Fix compilation issues and remove dependency on PCL library​

CMakeLists.txt

@@ -14,13 +14,11 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
 
 set(CAFFE2_USE_CUDNN on)
 
-set(Boost_LIBRARY_DIR /usr/lib/x86_64-linux-gnu/)
-# set(PCL_DIR /home/lzy/dependency/pcl/build)
-find_package(PCL REQUIRED)
+
 # Uncomment the following line if you want to solve CMake Warning "Failed to compute shorthash for libnvrtc.so"
 # set(PYTHON_EXECUTABLE "/usr/bin/python3")
 # set(Torch_DIR /home/lzy/workingspace/Photo-SLAM/Torch/libtorch/share/cmake/Torch)
-set(Torch_DIR /home/lzy/dependency/libtorch/share/cmake/Torch)
+# set(Torch_DIR /home/lzy/dependency/libtorch/share/cmake/Torch)
 
 find_package(Torch REQUIRED)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS} -pthread")
@@ -66,7 +64,6 @@ include_directories(
     ${ORB_SLAM3_SOURCE_DIR}/Thirdparty/Sophus
     ${EIGEN3_INCLUDE_DIR}
     ${OPENGL_INCLUDE_DIR}
-    ${PCL_INCLUDE_DIRS}
     ${TorchScatter_INCLUDE_DIRS})
 
 ##################################################################################
@@ -180,7 +177,6 @@ target_link_libraries(gaussian_mapper
     Eigen3::Eigen
     simple_knn
     cuda_rasterizer
-    ${PCL_LIBRARIES}
     /usr/local/lib/libtorchscatter.so
     ${OpenMP_CXX_FLAGS})
 
@@ -322,4 +318,4 @@ target_link_libraries(scannet_rgbd
 #         gaussian_mapper
 #         ${ORB_SLAM3_SOURCE_DIR}/lib/libORB_SLAM3.so
 #         ${realsense2_LIBRARY})
-# endif()
+# endif()

build.sh

@@ -8,7 +8,7 @@
 cd ./ORB-SLAM3/Thirdparty/DBoW2
 mkdir build
 cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release  -DOpenCV_DIR=/usr/local/lib/cmake/opencv4# add OpenCV_DIR definitions if needed, example:
+cmake .. -DCMAKE_BUILD_TYPE=Release # add OpenCV_DIR definitions if needed, example:
 #cmake .. -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/home/rapidlab/libs/opencv/lib/cmake/opencv4
 make -j
 
@@ -36,18 +36,15 @@ cd ..
 
 mkdir build
 cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/usr/local/lib/cmake/opencv4 # add OpenCV_DIR definitions if needed, example:
+cmake .. -DCMAKE_BUILD_TYPE=Release # add OpenCV_DIR definitions if needed, example:
 #cmake .. -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/home/rapidlab/libs/opencv/lib/cmake/opencv4
-# make -j128
 make -j8
 
-
 # Photo-SLAM
-echo "Building Photo-SLAM ..."
+echo "Building SEGS-SLAM ..."
 cd ../..
 mkdir build
 cd build
-# cmake .. # add Torch_DIR and/or OpenCV_DIR definitions if needed, example: Debug
-cmake .. -DOpenCV_DIR=/usr/local/lib/cmake/opencv4
-# make -j128
+cmake .. # add Torch_DIR and/or OpenCV_DIR definitions if needed, example:
+#cmake .. -DTorch_DIR=/home/rapidlab/libs/libtorch/share/cmake/Torch -DOpenCV_DIR=/home/rapidlab/libs/opencv/lib/cmake/opencv4
 make -j8

docker/Dockerfile

@@ -38,72 +38,15 @@ RUN apt-get install -y \
     libswscale-dev \
     libswresample-dev \
     libssl-dev \
-    # Install dependencies for PCL
-    libflann-dev \ 
-    libusb-1.0-0-dev \
-    liblz4-dev \
-    libgtest-dev \
-    libopenni-dev \
-    libgdal-dev \
-    libosmesa6-dev \
     && rm -rf /var/lib/apt/lists/*
 
 # cmake
 RUN wget https://github.com/Kitware/CMake/releases/download/v3.22.1/cmake-3.22.1-Linux-x86_64.sh -O /cmake-3.22.1.sh && \
     chmod +x /cmake-3.22.1.sh && \
     /cmake-3.22.1.sh --skip-license --prefix=/usr/local
 
-# pcl1.14.1
-# 安装 VTK 9.3
-RUN mkdir /vtk && cd /vtk && \
-    wget https://github.com/Kitware/VTK/archive/refs/tags/v9.3.0.zip -O vtk-9.3.0.zip && \
-    unzip vtk-9.3.0.zip && \
-    rm vtk-9.3.0.zip
-
-RUN cd /vtk/VTK-9.3.0 && \
-    mkdir build && cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release \
-        -DCMAKE_INSTALL_PREFIX=/usr/local \
-        -DVTK_RENDERING_BACKEND=OpenGL2 \
-        -DVTK_USE_X=OFF \
-        -DVTK_USE_COCOA=OFF \
-        -DVTK_USE_OPENGL2=ON \
-        -DBUILD_SHARED_LIBS=ON \
-        -DVTK_USE_SYSTEM_GLFW=ON \
-        -DBUILD_EXAMPLES=OFF \
-        -DVTK_OPENGL_HAS_OSMESA=ON \
-        -DVTK_USE_OSMESA=OFF \ 
-          .. && \
-    make -j$(nproc) && \
-    make install
-
-# Download PCL 1.14.1 and compile it
-RUN wget https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.14.1.tar.gz -O pcl-1.14.1.tar.gz && \
-    tar -xvzf pcl-1.14.1.tar.gz && \
-    rm pcl-1.14.1.tar.gz
-
-RUN apt-get update && apt-get install -y \
-    libx11-dev \
-    qt5-qmake \
-    qtbase5-dev \
-    freeglut3-dev \
-    libpcap-dev \
-    && rm -rf /var/lib/apt/lists/*
 
 
-# Build PCL
-RUN cd pcl-pcl-1.14.1 && \
-    mkdir build && \
-    cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release \
-        -DWITH_PCL_VISUALIZATION=OFF \
-        -DBUILD_visualization=OFF \
-        -DBUILD_tools=OFF \
-        .. && \
-    make -j$(nproc) && \
-    make install && \
-    ldconfig
-
 # libtorch
 RUN cd / && \
 wget https://download.pytorch.org/libtorch/cu118/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcu118.zip -O libtorch-cu118.zip && \

include/gaussian_mapper.h

@@ -40,13 +40,6 @@
 
 #include <jsoncpp/json/json.h>
 
-#include <pcl/point_cloud.h>
-#include <pcl/point_types.h>
-#include <pcl/filters/voxel_grid.h>
-#include <pcl/kdtree/kdtree_flann.h>
-#include <pcl/common/transforms.h>
-#include <condition_variable>
-#include <pcl/visualization/cloud_viewer.h>
 
 #include "ORB-SLAM3/include/System.h"
 #include "ORB-SLAM3/Thirdparty/Sophus/sophus/se3.hpp"
@@ -280,11 +273,6 @@ class GaussianMapper
     std::map<camera_id_t, torch::Tensor> viewer_main_undistort_mask_;
     std::map<camera_id_t, torch::Tensor> viewer_sub_undistort_mask_;
 
-    pcl::KdTreeFLANN<pcl::PointXYZRGB>::Ptr kdtreePointsfull;
-    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloud;
-    pcl::VoxelGrid<pcl::PointXYZRGBL> downSizeFilter;
-    pcl::VoxelGrid<pcl::PointXYZRGB> downSizeFilter1;
-    pcl::VoxelGrid<pcl::PointXYZRGB> downSizeFilter2;
     float filterResolution=0.01;
 
     int num_cameras_;

include/gaussian_model.h

@@ -40,20 +40,10 @@
 #include "mlp.h"
 #include "embedding.h"
 
-#include <pcl/point_types.h>
-#include <pcl/point_cloud.h>
-#include <pcl/filters/voxel_grid.h>
-#include <pcl/octree/octree_pointcloud.h>
-#include <pcl/io/pcd_io.h>
-#include <pcl/common/common.h>
-#include <pcl/filters/passthrough.h>
-
 #include <torchscatter/scatter.h>
 #include <torchscatter/cuda/scatter_cuda.h>
 #include <torch/script.h> 
 
-using PointT = pcl::PointXYZRGB;
-using PointCloudT = pcl::PointCloud<PointT>;
 
 #define GAUSSIAN_MODEL_TENSORS_TO_VEC                        \
     this->Tensor_vec_anchor = {this->_anchor};              \

src/gaussian_mapper.cpp

@@ -216,9 +216,6 @@ GaussianMapper::GaussianMapper(
         this->scene_->addCamera(camera);
     }
 
-    kdtreePointsfull.reset(new pcl::KdTreeFLANN<pcl::PointXYZRGB>());
-    pointCloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>());
-
 }
 
 void GaussianMapper::readConfigFromFile(std::filesystem::path cfg_path)