Due to the Ceres dependency, make trajectory estimation a plugin

PDAL · Oct 29, 2020 · a1c0bd8 · a1c0bd8
1 parent 06c56c9
commit a1c0bd8
Show file tree

Hide file tree

Showing 15 changed files with 41 additions and 8 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -140,7 +140,6 @@ include(${PDAL_CMAKE_DIR}/dimension.cmake)
 include(${PDAL_CMAKE_DIR}/arbiter.cmake)
 include(${PDAL_CMAKE_DIR}/nlohmann.cmake)
 include(${PDAL_CMAKE_DIR}/openssl.cmake) # Optional
-include(${PDAL_CMAKE_DIR}/ceres.cmake) # Optional
 
 #------------------------------------------------------------------------------
 # generate the pdal_features.hpp header
@@ -275,7 +274,6 @@ target_include_directories(${PDAL_BASE_LIB_NAME}
         ${NLOHMANN_INCLUDE_DIR}
         ${GDAL_INCLUDE_DIR}
         ${LASZIP_INCLUDE_DIR}
-        ${CERES_INCLUDE_DIRS}
 )
 target_link_libraries(${PDAL_BASE_LIB_NAME}
     PRIVATE
@@ -292,7 +290,6 @@ target_link_libraries(${PDAL_BASE_LIB_NAME}
         ${PDAL_UTIL_LIB_NAME}
         ${PDAL_ARBITER_LIB_NAME}
         ${PDAL_KAZHDAN_LIB_NAME}
-        ${CERES_LIBRARIES}
     INTERFACE
         ${PDAL_LIBDIR}
 )

diff --git a/cmake/options.cmake b/cmake/options.cmake
@@ -84,6 +84,11 @@ option(BUILD_PLUGIN_TILEDB
 add_feature_info("TileDB plugin" BUILD_PLUGIN_TILEDB
     "read/write data from TileDB")
 
+option(BUILD_PLUGIN_TRAJECTORY
+    "Choose if trajectory estimation support should be built" FALSE)
+add_feature_info("Trajectory plugin" BUILD_PLUGIN_TRAJECTORY
+    "estimate trajectories")
+
 option(BUILD_PLUGIN_E57
         "Choose if e57 ui support should be built" FALSE)
 add_feature_info("E57 plugin" BUILD_PLUGIN_E57

diff --git a/plugins/CMakeLists.txt b/plugins/CMakeLists.txt
@@ -73,6 +73,10 @@ if(BUILD_PLUGIN_TILEDB)
     add_subdirectory(tiledb)
 endif()
 
+if(BUILD_PLUGIN_TRAJECTORY)
+    add_subdirectory(trajectory)
+endif()
+
 if(BUILD_PLUGIN_E57)
     add_subdirectory(e57)
 endif()
diff --git a/plugins/trajectory/CMakeLists.txt b/plugins/trajectory/CMakeLists.txt
@@ -0,0 +1,27 @@
+#
+# Trajectory plugin CMake configuration
+#
+include(${PDAL_CMAKE_DIR}/ceres.cmake)
+if (NOT CERES_FOUND)
+    message(FATAL_ERROR "Can't find Ceres support required to build.")
+endif()
+
+#
+# ScanAngleTrajectory Filter
+#
+PDAL_ADD_PLUGIN(filter_libname filter scanangletrajectory
+    FILES
+        filters/ScanAngleTrajectoryFilter.cpp
+)
+
+#
+# ReturnInfoTrajectory Filter
+#
+PDAL_ADD_PLUGIN(filter_libname filter returninfotrajectory
+    FILES
+        filters/ReturnInfoTrajectoryFilter.cpp
+    LINK_WITH
+        ${CERES_LIBRARIES}
+    INCLUDES
+        ${CERES_INCLUDE_DIRS}
+)
diff --git a/filters/private/trajectory/Pulse.cpp → plugins/trajectory/filters/Pulse.cpp b/filters/private/trajectory/Pulse.cpp → plugins/trajectory/filters/Pulse.cpp
diff --git a/filters/private/trajectory/Pulse.hpp → plugins/trajectory/filters/Pulse.hpp b/filters/private/trajectory/Pulse.hpp → plugins/trajectory/filters/Pulse.hpp
diff --git a/...rs/private/trajectory/PulseCollection.cpp → ...ns/trajectory/filters/PulseCollection.cpp b/...rs/private/trajectory/PulseCollection.cpp → ...ns/trajectory/filters/PulseCollection.cpp
diff --git a/...rs/private/trajectory/PulseCollection.hpp → ...ns/trajectory/filters/PulseCollection.hpp b/...rs/private/trajectory/PulseCollection.hpp → ...ns/trajectory/filters/PulseCollection.hpp
diff --git a/filters/ReturnInfoTrajectoryFilter.cpp → ...ry/filters/ReturnInfoTrajectoryFilter.cpp b/filters/ReturnInfoTrajectoryFilter.cpp → ...ry/filters/ReturnInfoTrajectoryFilter.cpp
@@ -33,7 +33,7 @@
 
 #include "ReturnInfoTrajectoryFilter.hpp"
 
-#include "private/trajectory/PulseCollection.hpp"
+#include "PulseCollection.hpp"
 
 #include <Eigen/Dense>
 
@@ -43,7 +43,7 @@ namespace pdal
 using namespace Dimension;
 using namespace Eigen;
 
-static StaticPluginInfo const s_info{
+static PluginInfo const s_info{
     "filters.returninfotrajectory", "Return Info Trajectory estimation",
     "htts://pdal.io/stages/filters.returninfotrajectory.html"};
 
@@ -62,7 +62,7 @@ struct PrivateArgs
     double m_tout;
 };
 
-CREATE_STATIC_STAGE(ReturnInfoTrajectory, s_info)
+CREATE_SHARED_STAGE(ReturnInfoTrajectory, s_info)
 
 ReturnInfoTrajectory::ReturnInfoTrajectory() : Filter(), m_args(new PrivateArgs)
 {

diff --git a/filters/ReturnInfoTrajectoryFilter.hpp → ...ry/filters/ReturnInfoTrajectoryFilter.hpp b/filters/ReturnInfoTrajectoryFilter.hpp → ...ry/filters/ReturnInfoTrajectoryFilter.hpp
diff --git a/filters/ScanAngleTrajectoryFilter.cpp → ...ory/filters/ScanAngleTrajectoryFilter.cpp b/filters/ScanAngleTrajectoryFilter.cpp → ...ory/filters/ScanAngleTrajectoryFilter.cpp
@@ -44,11 +44,11 @@ namespace pdal
 
 using namespace Dimension;
 
-static StaticPluginInfo const s_info{
+static PluginInfo const s_info{
     "filters.scanangletrajectory", "Scan-angle trajectory estimation filter",
     "http://pdal.io/stages/filters.scanangletrajectory.html"};
 
-CREATE_STATIC_STAGE(ScanAngleTrajectoryFilter, s_info)
+CREATE_SHARED_STAGE(ScanAngleTrajectoryFilter, s_info)
 
 ScanAngleTrajectoryFilter::ScanAngleTrajectoryFilter() {}
 

diff --git a/filters/ScanAngleTrajectoryFilter.hpp → ...ory/filters/ScanAngleTrajectoryFilter.hpp b/filters/ScanAngleTrajectoryFilter.hpp → ...ory/filters/ScanAngleTrajectoryFilter.hpp
diff --git a/filters/private/trajectory/SplineFit.cpp → plugins/trajectory/filters/SplineFit.cpp b/filters/private/trajectory/SplineFit.cpp → plugins/trajectory/filters/SplineFit.cpp
diff --git a/filters/private/trajectory/SplineFit.hpp → plugins/trajectory/filters/SplineFit.hpp b/filters/private/trajectory/SplineFit.hpp → plugins/trajectory/filters/SplineFit.hpp
diff --git a/filters/private/trajectory/Utils.hpp → plugins/trajectory/filters/Utils.hpp b/filters/private/trajectory/Utils.hpp → plugins/trajectory/filters/Utils.hpp