_required(VERSION 4.0.0)
 
 project(hd_mapper)
 
-add_executable(hd_mapper hd_mapper.cpp)
+add_executable(hd_mapper
+  hd_mapper.cpp
+  laz_wrapper.cpp
+  odo_with_gnss_fusion.cpp
+  project_settings.cpp
+  roi_exporter.cpp
+  single_trajectory_viewer.cpp
+  ${EXTERNAL_LIBRARIES_DIRECTORY}/src/plycpp.cpp)
+
 target_link_libraries(
   hd_mapper
-  PRIVATE
+  PRIVATE spdlog::spdlog
+          OpenGL::GLU
           ${FREEGLUT_LIBRARY}
           ${OPENGL_gl_LIBRARY}
-          OpenGL::GLU
           ${PLATFORM_LASZIP_LIB}
           ${PLATFORM_MISCELLANEOUS_LIBS}
           ${CORE_LIBRARIES}
@@ -17,18 +25,19 @@ target_link_libraries(
 target_include_directories(
   hd_mapper
   PRIVATE include
+          ${EXTERNAL_LIBRARIES_DIRECTORY}/include
           ${REPOSITORY_DIRECTORY}/core/include
-          ${REPOSITORY_DIRECTORY}/core_hd_mapping/include
-          ${THIRDPARTY_DIRECTORY}/glm
           ${EIGEN3_INCLUDE_DIR}
+          ${FREEGLUT_INCLUDE_DIR}
+          ${THIRDPARTY_DIRECTORY}/glm
           ${THIRDPARTY_DIRECTORY}/imgui
           ${THIRDPARTY_DIRECTORY}/imgui/backends
           ${THIRDPARTY_DIRECTORY}/ImGuizmo
           ${THIRDPARTY_DIRECTORY}/glew-cmake/include
-          ${FREEGLUT_INCLUDE_DIR}
           ${THIRDPARTY_DIRECTORY}/json/include
           ${THIRDPARTY_DIRECTORY}/portable-file-dialogs-master
-          ${LASZIP_INCLUDE_DIR}/LASzip/include)
+          ${LASZIP_INCLUDE_DIR}/LASzip/include
+          ${THIRDPARTY_DIRECTORY}/observation_equations/codes)
 
 if(WIN32)
   add_custom_command(

apps/hd_mapper/hd_mapper.cpp

@@ -1,23 +1,24 @@
+// clang-format off
+#include <GL/glew.h>
+#include <GL/freeglut.h>
+// clang-format on
+
 #include <imgui.h>
 #include <imgui_impl_glut.h>
 #include <imgui_impl_opengl2.h>
 #include <imgui_internal.h>
 
 #include <ImGuizmo.h>
 
-// clang-format off
-#include <GL/glew.h>
-#include <GL/freeglut.h>
-// clang-format on
-
 #include <Eigen/Eigen>
 
-#include <laz_wrapper.h>
-#include <odo_with_gnss_fusion.h>
-#include <project_settings.h>
-#include <roi_exporter.h>
-#include <single_trajectory_viewer.h>
-#include <transformations.h>
+#include "laz_wrapper.h"
+#include "odo_with_gnss_fusion.h"
+#include "project_settings.h"
+#include "roi_exporter.h"
+#include "single_trajectory_viewer.h"
+
+#include <Core/transformations.h>
 
 #include <HDMapping/Version.hpp>
 

core_hd_mapping/src/laz_wrapper.cpp → apps/hd_mapper/laz_wrapper.cpp

@@ -1,6 +1,6 @@
 #include <pch/pch.h>
 
-#include <CoreHDMapping/laz_wrapper.h>
+#include "laz_wrapper.h"
 
 #include <GL/freeglut.h>
 #include <laszip/laszip_api.h>

core_hd_mapping/include/CoreHDMapping/laz_wrapper.h → apps/hd_mapper/laz_wrapper.h

@@ -7,7 +7,7 @@
 
 #include <ImGuizmo.h>
 
-#include <CoreHDMapping/project_settings.h>
+#include "project_settings.h"
 
 // TODO(mwlasiuk) : cross includes ???
 #include <Core/structures.h>

core_hd_mapping/src/odo_with_gnss_fusion.cpp → apps/hd_mapper/odo_with_gnss_fusion.cpp

@@ -1,6 +1,6 @@
 #include <pch/pch.h>
 
-#include <CoreHDMapping/odo_with_gnss_fusion.h>
+#include "odo_with_gnss_fusion.h"
 
 #include <GL/freeglut.h>
 #include <portable-file-dialogs.h>

core_hd_mapping/src/project_settings.cpp → apps/hd_mapper/project_settings.cpp

@@ -1,6 +1,6 @@
 #include <pch/pch.h>
 
-#include <CoreHDMapping/project_settings.h>
+#include "project_settings.h"
 
 #include <GL/freeglut.h>
 #include <nlohmann/json.hpp>

core_hd_mapping/include/CoreHDMapping/project_settings.h → apps/hd_mapper/project_settings.h

@@ -7,7 +7,7 @@
 
 #include <ImGuizmo.h>
 
-#include <CoreHDMapping/odo_with_gnss_fusion.h>
+#include "odo_with_gnss_fusion.h"
 
 // TODO(mwlasiuk) : cross includes ???
 #include <Core/structures.h>

core_hd_mapping/src/roi_exporter.cpp → apps/hd_mapper/roi_exporter.cpp

@@ -2,9 +2,9 @@
 
 #include <Core/pfd_wrapper.hpp>
 
-#include <CoreHDMapping/laz_wrapper.h>
-#include <CoreHDMapping/roi_exporter.h>
-#include <CoreHDMapping/single_trajectory_viewer.h>
+#include "laz_wrapper.h"
+#include "roi_exporter.h"
+#include "single_trajectory_viewer.h"
 
 #include <GL/freeglut.h>
 #include <plycpp.h>

core_hd_mapping/include/CoreHDMapping/roi_exporter.h → apps/hd_mapper/roi_exporter.h

@@ -7,7 +7,7 @@
 
 #include <ImGuizmo.h>
 
-#include <CoreHDMapping/project_settings.h>
+#include "project_settings.h"
 
 // TODO(mwlasiuk) : cross includes ???
 #include <Core/structures.h>

core_hd_mapping/src/single_trajectory_viewer.cpp → apps/hd_mapper/single_trajectory_viewer.cpp

@@ -2,7 +2,8 @@
 
 #include <Core/pfd_wrapper.hpp>
 #include <Core/transformations.h>
-#include <CoreHDMapping/single_trajectory_viewer.h>
+
+#include "single_trajectory_viewer.h"
 
 #include <GL/freeglut.h>
 

core_hd_mapping/include/CoreHDMapping/single_trajectory_viewer.h → apps/hd_mapper/single_trajectory_viewer.h

@@ -7,7 +7,7 @@
 
 #include <ImGuizmo.h>
 
-#include <CoreHDMapping/odo_with_gnss_fusion.h>
+#include "odo_with_gnss_fusion.h"
 
 #include <Core/structures.h>