fix missing setter for params in teaser (#208)

* fix missing setter for params in teaser

* explicitly use ctest and use build testing

* fix python cmake option

Author: nathanhhughes

CMakeLists.txt

@@ -19,7 +19,6 @@ endif ()
 
 # Options
 option(BUILD_SHARED_LIBS "Build shared libraries" ON)
-option(BUILD_TESTS "Build tests" ON)
 option(BUILD_TEASER_FPFH "Build TEASER++ wrappers for PCL FPFH estimation." OFF)
 option(BUILD_MATLAB_BINDINGS "Build MATLAB bindings" OFF)
 option(BUILD_PYTHON_BINDINGS "Build Python bindings" OFF)
@@ -78,7 +77,8 @@ endif ()
 set(TEASERPP_ROOT ${CMAKE_CURRENT_LIST_DIR})
 add_subdirectory(teaser)
 
-if (BUILD_TESTS)
+include(CTest)
+if (BUILD_TESTING)
     enable_testing()
     add_subdirectory(test)
 endif ()

pyproject.toml

@@ -52,7 +52,7 @@ wheel.install-dir = "teaserpp_python.libs"
 
 [tool.scikit-build.cmake.define]
 BUILD_PYTHON_BINDINGS = "ON"
-BUILD_TESTS = "OFF"
+BUILD_TESTING = "OFF"
 BUILD_SHARED_LIBS = "OFF"
 
 [tool.cibuildwheel]

teaser/include/teaser/registration.h

@@ -321,8 +321,9 @@ class FastGlobalRegistrationSolver : public GNCRotationSolver {
  * H. Lim et al., "A Single Correspondence Is Enough: Robust Global Registration
  * to Avoid Degeneracy in Urban Environments," in Robotics - ICRA 2022,
  * Accepted. To appear. arXiv:2203.06612 [cs], Mar. 2022.
- * Quatro and TEASER++ differ in the estimation of rotation. Quatro forgoes roll and pitch estimation,
- * yet it is empirically found that it makes the algorithm more robust against degeneracy.
+ * Quatro and TEASER++ differ in the estimation of rotation. Quatro forgoes roll and pitch
+ * estimation, yet it is empirically found that it makes the algorithm more robust against
+ * degeneracy.
  */
 class QuatroSolver : public GNCRotationSolver {
 public:
@@ -515,28 +516,21 @@ class RobustRegistrationSolver {
 
   RobustRegistrationSolver() = default;
 
-
   /**
    * A constructor that takes in parameters and initialize the estimators
    * accordingly. If the parameters need to be reused consider instantiating
    * a Params struct.
    */
-  RobustRegistrationSolver(
-      double noise_bound,
-      double cbar2,
-      bool estimate_scaling,
-      ROTATION_ESTIMATION_ALGORITHM rotation_estimation_algorithm,
-      double rotation_gnc_factor,
-      size_t rotation_max_iterations,
-      double rotation_cost_threshold,
-      INLIER_GRAPH_FORMULATION rotation_tim_graph,
-      INLIER_SELECTION_MODE inlier_selection_mode,
-      double kcore_heuristic_threshold,
-      bool use_max_clique, // deprecated
-      bool max_clique_exact_solution, // deprecated
-      double max_clique_time_limit,
-      int max_clique_num_threads = 0
-  );
+  RobustRegistrationSolver(double noise_bound, double cbar2, bool estimate_scaling,
+                           ROTATION_ESTIMATION_ALGORITHM rotation_estimation_algorithm,
+                           double rotation_gnc_factor, size_t rotation_max_iterations,
+                           double rotation_cost_threshold,
+                           INLIER_GRAPH_FORMULATION rotation_tim_graph,
+                           INLIER_SELECTION_MODE inlier_selection_mode,
+                           double kcore_heuristic_threshold,
+                           bool use_max_clique,            // deprecated
+                           bool max_clique_exact_solution, // deprecated
+                           double max_clique_time_limit, int max_clique_num_threads = 0);
 
   /**
    * A constructor that takes in parameters and initialize the estimators accordingly.
@@ -827,55 +821,40 @@ class RobustRegistrationSolver {
    * Reset the solver using the provided params
    * @param params a Params struct
    */
-  void reset(
-      const double noise_bound,
-      const double cbar2,
-      const bool estimate_scaling,
-      const ROTATION_ESTIMATION_ALGORITHM rotation_estimation_algorithm,
-      const double rotation_gnc_factor,
-      const size_t rotation_max_iterations,
-      const double rotation_cost_threshold,
-      const INLIER_GRAPH_FORMULATION rotation_tim_graph,
-      const INLIER_SELECTION_MODE inlier_selection_mode,
-      const double kcore_heuristic_threshold,
-      const bool use_max_clique , // deprecated
-      const bool max_clique_exact_solution, // deprecated
-      const double max_clique_time_limit,
-      const int max_clique_num_threads
-  ) {
+  void reset(const Params& params) {
+    params_ = params;
     // Initialize the scale estimator
-    if (estimate_scaling) {
+    if (params_.estimate_scaling) {
       setScaleEstimator(
-          std::make_unique<teaser::TLSScaleSolver>(noise_bound, cbar2));
+          std::make_unique<teaser::TLSScaleSolver>(params_.noise_bound, params_.cbar2));
     } else {
       setScaleEstimator(
-          std::make_unique<teaser::ScaleInliersSelector>(noise_bound, cbar2));
+          std::make_unique<teaser::ScaleInliersSelector>(params_.noise_bound, params_.cbar2));
     }
 
     // Initialize the rotation estimator
-    teaser::GNCRotationSolver::Params rotation_params {
-      rotation_max_iterations, rotation_cost_threshold,
-      rotation_gnc_factor, noise_bound
-    };
-
-    switch (rotation_estimation_algorithm) {
-      case ROTATION_ESTIMATION_ALGORITHM::GNC_TLS: { // GNC-TLS method
-        setRotationEstimator(std::make_unique<teaser::GNCTLSRotationSolver>(rotation_params));
-        break;
-      }
-      case ROTATION_ESTIMATION_ALGORITHM::FGR: { // FGR method
-        setRotationEstimator(std::make_unique<teaser::FastGlobalRegistrationSolver>(rotation_params));
-        break;
-      }
-      case ROTATION_ESTIMATION_ALGORITHM::QUATRO: { // Quatro method
-        setRotationEstimator(std::make_unique<teaser::QuatroSolver>(rotation_params));
-        break;
-      }
+    teaser::GNCRotationSolver::Params rotation_params{
+        params_.rotation_max_iterations, params_.rotation_cost_threshold,
+        params_.rotation_gnc_factor, params_.noise_bound};
+
+    switch (params_.rotation_estimation_algorithm) {
+    case ROTATION_ESTIMATION_ALGORITHM::GNC_TLS: { // GNC-TLS method
+      setRotationEstimator(std::make_unique<teaser::GNCTLSRotationSolver>(rotation_params));
+      break;
+    }
+    case ROTATION_ESTIMATION_ALGORITHM::FGR: { // FGR method
+      setRotationEstimator(std::make_unique<teaser::FastGlobalRegistrationSolver>(rotation_params));
+      break;
+    }
+    case ROTATION_ESTIMATION_ALGORITHM::QUATRO: { // Quatro method
+      setRotationEstimator(std::make_unique<teaser::QuatroSolver>(rotation_params));
+      break;
+    }
     }
 
     // Initialize the translation estimator
     setTranslationEstimator(
-        std::make_unique<teaser::TLSTranslationSolver>(noise_bound, cbar2));
+        std::make_unique<teaser::TLSTranslationSolver>(params_.noise_bound, params_.cbar2));
 
     // Clear member variables
     max_clique_.clear();
@@ -888,23 +867,21 @@ class RobustRegistrationSolver {
    * Reset the solver using the provided params
    * @param params a Params struct
    */
-  void reset(const Params& params) {
-    reset(
-      params.noise_bound,
-      params.cbar2,
-      params.estimate_scaling,
-      params.rotation_estimation_algorithm,
-      params.rotation_gnc_factor,
-      params.rotation_max_iterations,
-      params.rotation_cost_threshold,
-      params.rotation_tim_graph,
-      params.inlier_selection_mode,
-      params.kcore_heuristic_threshold,
-      params.use_max_clique,
-      params.max_clique_exact_solution,
-      params.max_clique_time_limit,
-      params.max_clique_num_threads
-    );
+  void reset(const double noise_bound, const double cbar2, const bool estimate_scaling,
+             const ROTATION_ESTIMATION_ALGORITHM rotation_estimation_algorithm,
+             const double rotation_gnc_factor, const size_t rotation_max_iterations,
+             const double rotation_cost_threshold,
+             const INLIER_GRAPH_FORMULATION rotation_tim_graph,
+             const INLIER_SELECTION_MODE inlier_selection_mode,
+             const double kcore_heuristic_threshold,
+             const bool use_max_clique,            // deprecated
+             const bool max_clique_exact_solution, // deprecated
+             const double max_clique_time_limit, const int max_clique_num_threads) {
+    reset(Params{noise_bound, cbar2, estimate_scaling, rotation_estimation_algorithm,
+                 rotation_gnc_factor, rotation_max_iterations, rotation_cost_threshold,
+                 rotation_tim_graph, inlier_selection_mode, kcore_heuristic_threshold,
+                 use_max_clique, max_clique_exact_solution, max_clique_time_limit,
+                 max_clique_num_threads});
   }
 
   /**