Make tinyply dependency optional

CMakeLists.txt

@@ -27,6 +27,7 @@ option(BUILD_DOC "Build documentation" ON)
 option(BUILD_WITH_MARCH_NATIVE "Build with flag march=native" OFF)
 option(ENABLE_MKL "Try to use Eigen with MKL" OFF)
 option(ENABLE_DIAGNOSTIC_PRINT "Enable printing of diagnostic messages" ON)
+option(TEASERPP_USE_EXTERNAL_TINPLY "Use an external tinyply library instead of the internal one." OFF)
 
 if (ENABLE_DIAGNOSTIC_PRINT)
     message(STATUS "Enable printing of diagnostic messages.")

teaser/CMakeLists.txt

@@ -12,13 +12,15 @@ if (NOT pmc_POPULATED)
   add_subdirectory(${pmc_SOURCE_DIR} ${pmc_BINARY_DIR} EXCLUDE_FROM_ALL)
 endif()
 
-FetchContent_Declare(tinyply
-    GIT_REPOSITORY https://github.com/ddiakopoulos/tinyply.git
-    BUILD_COMMAND ""
-    INSTALL_COMMAND ""
-)
-if (NOT tinyply_POPULATED)
-  FetchContent_Populate(tinyply)
+if(NOT TEASERPP_USE_EXTERNAL_TINPLY)
+    FetchContent_Declare(tinyply
+        GIT_REPOSITORY https://github.com/ddiakopoulos/tinyply.git
+        BUILD_COMMAND ""
+        INSTALL_COMMAND ""
+    )
+    if (NOT tinyply_POPULATED)
+    FetchContent_Populate(tinyply)
+    endif()
 endif()
 
 FetchContent_Declare(spectra

teaser/include/teaser/graph.h

@@ -41,7 +41,6 @@ class Graph {
     adj_list_.resize(adj_list.size());
     num_edges_ = 0;
     for (const auto& e_list : adj_list) {
-      const auto& v = e_list.first;
       adj_list_[e_list.first] = e_list.second;
       num_edges_ += e_list.second.size();
     }

teaser/src/graph.cc

@@ -51,7 +51,7 @@ std::vector<int> teaser::MaxCliqueSolver::findMaxClique(teaser::Graph graph) {
   in.heu_strat = "kcore";
   in.vertex_search_order = "deg";
 
-  // vector to represent max clique
+  // std::vector to represent max clique
   std::vector<int> C;
 
   // upper-bound of max clique
@@ -69,7 +69,7 @@ std::vector<int> teaser::MaxCliqueSolver::findMaxClique(teaser::Graph graph) {
                                   static_cast<double>(all_vertices.size()))) {
     TEASER_DEBUG_INFO_MSG("Using K-core heuristic finder.");
     // remove all nodes with core number less than max core number
-    // k_cores is a vector saving the core number of each vertex
+    // k_cores is a std::vector saving the core number of each vertex
     auto k_cores = G.get_kcores();
     for (int i = 1; i < k_cores->size(); ++i) {
       // Note: k_core has size equals to num vertices + 1

test/teaser/graph-test.cc

@@ -7,15 +7,14 @@
  */
 
 #include "gtest/gtest.h"
-#include "gmock/gmock.h"
 
 #include <iostream>
 #include <map>
 
 #include "pmc/pmc.h"
+#include "pmc/pmc_bool_vector.h"
 #include "pmc/pmc_input.h"
 #include "teaser/graph.h"
-#include "test_utils.h"
 
 /**
  * A helper function to generate mock input for testing PMC code
@@ -47,11 +46,11 @@ pmc::input generateMockInput() {
  * @param adj a bool** to the adjcency matrix
  * @param nodes number of nodes in the graph
  */
-void printAdjMatirx(const std::vector<std::vector<pmc::bool_wrapper>>& adj, int nodes) {
+void printAdjMatirx(const std::vector<pmc::bool_vector>& adj, int nodes) {
   std::cout << "Adjacency matrix: " << std::endl;
-  for (auto& i : adj) {
-    for (auto j : i) {
-      std::cout << j << " ";
+  for (const auto& row : adj) {
+    for (std::size_t i = 0; i < row.size(); ++i) {
+      std::cout << row[i] << " ";
     }
     std::cout << std::endl;
   }

test/teaser/registration-test.cc

@@ -188,7 +188,7 @@ TEST(RegistrationTest, SolveForRotation) {
     params.rotation_gnc_factor = 1.4;
     params.rotation_estimation_algorithm =
         teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM::QUATRO;
-    params.inlier_selection_mode ==
+    params.inlier_selection_mode =
         teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::PMC_HEU;
     params.rotation_cost_threshold = 0.005;
 
@@ -454,13 +454,12 @@ TEST(RegistrationTest, OutlierDetection) {
 
   auto solution = solver.getSolution();
   EXPECT_LE(teaser::test::getAngularError(T.topLeftCorner(3, 3), solution.rotation), 0.2);
-  EXPECT_LE((T.topRightCorner(3, 1) - solution.translation).norm(), 0.1);
+  EXPECT_LE((T.topRightCorner(3, 1) - solution.translation).squaredNorm(), 0.01);
 
   auto final_inliers = solver.getInlierMaxClique();
-
-  EXPECT_EQ(expected_inliers.size(), final_inliers.size());
-  std::sort(expected_inliers.begin(), expected_inliers.end());
   std::sort(final_inliers.begin(), final_inliers.end());
+
+  ASSERT_EQ(expected_inliers.size(), final_inliers.size());
   for (size_t i = 0; i < expected_inliers.size(); ++i) {
     EXPECT_EQ(expected_inliers[i], final_inliers[i]);
   }