Initial commit of TEASER++

cmake/options.cmake

@@ -84,6 +84,11 @@ option(BUILD_PLUGIN_FBX
 add_feature_info("FBX plugin" BUILD_PLUGIN_FBX
     "add features that depend on FBX")
 
+option(BUILD_PLUGIN_TEASER
+    "Choose if TEASER++ support should be built" FALSE)
+add_feature_info("TEASER++ plugin" BUILD_PLUGIN_TEASER
+    "TEASER++ computes transformations between point sets")
+
 option(BUILD_PLUGIN_TILEDB
     "Choose if TileDB support should be built" FALSE)
 add_feature_info("TileDB plugin" BUILD_PLUGIN_TILEDB

cmake/unix_compiler_options.cmake

@@ -1,5 +1,5 @@
 function(pdal_target_compile_settings target)
-    set_property(TARGET ${target} PROPERTY CXX_STANDARD 11)
+    set_property(TARGET ${target} PROPERTY CXX_STANDARD 17)
     set_property(TARGET ${target} PROPERTY CXX_STANDARD_REQUIRED TRUE)
     if (${CMAKE_CXX_COMPILER_ID} MATCHES "GNU")
         #

doc/stages/filters.teaser.rst

@@ -0,0 +1,106 @@
+.. _filters.teaser:
+
+filters.teaser
+==============
+
+The **TEASER filter** uses the Truncated least squares Estimation And
+SEmidefinite Relaxation (TEASER) algorithm to calculate a **rigid**
+transformation that best aligns two datasets. The first input to the ICP filter
+is considered the "fixed" points, and all subsequent points are "moving"
+points. The output from the filter are the "moving" points after the calculated
+transformation has been applied, one point view per input. The transformation
+matrix is inserted into the stage's metadata.
+
+
+Examples
+--------
+
+.. code-block:: json
+
+  [
+      "fixed.las",
+      "moving.las",
+      {
+          "type": "filters.teaser"
+      },
+      "output.las"
+  ]
+
+To get the ``transform`` matrix, you'll need to use the ``--metadata`` option
+from the pipeline command:
+
+::
+
+    $ pdal pipeline teaser-pipeline.json --metadata teaser-metadata.json
+
+The metadata output might start something like:
+
+.. code-block:: json
+
+    {
+        "stages":
+        {
+            "filters.teaser":
+            {
+                "centroid": "    583394  5.2831e+06   498.152",
+                "composed": "           1  2.60209e-18 -1.97906e-09       -0.374999  8.9407e-08            1  5.58794e-09      -0.614662 6.98492e -10 -5.58794e-09            1   0.033234           0            0            0            1",
+                "converged": true,
+                "fitness": 0.01953125097,
+                "transform": "           1  2.60209e-18 -1.97906e-09       -0.375  8.9407e-08            1  5.58794e-09      -0.5625 6.98492e -10 -5.58794e-09            1   0.00411987           0            0            0            1"
+            }
+
+
+To apply this transformation to other points, the ``centroid`` and
+``transform`` metadata items can by used with ``filters.transformation`` in
+another pipeline. First, move the centroid of the points to (0,0,0), then apply
+the transform, then move the points back to the original location.  For the
+above metadata, the pipeline would be similar to:
+
+.. code-block:: json
+
+    [
+        {
+            "type": "readers.las",
+            "filename": "in.las"
+        },
+        {
+            "type": "filters.transformation",
+            "matrix": "1 0 0 -583394   0 1 0 -5.2831e+06   0 0 1 -498.152   0 0 0 1"
+        },
+        {
+            "type": "filters.transformation",
+            "matrix": "1  2.60209e-18 -1.97906e-09       -0.375  8.9407e-08            1  5.58794e-09      -0.5625 6.98492e -10 -5.58794e-09            1   0.00411987           0            0            0            1"
+        },
+        {
+            "type": "filters.transformation",
+            "matrix": "1 0 0 583394   0 1 0 5.2831e+06  0 0 1 498.152  0 0 0 1"
+        },
+        {
+            "type": "writers.las",
+            "filename": "out.las"
+        }
+    ]
+
+.. note::
+
+    The ``composed`` metadata matrix is a composition of the three transformation steps outlined above, and can be used in a single call to ``filters.transformation`` as opposed to the three separate calls.
+
+.. seealso::
+
+    :ref:`filters.transformation` to apply a transform to other points.
+
+
+Options
+--------
+
+nr
+  Radius to use for normal estimation. [Default: **0.02**]
+
+fr
+  Radius to use when computing features. [Default: **0.04**]
+
+fpfh
+  Use FPFH to find correspondences? [Default: **true**]
+
+.. include:: filter_opts.rst
+

plugins/CMakeLists.txt

@@ -73,6 +73,10 @@ if (BUILD_PLUGIN_FBX)
     add_subdirectory(fbx)
 endif()
 
+if(BUILD_PLUGIN_TEASER)
+    add_subdirectory(teaser)
+endif(BUILD_PLUGIN_TEASER)
+
 if(BUILD_PLUGIN_TILEDB)
     add_subdirectory(tiledb)
 endif()

plugins/teaser/CMakeLists.txt

@@ -0,0 +1,68 @@
+#cmake_minimum_required(VERSION 3.1...3.15)
+#project(pdalteaser)
+
+find_package(OpenMP QUIET REQUIRED)
+set_package_properties(OpenMP PROPERTIES
+    TYPE OPTIONAL
+    URL "https://www.openmp.org"
+    PURPOSE "TEASER++ support")
+mark_as_advanced(CLEAR OpenMP_INCLUDE_DIRS)
+mark_as_advanced(CLEAR OpenMP_LIBRARIES)
+if(NOT OpenMP_CXX_FOUND)
+    message(FATAL_ERROR "This project requires the OpenMP library.")
+endif()
+
+find_package(teaserpp REQUIRED)
+set_package_properties(teaserpp PROPERTIES
+    TYPE OPTIONAL
+    URL "https://teaser.readthedocs.io/en/latest/"
+    PURPOSE "TEASER++ support")
+mark_as_advanced(CLEAR teaserpp_INCLUDE_DIRS)
+mark_as_advanced(CLEAR teaserpp_LIBRARIES)
+if (NOT teaserpp_FOUND)
+    message(FATAL_ERROR "This project requires the TEASER++ library.")
+endif()
+
+#find_package(PDAL REQUIRED CONFIG)
+#if (NOT PDAL_FOUND)
+#  message(FATAL_ERROR "This project requires the PDAL library, and will not be compiled.")
+#endif()
+
+find_package(PCL 1.9 REQUIRED COMPONENTS common features kdtree)
+set_package_properties(PCL PROPERTIES
+    TYPE OPTIONAL
+    URL "https://pointclouds.org/"
+    PURPOSE "TEASER++ support")
+mark_as_advanced(CLEAR PCL_INCLUDE_DIRS)
+mark_as_advanced(CLEAR PCL_LIBRARIES)
+if (NOT PCL_FOUND)
+    message(FATAL_ERROR "This project requires the Point Cloud Library.")
+endif()
+
+#include_directories(${PDAL_INCLUDE_DIRS})
+#add_library(pdal_plugin_filter_teaser SHARED TeaserFilter.cpp)
+#link_directories(${PDAL_LIBRARY_DIRS})
+#target_link_libraries(pdal_plugin_filter_teaser ${PDAL_LIBRARIES} teaserpp::teaser_registration teaserpp::teaser_features OpenMP::OpenMP_CXX ${PCL_LIBRARIES})
+
+PDAL_ADD_PLUGIN(filter_libname filter teaser
+    FILES
+        filters/TeaserFilter.cpp
+    LINK_WITH
+        teaserpp::teaser_registration
+	teaserpp::teaser_features
+	OpenMP::OpenMP_CXX
+	${PCL_LIBRARIES}
+    INCLUDES
+        ${CMAKE_CURRENT_LIST_DIR}
+)
+
+if (WITH_TESTS)
+    PDAL_ADD_TEST(pdal_filters_teaser_test
+        FILES
+            test/TeaserFilterTest.cpp
+        LINK_WITH
+            ${filter_libname}
+        INCLUDES
+            "${PDAL_VENDOR_DIR}/eigen"
+    )
+endif()