Exp kees vrtogether pcl110

.gitignore

@@ -0,0 +1,4 @@
+build
+build-*
+__pycache__
+*.pyc

.gitlab-ci.yml

@@ -0,0 +1,134 @@
+stages:
+  - build
+  - test
+  - deploy
+
+variables:
+  #REL_CWIPC_UTIL: --release_name v2.1_stable
+  REL_CWIPC_UTIL: ""
+build_linux:
+  stage: build
+  tags:
+    - ubuntu1804
+  variables:
+    DEBIAN_FRONTEND: noninteractive
+  before_script:
+# Install and update debian packages
+    - apt-get update
+    - apt-get install -y tzdata
+    - apt-get install -y software-properties-common
+    - apt-get install -y git
+    - apt-get install -y cmake
+    - apt-get install -y libpcl-dev libpcl-common1.8 libpcl-io1.8
+    - apt-get install -y libturbojpeg0-dev
+# Install Deployment repo and dependencies
+    - apt-get install -y python3-pip
+    - python3 -m pip install requests mechanize
+    - mkdir deployment-helpers
+    - cd deployment-helpers
+    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@baltig.viaccess-orca.com:8443/VRT/deployment-group/Deployment
+    - cd ..
+# Get and install cwipc_util
+    - python3 deployment-helpers/Deployment/getReleaseFromGitLab --cicd --project_name cwipc_util $REL_CWIPC_UTIL
+    - tar --directory /usr/local -xvf cwipc_util_ubuntu1804_*.tgz
+  script:
+    - mkdir -p build
+    - mkdir -p dist-ubuntu1804
+    - cd build
+    - cmake ..
+    - make
+    - make test
+    - make install DESTDIR=../dist-ubuntu1804
+    - cd ..
+    - tar --directory dist-ubuntu1804/usr/local -cvaf cwipc_codec_ubuntu1804_$CI_BUILD_TAG.tgz .
+  artifacts:
+    paths:
+      - cwipc_codec_ubuntu1804_$CI_BUILD_TAG.tgz
+
+build_osx:
+  stage: build
+  tags:
+  - osx1012
+  before_script:
+    - brew install pkg-config || true # brew upgrade pkg-config
+    - brew install cmake || true # brew upgrade cmake
+    - brew install jpeg-turbo || true # brew upgrade jpeg-turbo
+    - brew unlink jpeg
+    - brew link --force jpeg-turbo
+    - brew install pcl || true # brew upgrade pcl
+# Install Deployment repo and dependencies
+    - python3 -m pip install requests mechanize
+    - mkdir deployment-helpers
+    - cd deployment-helpers
+    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@baltig.viaccess-orca.com:8443/VRT/deployment-group/Deployment
+    - cd ..
+# Get and install cwipc_util
+    - python3 deployment-helpers/Deployment/getReleaseFromGitLab --cicd --project_name cwipc_util $REL_CWIPC_UTIL
+    - tar --directory /usr/local -xvmf cwipc_util_osx1012_*.tgz
+  script:
+    - mkdir -p build
+    - mkdir -p dist-osx1012
+    - cd build
+    - cmake ..
+    - make
+    - make test
+    - make install DESTDIR=../dist-osx1012
+    - cd ..
+    - tar --directory dist-osx1012/usr/local -z -cvf cwipc_codec_osx1012_$CI_BUILD_TAG.tgz .
+  artifacts:
+    paths:
+      - cwipc_codec_osx1012_$CI_BUILD_TAG.tgz
+
+build_win:
+  stage: build
+  tags:
+    - win10
+  before_script:
+    - rm -rf /cygdrive/c/dist-win/installed
+    - mkdir -p /cygdrive/c/dist-win/installed
+# Install Deployment repo and dependencies
+    - python -m pip install requests mechanize
+    - mkdir deployment-helpers
+    - cd deployment-helpers
+    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@baltig.viaccess-orca.com:8443/VRT/deployment-group/Deployment
+    - cd ..
+# Get and install cwipc_util
+    - python deployment-helpers/Deployment/getReleaseFromGitLab --cicd --project_name cwipc_util $REL_CWIPC_UTIL
+    - (zipfile=$PWD/cwipc_util_win1064_*.zip && cd /cygdrive/c/dist-win && unzip $zipfile)
+  script:
+    - mkdir -p build
+    - export ziplocation=$(pwd)/cwipc_codec_win1064_$CI_BUILD_TAG.zip
+    - cd build
+    - cmake .. -G "Visual Studio 15 2017 Win64" -DCMAKE_INSTALL_PREFIX="C:/dist-win/installed" -DJPEG_Turbo_INCLUDE_DIR="C:/libjpeg-turbo64/include" -DJPEG_Turbo_LIBRARY="C:/libjpeg-turbo64/lib/jpeg.lib"
+    - cmake --build . --config Release
+    - cmake --build . --config Release --target RUN_TESTS
+    - find /cygdrive/c/dist-win -type f -print > previously-installed.txt
+    - cmake --build . --config Release --target INSTALL
+    - rm `cat previously-installed.txt`
+    - (cd /cygdrive/c/dist-win && zip -r $ziplocation installed)
+  artifacts:
+    paths:
+      - cwipc_codec_win1064_$CI_BUILD_TAG.zip
+
+deploy_all:
+  stage: deploy
+  tags:
+    - linux
+  only: 
+    - tags
+  dependencies: 
+    - build_linux
+    - build_osx
+    - build_win
+  before_script:
+  - apt-get update
+  - apt-get install -y python3-pip
+  - python3 -m pip install requests
+  - mkdir deployment-helpers
+  - cd deployment-helpers
+  - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@baltig.viaccess-orca.com:8443/VRT/deployment-group/Deployment
+  - cd ..
+  script:
+    - mkdir deliverables
+    - mv cwipc_codec_osx1012_$CI_BUILD_TAG.tgz cwipc_codec_ubuntu1804_$CI_BUILD_TAG.tgz cwipc_codec_win1064_$CI_BUILD_TAG.zip deliverables
+    - python3 deployment-helpers/Deployment/addReleaseToGitLab --cicd --notag cwipc_codec_osx1012_$CI_BUILD_TAG.tgz cwipc_codec_ubuntu1804_$CI_BUILD_TAG.tgz cwipc_codec_win1064_$CI_BUILD_TAG.zip

CMakeFiles/cwipc_codec-config.cmake

@@ -0,0 +1,6 @@
+get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+include(${SELF_DIR}/cwipc_codec.cmake)
+get_filename_component(cwipc_codec_INCLUDE_DIRS "${SELF_DIR}/../../include" ABSOLUTE)
+get_filename_component(cwipc_codec_LIBRARY_DIRS "${SELF_DIR}/../../lib" ABSOLUTE)
+set(cwipc_codec_LIBRARIES cwipc_codec)
+set(cwipc_codec_FOUND TRUE)

CMakeLists.txt

@@ -36,143 +36,71 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 cmake_minimum_required(VERSION 2.8.10 FATAL_ERROR)
-project(CWI_PCL_CODEC)
-# -- From: https://stackoverflow.com/questions/16398937/cmake-and-finding-other-projects-and-their-dependencies
-# set(CMAKE_DISABLE_IN_SOURCE_BUILD ON)
-# set(CMAKE_DISABLE_SOURCE_CHANGES  ON)
+project(cwipc_codec)
 
-# if ("${CMAKE_SOURCE_DIR}" STREQUAL "${CMAKE_BINARY_DIR}")
-#   message(SEND_ERROR "In-source builds are not allowed.")
-# endif ()
+include(CTest)
+include(GNUInstallDirs)
 
-# set(CMAKE_VERBOSE_MAKEFILE ON)
-# set(CMAKE_COLOR_MAKEFILE   ON)
+# Ensure all executable, dll/so and link-library outputs end up in the same directories
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin/${CMAKE_BUILD_TYPE})
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/${CMAKE_BUILD_TYPE})
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/${CMAKE_BUILD_TYPE})
 
-# You can set this to '1' if you like a lot of CMake messages, e.g. to find a bug
-set (CMAKELISTS_DEBUG 0
-        CACHE INTERNAL "${PROJECT_NAME}: CMakeLists.txt Debug Flag" FORCE)
+#
+# Find cwipc_util
+#
+find_package(cwipc_util REQUIRED)
+include_directories(${cwipc_util_INCLUDE_DIRS})
+link_directories(${cwipc_util_LIBRARY_DIRS})
 
 set(SUBSYS_NAME cwi_pcl_codec)
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/;${CMAKE_MODULE_PATH}")
-if(CMAKELISTS_DEBUG)
-  message("CMAKE_MODULE_PATH=${CMAKE_MODULE_PATH}")
-  set(QUIET_FLAG "")
-else(CMAKELISTS_DEBUG)
-  set(QUIET_FLAG QUIET)
-endif(CMAKELISTS_DEBUG)
+set(QUIET_FLAG QUIET)
 
 # Use PCL 1.9 (preferred) or 1.8
 find_package(PCL 1.9 ${QUIET_FLAG} COMPONENTS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search recognition)
 if(NOT PCL_FOUND)
 	find_package(PCL 1.8 REQUIRED ${QUIET_FLAG} COMPONENTS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search recognition)
 endif(NOT PCL_FOUND)
 
-if(NOT PCL_ALL_IN_ONE_INSTALLER)
-  # search for 3rd party packages
-  if(WIN32)
-    # Remove 'lib' prefix for shared libraries on Windows
-    set(CMAKE_SHARED_LIBRARY_PREFIX "")
-    set(CMAKE_C_FLAGS "(/EHsc /UBOOST_NO_EXCEPTIONS")
-    set(CMAKE_CXX_FLAGS "/EHsc")
-    set(CMAKE_LD_FLAGS "-g -O0")
-    # On Windows we have VTK 7.0
-    find_package(VTK 7.0 REQUIRED ${QUIET_FLAG})
-    if(NOT VTK_FOUND)
-      message(ERROR "VTK >= 7.0 found.")
-    endif(VTK_FOUND)
-  else(WIN32)
-    # enable debugging on Linux
-    set(CMAKE_C_FLAGS "-g -O0")
-    set(CMAKE_CXX_FLAGS "-g -O0")
-    set(CMAKE_LD_FLAGS "-g -O0")
-    # On Ubuntu 16.04 we have VTK 6.0, on MacOSX (brew) VTK 8.1
-    find_package(VTK 6.0 ${QUIET_FLAG})
-    if(NOT VTK_FOUND)
-     find_package(VTK 6.1 ${QUIET_FLAG})
-    endif(NOT VTK_FOUND)
-    if(NOT VTK_FOUND)
-     find_package(VTK 8.0 ${QUIET_FLAG})
-    endif(NOT VTK_FOUND)
-    if(NOT VTK_FOUND)
-      find_package(VTK 8.1 REQUIRED)
-    endif(NOT VTK_FOUND)
-    if(NOT VTK_FOUND)
-       message(ERROR "Neither VTK 6.0, 6.1, 8.0 nor 8.1 found.")
-    endif(NOT VTK_FOUND)
-  endif(WIN32)
-endif(NOT PCL_ALL_IN_ONE_INSTALLER)
-
-#include(${CMAKE_SOURCE_DIR}/cmake/pcl_find_boost.cmake)
-set(BOOST_REQUIRED_MODULES system filesystem thread date_time iostreams chrono program_options)
-find_package(Boost 1.47.0 ${QUIET_FLAG} REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES})
-if(NOT Boost_FOUND)
-  message(ERROR "Boost >= 1.48.0 not found.")
-endif(NOT Boost_FOUND)
-if(CMAKELISTS_DEBUG)
- message("1.Boost_LIBRARIES=" ${Boost_LIBRARIES})
-endif(CMAKELISTS_DEBUG)
-find_package(Eigen 4.3 ${QUIET_FLAG})
-if (NOT Eigen_FOUND)
-  message(ERROR "Eigen not found)")
-endif(NOT Eigen_FOUND)
-if(CMAKELISTS_DEBUG)
-  message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS}, version: ${EIGEN_VERSION})")
-endif(CMAKELISTS_DEBUG)
+find_package(Boost 1.47.0 ${QUIET_FLAG} REQUIRED COMPONENTS system filesystem thread date_time iostreams chrono program_options)
+find_package(Eigen 4.3 ${QUIET_FLAG} REQUIRED)
 find_package(JPEG_Turbo ${QUIET_FLAG} REQUIRED)
-if(CMAKELISTS_DEBUG)
-  message("2.Boost_LIBRARIES=" ${Boost_LIBRARIES})
-endif(CMAKELISTS_DEBUG)
-if(NOT JPEG_Turbo_FOUND)
- message(ERROR "TurboJPEG not found.")
-endif(NOT JPEG_Turbo_FOUND)
-
-if(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/io/impl/entropy_range_coder.hpp")
-    set(PCL_INSTALLED ON CACHE INTERNAL "PCL Installed" FORCE)
-endif()
 
 # Expose public includes and libraries to subprojects
 set(${PROJECT_NAME}_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
                                  ${JPEG_Turbo_INCLUDE_DIR}
-                                 ${VTK_INCLUDE_DIR}
                                  ${Boost_INCLUDE_DIR}
                                  ${PCL_INCLUDE_DIRS}
                                  ${EIGEN_INCLUDE_DIRS}
     CACHE INTERNAL "${PROJECT_NAME}: Include Directories" FORCE)
-if(CMAKELISTS_DEBUG)
-  message("${SUBSYS_NAME}-${PROJECT_NAME}_INCLUDE_DIRS: " ${${PROJECT_NAME}_INCLUDE_DIRS})
-  message("3.Boost_LIBRARIES=" ${Boost_LIBRARIES})
-endif(CMAKELISTS_DEBUG)
+
 set(${PROJECT_NAME}_LIBRARY_DIRS ${PROJECT_SOURCE_DIR}/lib
-                                 ${VTK_LIBRARY_DIR}
+                                 ${JPEG_Turbo_LIBRARY_DIR}
                                  ${Boost_LIBRARY_DIR}
                                  ${PCL_LIBRARY_DIRS}
     CACHE INTERNAL "${PROJECT_NAME}: Library Directories" FORCE)
-if(CMAKELISTS_DEBUG)
-  message("${SUBSYS_NAME}_LIBRARY_DIRS: " ${${PROJECT_NAME}_LIBRARY_DIRS})
-  message("${SUBSYS_NAME}_JPEG_Turbo_LIBRARY: " ${JPEG_Turbo_LIBRARY})
-  message("${SUBSYS_NAME}_VTK_LIBRARIES:" ${VTK_LIBRARIES})
-  message("${SUBSYS_NAME}_Boost_LIBRARIES: " ${Boost_LIBRARIES})
-  message("${SUBSYS_NAME}_PCL_LIBRARIES: " ${PCL_LIBRARIES})
-endif(CMAKELISTS_DEBUG)
+
 set(${PROJECT_NAME}_LIBRARIES
                                  ${JPEG_Turbo_LIBRARY}
                                  ${VTK_LIBRARIES}
                                  ${Boost_LIBRARIES}
                                  ${PCL_LIBRARIES}
     CACHE INTERNAL "${PROJECT_NAME}: Libraries" FORCE)
-if(CMAKELISTS_DEBUG)
-  message("${SUBSYS_NAME}-${PROJECT_NAME}_LIBRARIES: " ${${PROJECT_NAME}_LIBRARIES})
-endif(CMAKELISTS_DEBUG)
+
 set(${PROJECT_NAME}_DEFINITIONS
                                  ${JPEG_Turbo_DEFINITIONS} -DWITH_JPEG8=1
                                  ${Boost_DEFINITIONS}
                                  ${PCL_DEFINITIONS}
     CACHE INTERNAL "${PROJECT_NAME}: Definitions" FORCE)
-if(CMAKELISTS_DEBUG)
-  message("${SUBSYS_NAME}-${PROJECT_NAME}_DEFINITIONS: " ${${PROJECT_NAME}_DEFINITIONS})
-endif(CMAKELISTS_DEBUG)
 
 add_definitions( ${${PROJECT_NAME}_DEFINITIONS})
-add_subdirectory("jpeg_io")
 add_subdirectory("cloud_codec_v2")
+add_subdirectory("src")
 add_subdirectory("apps/evaluate_compression")
+add_subdirectory("apps/cwipc_encode")
+add_subdirectory("apps/cwipc_decode")
+add_subdirectory("apps/cwipc_downsample")
+add_subdirectory("apps/cwipc_tilefilter")
+add_subdirectory("python")
+add_subdirectory("tests")

LICENSE.txt

@@ -1,36 +1,36 @@
-Software License Agreement (BSD License)
-
-Point Cloud Library (PCL) - www.pointclouds.org
-Copyright (c) 2009-2012, Willow Garage, Inc.
-Copyright (c) 2012-, Open Perception, Inc.
-Copyright (c) CodeShop B.V. 2016-
-Copyright (c) 2017-, Stichting Centrum Wiskunde en Informatica.
-
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions
-are met: 
-
- * Redistributions of source code must retain the above copyright
-   notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above
-   copyright notice, this list of conditions and the following
-   disclaimer in the documentation and/or other materials provided
-   with the distribution.
- * Neither the name of the copyright holder(s) nor the names of its
-   contributors may be used to endorse or promote products derived
-   from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-POSSIBILITY OF SUCH DAMAGE.
+Software License Agreement (BSD License)
+
+Point Cloud Library (PCL) - www.pointclouds.org
+Copyright (c) 2009-2012, Willow Garage, Inc.
+Copyright (c) 2012-, Open Perception, Inc.
+Copyright (c) CodeShop B.V. 2016-
+Copyright (c) 2017-, Stichting Centrum Wiskunde en Informatica.
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met: 
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of the copyright holder(s) nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.