update after OpenGR update

OpenGR HEAD = cbce48e030

Installation/cmake/modules/FindOpenGR.cmake

@@ -1,4 +1,4 @@
-if ( NOT (OpenGR_LIBRARIES AND OpenGR_INCLUDE_DIR) )
+if ( OpenGR_INCLUDE_DIR )
 
 # look for headers
   if (NOT OpenGR_INCLUDE_DIR)
@@ -13,21 +13,8 @@ if ( NOT (OpenGR_LIBRARIES AND OpenGR_INCLUDE_DIR) )
     endif()
   endif()
 
-# look for library
-  if (NOT OpenGR_LIBRARIES)
-    find_library(OpenGR_algo_LIBRARY
-                 NAMES opengr_algo)
-
-    if (NOT OpenGR_algo_LIBRARY)
-      message(STATUS "Can not find OpenGR libraries")
-    else()
-      message(STATUS "Found OpenGR algorithm library: ${OpenGR_algo_LIBRARY}")
-      set(OpenGR_LIBRARIES "${OpenGR_algo_LIBRARY}" CACHE PATH "OpenGR libraries")
-    endif()
-  endif()
-
 endif()
 
-if ( OpenGR_LIBRARIES AND OpenGR_INCLUDE_DIR )
+if ( OpenGR_INCLUDE_DIR )
   set(OpenGR_FOUND ON)
 endif()

Point_set_processing_3/examples/Point_set_processing_3/CMakeLists.txt

@@ -84,7 +84,6 @@ if ( CGAL_FOUND )
     if (OpenGR_FOUND)
       include_directories(SYSTEM ${OpenGR_INCLUDE_DIR})
       create_single_source_cgal_program( "registration_with_OpenGR.cpp" )
-      target_link_libraries("registration_with_OpenGR" PRIVATE ${OpenGR_LIBRARIES})
     else()
       message(STATUS "NOTICE: registration_with_OpenGR requires OpenGR, and will not be compiled.")
     endif()

Point_set_processing_3/examples/Point_set_processing_3/registration_with_OpenGR.cpp

@@ -47,7 +47,8 @@ int main(int argc, const char** argv)
   input.close();
 
   // OpenGR options
-  GlobalRegistration::Match4PCSOptions options;
+  CGAL::OpenGR::Options options;
+
   bool overlap_OK = options.configureOverlap(0.7);
   if(!overlap_OK)
   {

Point_set_processing_3/include/CGAL/OpenGR/align.h

@@ -25,8 +25,9 @@
 
 #include <boost/type_traits/is_same.hpp>
 
-#include <super4pcs/algorithms/super4pcs.h>
-#include <super4pcs/utils/geometry.h>
+#include <gr/algorithms/FunctorSuper4pcs.h>
+#include <gr/algorithms/PointPairFilter.h>
+#include <gr/utils/geometry.h>
 
 #include <Eigen/Dense>
 
@@ -37,6 +38,11 @@ namespace CGAL {
 
 namespace OpenGR {
 
+typedef gr::Match4pcsBase<gr::FunctorSuper4PCS,
+                          gr::DummyTransformVisitor,
+                          gr::AdaptivePointFilter,
+                          gr::AdaptivePointFilter::Options>::OptionsType Options;
+
 namespace internal {
 
 template <class Kernel,
@@ -50,20 +56,27 @@ double
 align(const PointRange1& range1,    PointRange2& range2,
             PointMap1 point_map1,   PointMap2 point_map2,
             VectorMap1 vector_map1, VectorMap2 vector_map2,
-            GlobalRegistration::Match4PCSOptions& options)
+            Options& options)
 {
   typedef typename Kernel::Point_3 Point_3;
   typedef typename Kernel::Vector_3 Vector_3;
-  namespace GR=GlobalRegistration;
+  namespace GR=gr;
 
   std::vector<GR::Point3D> set1, set2;
   std::vector<GR::Point3D::VectorType> normals1, normals2;
 
-  typedef GR::Sampling::UniformDistSampler SamplerType;
-  SamplerType sampler;
+  // TODO: see if should allow user to change those types
+  typedef Eigen::Matrix<gr::Point3D::Scalar, 4, 4> MatrixType;
+  typedef gr::UniformDistSampler SamplerType;
+  typedef gr::DummyTransformVisitor TrVisitorType;
+  typedef gr::Match4pcsBase<gr::FunctorSuper4PCS,
+                            TrVisitorType,
+                            gr::AdaptivePointFilter,
+                            gr::AdaptivePointFilter::Options> MatcherType;
 
-  // prepare matcher ressources
-  GR::Match4PCSBase::MatrixType mat (GR::Match4PCSBase::MatrixType::Identity());
+  MatrixType mat (MatrixType::Identity());
+  SamplerType sampler;
+  TrVisitorType visitor;
 
   // copy points and normal
   const std::size_t nbpt1 = range1.size();
@@ -93,14 +106,11 @@ align(const PointRange1& range1,    PointRange2& range2,
   // logger
   GR::Utils::Logger logger(GR::Utils::NoLog);
 
-  // TODO add alternative?
-  GR::MatchSuper4PCS matcher(options, logger);
-  // TODO: add as a named parameter?
-  GR::Match4PCSBase::DummyTransformVisitor visitor;
-
-  // Match and return the score (estimated overlap or the LCP).
+  // matcher
+  MatcherType matcher(options, logger);
   double score =
-    matcher.ComputeTransformation(set1, &set2, mat, sampler, visitor );
+    matcher.ComputeTransformation(set1, set2, mat, sampler, visitor);
+  gr::Utils::TransformPointCloud( set2, mat);
 
   CGAL_assertion(mat.coeff(3,0) == 0);
   CGAL_assertion(mat.coeff(3,1) == 0);
@@ -137,7 +147,7 @@ align(const PointRange1& point_set_1, PointRange2& point_set_2,
       const NamedParameters1& np1, const NamedParameters2& np2)
 {
   namespace PSP = CGAL::Point_set_processing_3;
-  namespace GR = GlobalRegistration;
+  namespace GR = gr;
   using boost::choose_param;
   using boost::get_param;
 
@@ -161,8 +171,7 @@ align(const PointRange1& point_set_1, PointRange2& point_set_2,
   PointMap1 point_map2 = choose_param(get_param(np2, internal_np::point_map), PointMap2());
   NormalMap2 normal_map2 = choose_param(get_param(np2, internal_np::normal_map), NormalMap2());
 
-  GR::Match4PCSOptions options = choose_param(get_param(np1, internal_np::opengr_options),
-                                              GR::Match4PCSOptions());
+  Options options = choose_param(get_param(np1, internal_np::opengr_options), Options());
 
   return internal::align<Kernel>(point_set_1, point_set_2,
                                  point_map1, point_map2,