Merge branch 'main' into icpFixpoint_dev

Author: yaxy2

.clang-format

@@ -1,4 +1,5 @@
 BasedOnStyle: LLVM
+ColumnLimit: 120
 IndentWidth: 8
 UseTab: Always
 BreakBeforeBraces: Linux

.gitattributes

@@ -0,0 +1 @@
+*.3d linguist-vendored

.github/workflows/main.yml

@@ -5,6 +5,7 @@ on:
     branches: [ main, workflow ]
 
 jobs:
+  # FIXME: FIND MAINTAINER FOR WINDOWS BUILD INTEGRATION
   # FIXME: blas FTBFS
   #windows:
   #  strategy:
@@ -21,6 +22,8 @@ jobs:
   #        key: ${{ matrix.toolset }}-${{ hashFiles('windows/build.cmd') }}
   #    - run:
   #        windows/build.cmd ${{github.workspace}} ${{github.workspace}}/build ${{ matrix.toolset }}
+  
+  # FIXME: FIND MAINTAINER FOR MACOS BUILD INTEGRATION
   # FIXME: fails with
   # Could not find a package configuration file provided by "Qt5Widgets"
   #macos:
@@ -43,10 +46,25 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        os: ['debian:buster', 'debian:bullseye', 'debian:sid', 'ubuntu:focal']
+        os: ['debian:buster', 'debian:bullseye', 'ubuntu:bionic', 'ubuntu:focal', 'ubuntu:jammy', 'ubuntu:noble']
     container: ${{ matrix.os }}
     steps:
-      - uses: actions/checkout@v2
+      # - uses: actions/checkout@v2 ## THIS CHECKOUT USES GLIBC2.28, WHICH IS UNAVAILABLE IN OLD CONTAINERS
+      - name: Install git
+        run: apt-get update && apt-get install --yes git
+      - name: Set noninteractive frontend
+        run: |
+          export DEBIAN_FRONTEND=noninteractive
+          echo "Etc/UTC" > /etc/timezone
+          ln -fs /usr/share/zoneinfo/Etc/UTC /etc/localtime
+          apt-get update
+          apt-get install --yes --no-install-recommends tzdata
+          dpkg-reconfigure --frontend noninteractive tzdata
+      - name: Clean workspace 
+        run: |
+          rm -rf -- * .[!.]* ..?*
+      - name: Checkout code
+        run: git clone https://github.com/JMUWRobotics/3DTK.git .
       - name: Install basic dependencies
         run: |
           cat /etc/os-release
@@ -56,16 +74,27 @@ jobs:
           apt-get install --yes --no-install-recommends equivs ninja-build build-essential
       - if: matrix.os == 'ubuntu:focal'
         run: equivs-build doc/equivs/control.ubuntu.focal.ros
-      - if: matrix.os == 'debian:sid'
-        run: equivs-build doc/equivs/control.debian.sid.ros
       - if: matrix.os == 'debian:bullseye'
         run: equivs-build doc/equivs/control.debian.bullseye.ros
       - if: matrix.os == 'debian:buster'
         run: equivs-build doc/equivs/control.debian.buster.ros
+      - if: matrix.os == 'ubuntu:bionic'
+        run: equivs-build doc/equivs/control.ubuntu.bionic
+      - if: matrix.os == 'ubuntu:jammy'
+        run: equivs-build doc/equivs/control.ubuntu.jammy
+      - if: matrix.os == 'ubuntu:noble'
+        run: equivs-build doc/equivs/control.ubuntu.noble    
       - name: Install build dependencies
         run: apt-get install --yes --no-install-recommends ./3dtk-build-deps_1.0_all.deb
-      - name: Build
+      - name: Configure CMake (WITH_ROS)
+        if: matrix.os == 'ubuntu:focal'
         run: |
           cmake -H. -B.build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_VERBOSE_MAKEFILE=ON -DWITH_ROS=ON -G Ninja
+      - name: Configure CMake
+        if: matrix.os != 'ubuntu:focal'
+        run: |
+          cmake -H. -B.build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_VERBOSE_MAKEFILE=ON -G Ninja
+      - name: Build and Test
+        run: |
           cmake --build .build --config RelWithDebInfo
-          CTEST_OUTPUT_ON_FAILURE=true cmake --build .build --config RelWithDebInfo --target test
+          CTEST_OUTPUT_ON_FAILURE=true cmake --build .build --config RelWithDebInfo --target test

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "3rdparty/cctag"]
 	path = 3rdparty/cctag
 	url = https://github.com/JMUWRobotics/CCTag.git
+[submodule "3rdparty/paruco"]
+	path = 3rdparty/paruco
+	url = https://github.com/JMUWRobotics/PArUco.git

3rdparty/CMakeLists.txt

@@ -140,7 +140,7 @@ endif()
 add_subdirectory(rply-1.1.4)
 
 if(WITH_CALIB)
-  if(NOT EXISTS ${PROJECT_SOURCE_DIR}/3rdparty/cctag/CMakeLists.txt)
+  if(NOT EXISTS ${PROJECT_SOURCE_DIR}/3rdparty/cctag/CMakeLists.txt OR NOT EXISTS ${PROJECT_SOURCE_DIR}/3rdparty/paruco/CMakeLists.txt)
     message(FATAL_ERROR "CCTag submodule is missing. Please run `git submodule update --init --recursive` in the project root.")
   endif()
 
@@ -157,6 +157,8 @@ if(WITH_CALIB)
   set(CCTAG_BUILD_DOC OFF)
   set(BUILD_SHARED_LIBS OFF)
   add_subdirectory(cctag EXCLUDE_FROM_ALL)
+
+  add_subdirectory(paruco EXCLUDE_FROM_ALL)
 endif()
 
 IF(WITH_E57)

3rdparty/paruco

@@ -1,6 +1,6 @@
 # Installation
 
-## Ubuntu 20.04 Focal Fossa
+## Debian based Linux
 
 The easiest way to make sure that you install the right dependencies for
 unpackaged software like _3DTK_ on Debian based distributions is to build a
@@ -37,13 +37,15 @@ To download 3DTK and install its dependencies, run:
 
 ```
 $ sudo apt-get install --no-install-recommends equivs subversion
-$ svn checkout svn://svn.code.sf.net/p/slam6d/code/trunk slam6d-code
-$ cd slam6d-code
+$ git clone https://github.com/JMUWRobotics/3DTK.git
+$ cd 3DTK
 $ equivs-build doc/equivs/control.ubuntu.focal
 $ sudo apt install ./3dtk-build-deps_1.0_all.deb
 $ make
 ```
 
+If you dont run a Debian based Linux like Ubuntu, you may install the dependencies manually. 
+For further information have a look at the dependencies in doc/equivs/
 You can now use 3DTK, for example by running these tools:
 
 ```

INSTALL.md

@@ -1,7 +1,6 @@
 # 3DTK - The 3D Toolkit
 
-[![Build Status](https://travis-ci.org/3DTK/3DTK.svg?branch=master)](https://travis-ci.org/3DTK/3DTK)
-[![Build status](https://ci.appveyor.com/api/projects/status/7f8n86ed859vw8j4/branch/master?svg=true)](https://ci.appveyor.com/project/josch/3dtk/branch/master)
+[![CI](https://github.com/JMUWRobotics/3DTK/actions/workflows/main.yml/badge.svg?event=push)](https://github.com/JMUWRobotics/3DTK/actions/workflows/main.yml)
 
 ## About
 _The 3D Toolkit_ provides algorithms and methods to process 3D point clouds. It includes automatic high-accurate registration (6D simultaneous localization and mapping, 6D SLAM) and other tools, e.g., a fast 3D viewer, plane extraction software, etc. Several file formats for the point clouds are natively supported, new formats can be implemented easily. Check out our [website (threedtk.de)](http://threedtk.de) for more information.
@@ -19,6 +18,27 @@ Alternatively on **Windows**, execute the batch script `build.cmd` either from t
 
 Some Boost libraries (_graph, regex, serialization, filesystem, interprocess_) are needed to compile the slam6D program. **_3DTK_ is not compatible with boost version 1.49.** Please make sure to use a different version.
 
+### ROS Support
+3DTK currently supports ROS1 distributions like Kinetic, Melodic, and Noetic. Compile the project with the `WITH_ROS` flag. You can call `make config` from the project root directory to set this flag. We are working on support for ROS2. 
+
+Dependency list for compiling with ROS:
+- catkin
+- ros-std-msgs
+- ros-std-srvs
+- librosbag-dev
+- libnav-msgs-dev
+- libstd-srvs-dev
+- libtf2-sensor-msgs-dev
+- libtf2-eigen-dev
+- libtf2-kdl-dev
+- libtf-conversions-dev
+- libpcl-conversions-dev
+- liblaser-geometry-dev
+- libkdl-parser-dev
+- liburdf-dev
+- librobot-state-publisher-dev
+- liborocos-bfl-dev
+
 ### 3DConnexion Space Mouse Support
 The Applications `show` and `qtshow` supports navigation with the _3DConnexion SpaceMouse_. The left key on the _SpaceMouse Wireless/Compact_ fixes the rotation and the right key fixes the translation.
 The keyset for other models can be different.

README.md

@@ -28,6 +28,8 @@ class ArucoDetector : public Detector
     void writeDetectionsToFile(const std::string& path);
     void readDetectionsFromFile(const std::string& path);
 
+    static int dictionaryFromString(const std::string &str) noexcept(false);
+
 private:
     std::vector<AprilTag::AprilTag3f> _patternPoints;
     std::string _dictionaryName;

include/calibration/ArucoDetector.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include "calibration/Detector.h"
+
+#include "paruco.hpp"
+
+namespace calibration {
+
+class PArUcoDetector : public Detector {
+public:
+    PArUcoDetector(float tagExpandScale = 0.5f, const std::string& dictionaryName = "DICT_6X6_250");
+    ~PArUcoDetector() = default;
+    bool detect(const cv::Mat& image) noexcept(false);
+    void writeDetectionsToFile(const std::string& path);
+    void readDetectionsFromFile(const std::string& path);
+private:
+    PArUco::Params _params;
+    PArUco::Detections _detections;
+};
+
+}