Work on core libraries - restructure and add TODOs to fix in next PRs

CMakeLists.txt

@@ -34,6 +34,12 @@ set(EXTERNAL_LIBRARIES_DIRECTORY ${REPOSITORY_DIRECTORY}/external)
 set(HD_CPU_OPTIMIZATION "AUTO" CACHE STRING "CPU optimization target (AUTO, INTEL, AMD, ARM, GENERIC)")
 set_property(CACHE HD_CPU_OPTIMIZATION PROPERTY STRINGS AUTO INTEL AMD ARM GENERIC)
 
+if(APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
+    add_compile_definitions(USE_EXECUTION_PAR_UNSEQ=0)
+else()
+    add_compile_definitions(USE_EXECUTION_PAR_UNSEQ=1)
+endif()
+
 if (MSVC)
     add_definitions(-D_HAS_STD_BYTE=0)
 

apps/compare_trajectories/mandeye_compare_trajectories.cpp

@@ -15,7 +15,7 @@
 
 #include <Eigen/Eigen>
 
-#include <transformations.h>
+#include <Core/transformations.h>
 
 #include <portable-file-dialogs.h>
 

apps/concatenate_multi_livox/concatenate_multi_livox.cpp

@@ -1,5 +1,5 @@
 #include "../lidar_odometry_step_1/lidar_odometry_utils.h"
-#include "export_laz.h"
+#include <Core/export_laz.h>
 #include <filesystem>
 #include <iostream>
 

apps/console_tools/matrix_mul.cpp

@@ -1,8 +1,9 @@
 #include <Eigen/Eigen>
 #include <fstream>
 #include <iostream>
-#include <structures.h>
-#include <transformations.h>
+
+#include <Core/structures.h>
+#include <Core/transformations.h>
 
 int main(int argc, char* argv[])
 {

apps/console_tools/multiply_timestamps_session_point_cloud_laz.cpp

@@ -1,15 +1,14 @@
 #include <Eigen/Eigen>
 #include <fstream>
 #include <iostream>
-#include <structures.h>
-#include <transformations.h>
 
-#include <point_clouds.h>
+#include <Core/export_laz.h>
+#include <Core/point_clouds.h>
+#include <Core/structures.h>
+#include <Core/transformations.h>
 
 #include <laszip/laszip_api.h>
 
-#include <export_laz.h>
-
 #include <spdlog/spdlog.h>
 
 bool load_pc(PointCloud& pc, const std::string& input_file_name)

apps/console_tools/multiply_timestamps_session_trajectory_csv.cpp

@@ -1,10 +1,10 @@
 #include <Eigen/Eigen>
 #include <fstream>
 #include <iostream>
-#include <structures.h>
-#include <transformations.h>
 
-#include <point_clouds.h>
+#include <Core/point_clouds.h>
+#include <Core/structures.h>
+#include <Core/transformations.h>
 
 inline void split(std::string& str, char delim, std::vector<std::string>& out)
 {

apps/lidar_odometry_step_1/drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp

@@ -12,19 +12,18 @@
 
 #include "lidar_odometry.h"
 #include "lidar_odometry_utils.h"
-#include <export_laz.h>
-#include <registration_plane_feature.h>
 
-#include <utils.hpp>
+#include <Core/export_laz.h>
+#include <Core/pfd_wrapper.hpp>
+#include <Core/registration_plane_feature.h>
+#include <Core/session.h>
+#include <Core/utils.hpp>
 
 #include "toml_io.h"
 #include <HDMapping/Version.hpp>
 #include <chrono>
 #include <ctime>
-#include <export_laz.h>
 #include <mutex>
-#include <pfd_wrapper.hpp>
-#include <session.h>
 #include <spdlog/cfg/env.h>
 #include <spdlog/spdlog.h>
 

apps/lidar_odometry_step_1/lidar_odometry.cpp

@@ -2,7 +2,8 @@
 #include "tbb/tbb.h"
 #include <UTL/profiler.hpp>
 #include <mutex>
-#include <system_info.hpp>
+
+#include <Core/system_info.hpp>
 
 namespace fs = std::filesystem;
 

apps/lidar_odometry_step_1/lidar_odometry.h

@@ -6,10 +6,11 @@
 #include "lidar_odometry_utils.h"
 #include "toml_io.h"
 #include <HDMapping/Version.hpp>
-#include <export_laz.h>
 #include <laszip/laszip_api.h>
 #include <nlohmann/json.hpp>
-#include <session.h>
+
+#include <Core/export_laz.h>
+#include <Core/session.h>
 
 // #define SAMPLE_PERIOD (1.0 / 200.0)
 

apps/lidar_odometry_step_1/lidar_odometry_gui.cpp

@@ -12,19 +12,18 @@
 
 #include "lidar_odometry.h"
 #include "lidar_odometry_utils.h"
-#include <export_laz.h>
-#include <registration_plane_feature.h>
 
-#include <utils.hpp>
+#include <Core/export_laz.h>
+#include <Core/pfd_wrapper.hpp>
+#include <Core/registration_plane_feature.h>
+#include <Core/session.h>
+#include <Core/utils.hpp>
 
 #include "toml_io.h"
 #include <HDMapping/Version.hpp>
 #include <chrono>
 #include <ctime>
-#include <export_laz.h>
 #include <mutex>
-#include <pfd_wrapper.hpp>
-#include <session.h>
 #include <spdlog/cfg/env.h>
 #include <spdlog/spdlog.h>
 

apps/lidar_odometry_step_1/lidar_odometry_utils.cpp

@@ -2,11 +2,12 @@
 #include "csv.hpp"
 #include <algorithm>
 #include <filesystem>
-#include <hash_utils.h>
 #include <regex>
 #include <tbb/parallel_for_each.h>
 #include <tbb/parallel_invoke.h>
 
+#include <Core/hash_utils.h>
+
 #include <spdlog/spdlog.h>
 
 namespace fs = std::filesystem;

apps/lidar_odometry_step_1/lidar_odometry_utils.h

@@ -14,10 +14,11 @@
 #include <Fusion.h>
 #include <common/include/cauchy.h>
 #include <laszip/laszip_api.h>
-#include <ndt.h>
 #include <nlohmann/json.hpp>
-#include <structures.h>
-#include <transformations.h>
+
+#include <Core/ndt.h>
+#include <Core/structures.h>
+#include <Core/transformations.h>
 
 #include <python-scripts/constraints/constraint_fixed_parameter_jacobian.h>
 #include <python-scripts/constraints/relative_pose_tait_bryan_wc_jacobian.h>

apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp

@@ -1,13 +1,13 @@
 #include "lidar_odometry_utils.h"
 #include <UTL/profiler.hpp>
-#include <hash_utils.h>
 #include <spdlog/spdlog.h>
 #include <spdlog/stopwatch.h>
 #include <tbb/combinable.h>
 #include <tbb/parallel_for.h>
 #include <thread>
 
-#include <export_laz.h>
+#include <Core/export_laz.h>
+#include <Core/hash_utils.h>
 
 const double DEG_TO_RAD = M_PI / 180.0f;
 const double RAD_TO_DEG = 180.0f / M_PI;
@@ -598,7 +598,13 @@ void optimize_sf(
     {
         // spdlog::info("start adding lidar observations");
         if (multithread)
-            std::for_each(std::execution::par_unseq, std::begin(points_local), std::end(points_local), hessian_fun);
+            std::for_each(
+#if USE_EXECUTION_PAR_UNSEQ
+                std::execution::par_unseq,
+#endif
+                std::begin(points_local),
+                std::end(points_local),
+                hessian_fun);
         else
             std::for_each(std::begin(points_local), std::end(points_local), hessian_fun);
         // spdlog::info("adding lidar observations finished");
@@ -915,7 +921,14 @@ void optimize_sf2(
     std::vector<Blocks> AtPAndtBlocksToSum(intermediate_points.size());
 
     if (useMultithread)
-        std::transform(std::execution::par_unseq, std::begin(indexes), std::end(indexes), std::begin(AtPAndtBlocksToSum), hessian_fun);
+        std::transform(
+#if USE_EXECUTION_PAR_UNSEQ
+            std::execution::par_unseq,
+#endif
+            std::begin(indexes),
+            std::end(indexes),
+            std::begin(AtPAndtBlocksToSum),
+            hessian_fun);
     else
         std::transform(std::begin(indexes), std::end(indexes), std::begin(AtPAndtBlocksToSum), hessian_fun);
 
@@ -1303,7 +1316,14 @@ void optimize_rigid_sf(
         std::vector<Blocks> blocks(indexes.size());
 
         if (useMultithread) // ToDo fix for this case
-            std::transform(std::execution::par_unseq, std::begin(indexes), std::end(indexes), std::begin(blocks), hessian_fun);
+            std::transform(
+#if USE_EXECUTION_PAR_UNSEQ
+                std::execution::par_unseq,
+#endif
+                std::begin(indexes),
+                std::end(indexes),
+                std::begin(blocks),
+                hessian_fun);
         else
             std::transform(std::begin(indexes), std::end(indexes), std::begin(blocks), hessian_fun);
 
@@ -3306,7 +3326,13 @@ void Consistency(std::vector<WorkerData>& worker_data, const LidarOdometryParams
             };
 
             if (multithread)
-                std::for_each(std::execution::par_unseq, std::begin(points_local), std::end(points_local), hessian_fun);
+                std::for_each(
+#if USE_EXECUTION_PAR_UNSEQ
+                    std::execution::par_unseq,
+#endif
+                    std::begin(points_local),
+                    std::end(points_local),
+                    hessian_fun);
             else
                 std::for_each(std::begin(points_local), std::end(points_local), hessian_fun);
 

apps/livox_mid_360_intrinsic_calibration/livox_mid_360_intrinsic_calibration.cpp

@@ -15,20 +15,16 @@
 
 #include <Eigen/Eigen>
 
-#include <transformations.h>
-
-#include "pfd_wrapper.hpp"
+#include <Core/export_laz.h>
+#include <Core/hash_utils.h>
+#include <Core/pair_wise_iterative_closest_point.h>
+#include <Core/pfd_wrapper.hpp>
+#include <Core/transformations.h>
 
 #include "../lidar_odometry_step_1/lidar_odometry_utils.h"
 
 #include <HDMapping/Version.hpp>
 
-#include <pair_wise_iterative_closest_point.h>
-
-#include <export_laz.h>
-
-#include <hash_utils.h>
-
 #include <filesystem>
 #include <mutex>
 
@@ -1530,7 +1526,13 @@ void calibrate_intrinsics()
     std::cout << "start adding lidar observations" << std::endl;
     if (multithread)
     {
-        std::for_each(std::execution::par_unseq, std::begin(point_cloud), std::end(point_cloud), hessian_fun);
+        std::for_each(
+#if USE_EXECUTION_PAR_UNSEQ
+            std::execution::par_unseq,
+#endif
+            std::begin(point_cloud),
+            std::end(point_cloud),
+            hessian_fun);
     }
     else
     {

apps/mandeye_mission_recorder_calibration/mandeye_mission_recorder_calibration.cpp

@@ -13,31 +13,27 @@
 #include <glm/gtc/matrix_transform.hpp>
 
 #include <spdlog/spdlog.h>
-#include <utils.hpp>
 
 #include <Eigen/Eigen>
 
-#include <transformations.h>
-
-#include "pfd_wrapper.hpp"
-
 #include "../lidar_odometry_step_1/lidar_odometry_utils.h"
 #include <filesystem>
 
 #include <HDMapping/Version.hpp>
 
 #include <mutex>
 
-#include <pair_wise_iterative_closest_point.h>
+#include <Core/pair_wise_iterative_closest_point.h>
+#include <Core/pfd_wrapper.hpp>
+#include <Core/transformations.h>
+#include <Core/utils.hpp>
 
 #ifdef _WIN32
 #include "resource.h"
 #include <shellapi.h> // <-- Required for ShellExecuteA
 #include <windows.h>
 #endif
 
-#include <spdlog/spdlog.h>
-
 ///////////////////////////////////////////////////////////////////////////////////
 
 std::string winTitle = std::string("MR calibration ") + HDMAPPING_VERSION_STRING;

apps/mandeye_raw_data_viewer/mandeye_raw_data_viewer.cpp

@@ -13,13 +13,14 @@
 #include <glm/gtc/matrix_transform.hpp>
 
 #include <spdlog/spdlog.h>
-#include <utils.hpp>
 
-#include <Eigen/Eigen>
-
-#include <transformations.h>
+#include <Core/export_laz.h>
+#include <Core/hash_utils.h>
+#include <Core/pfd_wrapper.hpp>
+#include <Core/transformations.h>
+#include <Core/utils.hpp>
 
-#include "pfd_wrapper.hpp"
+#include <Eigen/Eigen>
 
 #include "../lidar_odometry_step_1/lidar_odometry.h"
 #include "../lidar_odometry_step_1/lidar_odometry_utils.h"
@@ -30,12 +31,8 @@
 #include "tbb/tbb.h"
 #include <mutex>
 
-#include <export_laz.h>
-
 #include <opencv2/opencv.hpp>
 
-#include <hash_utils.h>
-
 #ifdef _WIN32
 #include "resource.h"
 #include <shellapi.h> // <-- Required for ShellExecuteA

apps/mandeye_single_session_viewer/mandeye_single_session_viewer.cpp

@@ -14,13 +14,13 @@
 #include <glm/gtc/matrix_transform.hpp>
 
 #include <spdlog/spdlog.h>
-#include <utils.hpp>
 
-#include <Eigen/Eigen>
-
-#include <transformations.h>
+#include <Core/GL_assert.h>
+#include <Core/pfd_wrapper.hpp>
+#include <Core/transformations.h>
+#include <Core/utils.hpp>
 
-#include "pfd_wrapper.hpp"
+#include <Eigen/Eigen>
 
 #include "../lidar_odometry_step_1/lidar_odometry_utils.h"
 #include <filesystem>
@@ -34,7 +34,6 @@
 #include <shellapi.h> // <-- Required for ShellExecuteA
 #include <windows.h>
 #endif
-#include <GL_assert.h>
 
 ///////////////////////////////////////////////////////////////////////////////////