Merge pull request #100 from gadomski/v0.5

Several intertwined changes to our API

.appveyor.yml

@@ -27,7 +27,7 @@ install:
 
 before_build:
   # TODO use build matrix to test with and w/o libfgt
-  - cmd: cmake -G "Visual Studio 14 2015 Win64" -DCMAKE_INSTALL_PREFIX=C:\projects\local -Dgtest_force_shared_crt=ON -DBUILD_SHARED_LIBS=OFF -DWITH_FGT=ON .
+  - cmd: cmake -G "Visual Studio 14 2015 Win64" -DEIGEN3_INCLUDE_DIR=C:\projects\eigen-eigen-07105f7124f9 -DCMAKE_INSTALL_PREFIX=C:\projects\local -Dgtest_force_shared_crt=ON -DBUILD_SHARED_LIBS=OFF -DWITH_FGT=ON .
 
 build:
   parallel: true

.travis.yml

@@ -26,6 +26,7 @@ before_install:
 install:
   - scripts/travis-install-cmake.sh && export PATH=$(pwd)/cmake/bin:$PATH
   - scripts/travis-install-eigen3.sh
+  - scripts/travis-install-jsoncpp.sh
   - scripts/travis-install-doxygen.sh
   - if [ "$CPD_WITH_FGT" = "ON" ]; then scripts/travis-install-fgt.sh; fi
 

CMakeLists.txt

@@ -1,8 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
-set(CPD_LANGUAGES CXX C)
-set(CPD_VERSION 0.4.3)
+cmake_minimum_required(VERSION 3.1)
+set(CPD_LANGUAGES CXX)
+set(CPD_VERSION 0.5.0)
 set(CPD_SOVERSION 0)
-set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+
 
 # Policies
 if(POLICY CMP0048) # Project version
@@ -20,15 +20,17 @@ if(POLICY CMP0054) # Quoted variables in if statements
     cmake_policy(SET CMP0054 NEW)
 endif()
 
-# Depdencies
+
+# Upstream
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+find_package(Eigen3 REQUIRED)
 find_package(Fgt QUIET)
-option(WITH_FGT "Build with libfgt" ${Fgt_FOUND})
+option(WITH_FGT "Build with fgt" ${Fgt_FOUND})
 if(WITH_FGT)
     find_package(Fgt REQUIRED)
-else()
-    find_package(Eigen3 REQUIRED)
 endif()
 
+
 # Configuration
 if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
     option(BUILD_SHARED_LIBS "Build shared libraries" OFF)
@@ -42,37 +44,40 @@ configure_file(cmake/cpd-config.cmake.in "${PROJECT_BINARY_DIR}/cmake/cpd-config
 install(FILES "${PROJECT_BINARY_DIR}/cmake/cpd-config.cmake" "${PROJECT_BINARY_DIR}/cmake/cpd-config-version.cmake" DESTINATION lib/cmake/cpd)
 configure_file(src/version.cpp.in "${PROJECT_BINARY_DIR}/src/version.cpp")
 
-# Targets
-set(library_src
+
+# C++ library
+set(library-src
     src/affine.cpp
-    src/affinity.cpp
-    src/comparer/base.cpp
-    src/comparer/direct.cpp
+    src/gauss_transform.cpp
     src/nonrigid.cpp
-    src/normalize.cpp
+    src/normalization.cpp
     src/rigid.cpp
+    src/transform.cpp
     src/utils.cpp
     "${PROJECT_BINARY_DIR}/src/version.cpp"
     )
 if(WITH_FGT)
-    list(APPEND library_src src/comparer/fgt.cpp)
+    list(APPEND library-src src/gauss_transform_fgt.cpp)
+else()
+    list(APPEND library-src src/gauss_transform_make_default.cpp)
 endif()
 
-add_library(Library-C++ ${library_src})
+add_library(Library-C++ ${library-src})
 set_target_properties(Library-C++ PROPERTIES
     OUTPUT_NAME cpd
     VERSION ${CPD_VERSION}
     SOVERSION ${CPD_SOVERSION}
     )
 target_include_directories(Library-C++
-    INTERFACE $<INSTALL_INTERFACE:include> $<INSTALL_INTERFACE:include/cpd/vendor>
-    PRIVATE include include/cpd/vendor)
+    PUBLIC
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+    ${EIGEN3_INCLUDE_DIR}
+    )
+target_compile_options(Library-C++ PUBLIC -std=c++11)
 if(WITH_FGT)
     target_link_libraries(Library-C++ PUBLIC Fgt::Library-C++)
     target_compile_definitions(Library-C++ PUBLIC CPD_WITH_FGT)
-else()
-    target_include_directories(Library-C++ PUBLIC ${EIGEN3_INCLUDE_DIR})
-    target_compile_options(Library-C++ PUBLIC -std=c++11)
 endif()
 
 option(WITH_STRICT_WARNINGS "Build with stricter warnings" ON)
@@ -82,48 +87,37 @@ if(WITH_STRICT_WARNINGS)
     endif()
 endif()
 
-install(TARGETS Library-C++ DESTINATION lib EXPORT cpd-targets)
-install(FILES
-    include/cpd/affine.hpp
-    include/cpd/exceptions.hpp
-    include/cpd/logging.hpp
-    include/cpd/matrix.hpp
-    include/cpd/nonrigid.hpp
-    include/cpd/normalize.hpp
-    include/cpd/probabilities.hpp
-    include/cpd/rigid.hpp
-    include/cpd/runner.hpp
-    include/cpd/utils.hpp
-    include/cpd/version.hpp
-    DESTINATION include/cpd
-    )
-install(FILES
-    include/cpd/comparer/base.hpp
-    include/cpd/comparer/direct.hpp
-    DESTINATION include/cpd/comparer
-    )
-if(WITH_FGT)
-    install(FILES
-        include/cpd/comparer/fgt.hpp
-        DESTINATION include/cpd/comparer
-        )
-endif()
-install(DIRECTORY include/cpd/vendor DESTINATION include/cpd)
-install(EXPORT cpd-targets NAMESPACE Cpd:: DESTINATION lib/cmake/cpd)
 
-# Optional targets
+# Tests
 option(WITH_TESTS "Build test suite" ON)
 if(WITH_TESTS)
     enable_testing()
-    set(GOOGLETEST_DIR "${PROJECT_SOURCE_DIR}/vendor/googletest-release-1.8.0/googletest")
-    add_subdirectory(${GOOGLETEST_DIR})
-    add_subdirectory(test)
+    add_subdirectory("${PROJECT_SOURCE_DIR}/vendor/googletest-release-1.8.0/googletest")
+    add_subdirectory(tests)
 endif()
 
+
+# Install
+install(TARGETS Library-C++ DESTINATION lib EXPORT cpd-targets)
+install(DIRECTORY include/cpd DESTINATION include)
+install(EXPORT cpd-targets NAMESPACE Cpd:: DESTINATION lib/cmake/cpd)
+
+
+# Docs
 find_package(Doxygen QUIET)
 option(WITH_DOCS "Add documentation target" ${Doxygen_FOUND})
 if(WITH_DOCS)
     find_package(Doxygen REQUIRED)
     configure_file(docs/Doxyfile.in "${PROJECT_BINARY_DIR}/docs/Doxyfile")
-    add_custom_target(docs COMMAND ${DOXYGEN_EXECUTABLE} "${PROJECT_BINARY_DIR}/docs/Doxyfile")
+    add_custom_target(doc COMMAND ${DOXYGEN_EXECUTABLE} "${PROJECT_BINARY_DIR}/docs/Doxyfile")
+endif()
+
+
+# Components
+find_package(jsoncpp QUIET)
+option(WITH_JSONCPP "Build with jsoncpp" ${jsoncpp_FOUND})
+if(WITH_JSONCPP)
+    find_package(jsoncpp REQUIRED)
+    set(CMAKE_WITH_JSONCPP ON)
+    add_subdirectory(components/jsoncpp)
 endif()

README.md

@@ -33,22 +33,39 @@ Basic, default usage can be accomplished via some namespace-level methods:
 int main(int argc, char** argv) {
     cpd::Matrix fixed = load_points_from_somewhere();
     cpd::Matrix moving = load_points_from_somewhere();
-    cpd::Rigid::Result result = cpd::rigid(fixed, moving);
+    cpd::RigidResult result = cpd::rigid(fixed, moving);
+    return 0;
 }
 ```
 
-More advanced configuration can be accomplished by using a `Runner`:
+Configuration is possible via `Rigid`, `Nonrigid`, and `Affine`:
 
 ```cpp
 #include <cpd/rigid.hpp>
-#include <cpd/runner.hpp>
 
 int main(int argc, char** argv) {
     cpd::Matrix fixed = load_points_from_somewhere();
     cpd::Matrix moving = load_points_from_somewhere();
-    cpd::Runner<cpd::Rigid> runner;
-    runner.correspondence(true).outliers(0.2);
-    cpd::Rigid::Result result = runner.run(fixed, moving);
+    cpd::Rigid rigid;
+    rigid.correspondence(true).outliers(0.2);
+    cpd::RigidResult result = runner.run(fixed, moving);
+    return 0;
+}
+```
+
+If cpd is built with the `jsoncpp` component (see `examples/` for a demonstration of the CMake configuration), the results of the cpd run can be converted to json:
+
+```cpp
+#include <iostream>
+#include <cpd/jsoncpp.hpp>
+#include <cpd/rigid.hpp>
+
+int main(int argc, char** argv) {
+    cpd::Matrix fixed = load_points_from_somewhere();
+    cpd::Matrix moving = load_points_from_somewhere();
+    cpd::RigidResult result = cpd::rigid(fixed, moving);
+    std::cout << cpd::to_json(result) << std::endl;
+    return 0;
 }
 ```
 
@@ -62,6 +79,7 @@ See `examples/` in this code repository for some basic usage examples, including
 
 **cpd** depends on and [CMake](https://cmake.org/) and [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) at build time only — no runtime dependencies.
 For additional speed, it can also built with [fgt](https://github.com/gadomski/fgt).
+For json output of results, it can be built with [jsoncpp](https://github.com/open-source-parsers/jsoncpp).
 
 ### On OSX
 
@@ -100,6 +118,14 @@ target_link_libraries(my-great-library
 
 The `Cpd::Library-C++` target includes all the interface settings you need, so you shouldn't need any other calls to get set up.
 
+If you'd like to enable json support, use the jsoncpp component:
+
+```cmake
+find_package(Cpd COMPONENTS jsoncpp REQUIRED)
+add_library(my-great-library the_code.cpp)
+target_link_libraries(my-great-library PUBLIC Cpd::Library-C++ Cpd::Jsoncpp)
+```
+
 ## OpenMP
 
 Both fgt and Eigen support OpenMP for some operations.
@@ -124,9 +150,15 @@ If you require some of that old functionality, use the [v0.2](https://github.com
 If you need armadillo-5.x, which is required for the old **cpd** but is no longer available from the armadillo website, you can use [my mirror](https://github.com/gadomski/armadillo).
 Thanks for your understanding during this switch.
 
+## Publications
+
+This library has been used in the following publications:
+
+- Gadomski, P.J. (December 2016). *Measuring Glacier Surface Velocities With LiDAR: A Comparison of Three-Dimensional Change Detection Methods*. Master's thesis, University of Houston, Geosensing Systems Engineering and Sciences.
+
 ## License
 
-This library is GPL2, copyright 2016 Peter J. Gadomski.
+This library is GPL2, copyright 2017 Peter J. Gadomski.
 See LICENSE.txt for the full license text.
 
 This work is directly inspired by Andriy Myronenko's reference implementation, and we owe him many thanks.

cmake/cpd-config.cmake.in

@@ -56,8 +56,17 @@ macro(find_dependency dep)
     endif()
 endmacro()
 
-set(CPD_WITH_FGT @WITH_FGT@)
-if(${CPD_WITH_FGT})
+if(@WITH_FGT@)
     find_dependency(Fgt @Fgt_VERSION@ EXACT)
 endif()
 include("${CMAKE_CURRENT_LIST_DIR}/cpd-targets.cmake")
+
+foreach(component ${Cpd_FIND_COMPONENTS})
+    if("jsoncpp" STREQUAL ${component})
+        include("${CMAKE_CURRENT_LIST_DIR}/cpd-${component}-targets.cmake")
+        find_dependency(jsoncpp)
+    else()
+        set(Cpd_FOUND FALSE)
+        message(FATAL_ERROR "Unsupported component: ${component}")
+    endif()
+endforeach()

cmake/cpd_test.cmake

@@ -0,0 +1,9 @@
+function(cpd_test name)
+    set(src ${name}.cpp)
+    set(target ${name}-test)
+    add_executable(${target} ${src})
+    set_target_properties(${target} PROPERTIES OUTPUT_NAME ${name})
+    add_test(NAME ${name} COMMAND ${target})
+    target_link_libraries(${target} PRIVATE Library-C++ ${ARGN} gtest_main)
+    target_include_directories(${target} PRIVATE "${PROJECT_BINARY_DIR}")
+endfunction()

components/jsoncpp/CMakeLists.txt

@@ -0,0 +1,21 @@
+add_library(Jsoncpp src/jsoncpp.cpp)
+target_link_libraries(Jsoncpp PUBLIC Library-C++ jsoncpp_lib)
+set_target_properties(Jsoncpp PROPERTIES
+    OUTPUT_NAME cpd-jsoncpp
+    VERSION ${CPD_VERSION}
+    SOVERSION ${CPD_SOVERSION}
+    )
+target_include_directories(Jsoncpp
+    PUBLIC
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/components/jsoncpp/include>
+    $<INSTALL_INTERFACE:include>
+    )
+target_compile_definitions(Jsoncpp PUBLIC CPD_WITH_JSONCPP)
+
+install(TARGETS Jsoncpp DESTINATION lib EXPORT cpd-jsoncpp-targets)
+install(DIRECTORY include/cpd DESTINATION include)
+install(EXPORT cpd-jsoncpp-targets NAMESPACE Cpd:: DESTINATION lib/cmake/cpd)
+
+if(WITH_TESTS)
+    add_subdirectory(tests)
+endif()

include/cpd/exceptions.hpp → components/jsoncpp/include/cpd/jsoncpp.hpp

@@ -1,5 +1,5 @@
 // cpd - Coherent Point Drift
-// Copyright (C) 2016 Pete Gadomski <[email protected]>
+// Copyright (C) 2017 Pete Gadomski <[email protected]>
 //
 // This program is free software; you can redistribute it and/or modify
 // it under the terms of the GNU General Public License as published by
@@ -15,24 +15,19 @@
 // with this program; if not, write to the Free Software Foundation, Inc.,
 // 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 
-/// \file
-/// Exceptions.
-
 #pragma once
 
-namespace cpd {
+#include <cpd/affine.hpp>
+#include <cpd/nonrigid.hpp>
+#include <cpd/rigid.hpp>
+#include <json/json.h>
+#include <ostream>
 
-/// Base class for all cpd errors.
-class cpd_error : public std::runtime_error {
-public:
-    cpd_error(const std::string& what)
-      : std::runtime_error(what) {}
-};
+namespace cpd {
 
-/// The requested comparer is unknown.
-class unknown_comparer : public cpd_error {
-public:
-    unknown_comparer(const std::string& name)
-      : cpd_error(name) {}
-};
+Json::Value to_json(const Result& result);
+Json::Value to_json(const RigidResult& result);
+Json::Value to_json(const AffineResult& result);
+Json::Value to_json(const NonrigidResult& result);
+Json::Value to_json(const Matrix& matrix);
 }