alicevision · fabiencastan · Oct 7, 2022 · Oct 3, 2022 · Oct 3, 2022 · Oct 3, 2022
diff --git a/.github/workflows/continuous-integration.yml b/.github/workflows/continuous-integration.yml
@@ -174,6 +174,7 @@ jobs:
                           ceres[suitesparse,cxsparse]
                           tbb
                           assimp
+                          pcl
                           clp
           # without "cuda" for now
           vcpkgTriplet: x64-windows-release

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -22,6 +22,7 @@ option(AV_BUILD_FFMPEG "Enable building an embedded FFMpeg" ON)
 option(AV_BUILD_COINUTILS "Enable building an embedded CoinUtils" ON)
 option(AV_BUILD_OSI "Enable building an embedded Osi" ON)
 option(AV_BUILD_CLP "Enable building an embedded Clp" ON)
+option(AV_BUILD_PCL "Enable building an embedded PointCloud library" ON)
 option(AV_BUILD_ALICEVISION "Enable building of AliceVision" ON)
 option(AV_EIGEN_MEMORY_ALIGNMENT "Enable Eigen memory alignment" OFF)
 
@@ -77,6 +78,7 @@ message(STATUS "AV_BUILD_FFMPEG: ${AV_BUILD_FFMPEG}")
 message(STATUS "AV_BUILD_COINUTILS: ${AV_BUILD_COINUTILS}")
 message(STATUS "AV_BUILD_OSI: ${AV_BUILD_OSI}")
 message(STATUS "AV_BUILD_CLP: ${AV_BUILD_CLP}")
+message(STATUS "AV_BUILD_PCL: ${AV_BUILD_PCL}")
 message(STATUS "AV_BUILD_DEPENDENCIES_PARALLEL: ${AV_BUILD_DEPENDENCIES_PARALLEL}")
 message(STATUS "")
 message(STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
@@ -864,6 +866,81 @@ ExternalProject_Add(${CLP_TARGET}
 set(CLP_CMAKE_FLAGS -DClp_DIR:PATH=${CMAKE_INSTALL_PREFIX}/share/clp)
 endif()
 
+# Add PCL
+if(AV_BUILD_PCL)
+    # build other dependencies for pcl
+    # add lz4 for flann
+    set(LZ4_TARGET lz4)
+    ExternalProject_Add(${LZ4_TARGET}
+            GIT_REPOSITORY https://github.com/alicevision/lz4
+            GIT_TAG 47a530e8a8c945ad3bb809e2ce4591a56c5081e2
+            PREFIX ${BUILD_DIR}
+            BUILD_IN_SOURCE 0
+            BUILD_ALWAYS 0
+            UPDATE_COMMAND ""
+            SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/${LZ4_TARGET}
+            BINARY_DIR ${BUILD_DIR}/${LZ4_TARGET}_build
+            INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
+            CONFIGURE_COMMAND ${CMAKE_COMMAND} ${CMAKE_CORE_BUILD_FLAGS}   -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> <SOURCE_DIR>
+            BUILD_COMMAND $(MAKE) -j${AV_BUILD_DEPENDENCIES_PARALLEL}
+            )
+    set(LZ4_CMAKE_FLAGS -Dlz4_DIR:PATH=${CMAKE_INSTALL_PREFIX}/lib/cmake/lz4/)
+
+    # @TODO whenever flann will be removed as embedded dependency move this and lz4 out from if(AV_BUILD_PCL) as they will be needed by the library
+    # add flann
+    set(FLANN_TARGET flann)
+    ExternalProject_Add(${FLANN_TARGET}
+            GIT_REPOSITORY https://github.com/alicevision/flann
+            GIT_TAG 9e79ca6881b779fb842e83c17aef1f4c816ce058
+            PREFIX ${BUILD_DIR}
+            BUILD_IN_SOURCE 0
+            BUILD_ALWAYS 0
+            UPDATE_COMMAND ""
+            SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/${FLANN_TARGET}
+            BINARY_DIR ${BUILD_DIR}/${FLANN_TARGET}_build
+            INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
+            CONFIGURE_COMMAND ${CMAKE_COMMAND} ${CMAKE_CORE_BUILD_FLAGS}
+                -DBUILD_C_BINDINGS:BOOL=OFF
+                -DBUILD_EXAMPLES=OFF
+                -DBUILD_TESTS:BOOL=OFF
+                -DBUILD_DOC:BOOL=OFF
+                -DBUILD_PYTHON_BINDINGS:BOOL=OFF
+                -DBUILD_MATLAB_BINDINGS:BOOL=OFF
+                ${LZ4_CMAKE_FLAGS}
+                -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> <SOURCE_DIR>
+            BUILD_COMMAND $(MAKE) -j${AV_BUILD_DEPENDENCIES_PARALLEL}
+            DEPENDS ${LZ4_TARGET}
+            )
+    set(FLANN_CMAKE_FLAGS -Dflann_DIR:PATH=${CMAKE_INSTALL_PREFIX}/lib/cmake/flann/)
+
+    # add point cloud library
+    set(PCL_TARGET pcl)
+    ExternalProject_Add(${PCL_TARGET}
+            URL https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.12.1.tar.gz
+            URL_MD5 eb1be79330872f9674c9850bb35023bf
+            DOWNLOAD_DIR ${BUILD_DIR}/download/${PCL_TARGET}
+            PREFIX ${BUILD_DIR}
+            BUILD_IN_SOURCE 0
+            BUILD_ALWAYS 0
+            UPDATE_COMMAND ""
+            SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/${PCL_TARGET}
+            BINARY_DIR ${BUILD_DIR}/${PCL_TARGET}_build
+            INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
+            CONFIGURE_COMMAND ${CMAKE_COMMAND} ${CMAKE_CORE_BUILD_FLAGS}
+                ${EIGEN_CMAKE_FLAGS}
+                ${BOOST_CMAKE_FLAGS}
+                ${PNG_CMAKE_FLAGS}
+                ${CUDA_CMAKE_FLAGS}
+                -DWITH_CUDA:BOOL=${AV_USE_CUDA}
+                ${FLANN_CMAKE_FLAGS}
+                ${LZ4_CMAKE_FLAGS}
+                -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> <SOURCE_DIR>
+            BUILD_COMMAND $(MAKE) -j${AV_BUILD_DEPENDENCIES_PARALLEL}
+            DEPENDS ${FLANN_TARGET} ${LZ4_TARGET} ${EIGEN_TARGET} ${BOOST_TARGET} ${PNG_TARGET} ${CUDA_TARGET}
+            )
+    set(PCL_CMAKE_FLAGS -DPCL_DIR:PATH=${CMAKE_INSTALL_PREFIX}/share/pcl-1.12/)
+
+endif()
 
 set(AV_DEPS
   ${ZLIB_TARGET}
@@ -902,7 +979,40 @@ ExternalProject_Add(aliceVision
        SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src
        BINARY_DIR ${BUILD_DIR}/aliceVision_build
        INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
-       CONFIGURE_COMMAND ${CMAKE_COMMAND} -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DBUILD_SHARED_LIBS:BOOL=ON -DTARGET_ARCHITECTURE=core -DALICEVISION_ROOT=${ALICEVISION_ROOT} -DALICEVISION_USE_ALEMBIC=ON -DMINIGLOG=ON -DALICEVISION_USE_CCTAG=${AV_BUILD_CCTAG} -DALICEVISION_USE_APRILTAG=${AV_BUILD_APRILTAG} -DALICEVISION_USE_OPENCV=${AV_BUILD_OPENCV} -DALICEVISION_USE_OPENGV=${AV_BUILD_OPENGV} -DALICEVISION_USE_POPSIFT=${AV_BUILD_POPSIFT} -DALICEVISION_USE_CUDA=${AV_USE_CUDA} -DALICEVISION_BUILD_DOC=OFF -DALICEVISION_BUILD_EXAMPLES=OFF ${ZLIB_CMAKE_FLAGS} ${ASSIMP_CMAKE_FLAGS} ${EIGEN_CMAKE_FLAGS} ${OPENIMAGEIO_CMAKE_FLAGS} ${OPENEXR_CMAKE_FLAGS} ${BOOST_CMAKE_FLAGS} ${ALEMBIC_CMAKE_FLAGS} ${GEOGRAM_CMAKE_FLAGS} ${LAPACK_CMAKE_FLAGS} ${CERES_CMAKE_FLAGS} ${CUDA_CMAKE_FLAGS} ${POPSIFT_CMAKE_FLAGS} ${OPENGV_CMAKE_FLAGS} ${OPENCV_CMAKE_FLAGS} ${CCTAG_CMAKE_FLAGS} ${APRILTAG_CMAKE_FLAGS} ${COINUTILS_CMAKE_FLAGS} ${OSI_CMAKE_FLAGS} ${CLP_CMAKE_FLAGS} -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> <SOURCE_DIR>
+       CONFIGURE_COMMAND ${CMAKE_COMMAND}
+            -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DBUILD_SHARED_LIBS:BOOL=ON -DTARGET_ARCHITECTURE=core
+            -DALICEVISION_ROOT=${ALICEVISION_ROOT}
+            -DALICEVISION_USE_ALEMBIC=ON
+            -DMINIGLOG=ON
+            -DALICEVISION_USE_CCTAG=${AV_BUILD_CCTAG}
+            -DALICEVISION_USE_APRILTAG=${AV_BUILD_APRILTAG}
+            -DALICEVISION_USE_OPENCV=${AV_BUILD_OPENCV}
+            -DALICEVISION_USE_OPENGV=${AV_BUILD_OPENGV}
+            -DALICEVISION_USE_POPSIFT=${AV_BUILD_POPSIFT}
+            -DALICEVISION_USE_CUDA=${AV_USE_CUDA}
+            -DALICEVISION_BUILD_DOC=OFF
+            -DALICEVISION_BUILD_EXAMPLES=OFF
+            ${ZLIB_CMAKE_FLAGS}
+            ${ASSIMP_CMAKE_FLAGS}
+            ${EIGEN_CMAKE_FLAGS}
+            ${OPENIMAGEIO_CMAKE_FLAGS}
+            ${OPENEXR_CMAKE_FLAGS}
+            ${BOOST_CMAKE_FLAGS}
+            ${ALEMBIC_CMAKE_FLAGS}
+            ${GEOGRAM_CMAKE_FLAGS}
+            ${LAPACK_CMAKE_FLAGS}
+            ${CERES_CMAKE_FLAGS}
+            ${CUDA_CMAKE_FLAGS}
+            ${POPSIFT_CMAKE_FLAGS}
+            ${OPENGV_CMAKE_FLAGS}
+            ${OPENCV_CMAKE_FLAGS}
+            ${CCTAG_CMAKE_FLAGS}
+            ${APRILTAG_CMAKE_FLAGS}
+            ${COINUTILS_CMAKE_FLAGS} ${OSI_CMAKE_FLAGS} ${CLP_CMAKE_FLAGS}
+            ${LZ4_CMAKE_FLAGS}
+            ${FLANN_CMAKE_FLAGS}
+            ${PCL_CMAKE_FLAGS}
+            -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> <SOURCE_DIR>
        DEPENDS ${AV_DEPS}
        )
 endif()

diff --git a/INSTALL.md b/INSTALL.md
@@ -46,6 +46,7 @@ Other optional libraries can enable specific features (check "CMake Options" for
 * OpenCV >= 3.4.11 (feature extraction, calibration module, video IO), >= 4.5 for colorchecker (mcc)
 * OpenGV (rig calibration and localization)
 * OpenMP (enable multi-threading)
+* PCL (Point Cloud Library) >= 1.12.1 for the registration module
 * PopSift (feature extraction on GPU)
 * UncertaintyTE (Uncertainty computation)
 
@@ -111,6 +112,7 @@ vcpkg install ^
           cuda ^
           tbb ^
           assimp ^
+          pcl ^
           clp ^
           --triplet x64-windows
 ```