Refactor and add CI

.github/workflows/ci.yaml

@@ -0,0 +1,74 @@
+name: CI
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  build_lib:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Install Eigen
+        run: sudo apt-get install libeigen3-dev
+      - name: Build library
+        run: make libcevicp.a OPT=RELEASE
+      - name: Upload library
+        uses: actions/upload-artifact@v4
+        with:
+          name: libcevicp.a
+          path: libcevicp.a
+          retention-days: 1
+  test:
+    runs-on: ubuntu-22.04
+    needs: build_lib
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Download library
+        uses: actions/download-artifact@v4
+        with:
+          name: libcevicp.a
+      - name: Install Eigen
+        run: sudo apt-get install libeigen3-dev
+      - name: Install simple-test
+        run: |
+          git clone https://github.com/cornellev/simple-test
+          cd simple-test
+          sudo make install
+      - name: Run tests
+        run: make test OPT=RELEASE
+  bench:
+    runs-on: ubuntu-22.04
+    needs: build_lib
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Download library
+        uses: actions/download-artifact@v4
+        with:
+          name: libcevicp.a
+      - name: Install Eigen
+        run: sudo apt-get install libeigen3-dev
+      - name: Install SDL2
+        run: sudo apt-get install libsdl2-dev
+      - name: Install sdl-wrapper
+        run: |
+          git clone https://github.com/cornellev/sdl-wrapper.git
+          cd sdl-wrapper
+          sudo make install
+      - name: Install libcmdapp2
+        run: |
+          git clone https://github.com/cornellev/libcmdapp2.git
+          cd libcmdapp2
+          sudo make install
+      - name: Install libconfig
+        run: |
+          git clone https://github.com/cornellev/config
+          cd config
+          sudo make install
+      - name: Run benchmarks
+        run: make bench OPT=RELEASE

.vscode/c_cpp_properties.json

@@ -5,7 +5,7 @@
             "includePath": [
                 "${default}",
                 "/usr/local/include/sdlwrapper",
-                "/usr/local/include/eigen3",
+                "/usr/include/eigen3",
                 "/usr/local/include",
                 "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/15.0.0/include/"
             ],
@@ -17,9 +17,9 @@
             "name": "Linux",
             "includePath": [
                 "${default}",
-                "${workspaceFolder}/**",
+                "${workspaceFolder}/include",
                 "/usr/include/SDL2",
-                "/usr/local/include/eigen3",
+                "/usr/include/eigen3",
                 "/usr/local/include/sdlwrapper",
                 "/usr/local/include/cmdapp",
                 "/usr/local/include/config",

.vscode/launch.json

@@ -0,0 +1,34 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Debug with gdb on linux",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/main",
+            "args": [
+                "-S",
+                "ex_data/scan1/first.conf",
+                "-D",
+                "ex_data/scan1/second.conf",
+                "--method",
+                "vanilla",
+                "--gui"
+            ],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "miDebuggerPath": "/usr/bin/gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ],
+            "preLaunchTask": "Build main with make"
+        }
+    ]
+}

.vscode/settings.json

@@ -106,6 +106,9 @@
         "stop_token": "cpp",
         "svd": "cpp",
         "core": "cpp",
-        "text_encoding": "cpp"
+        "text_encoding": "cpp",
+        "strstream": "cpp",
+        "source_location": "cpp",
+        "stdfloat": "cpp"
     }
 }

.vscode/tasks.json

@@ -0,0 +1,17 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Build main with make",
+            "type": "shell",
+            "command": "make main",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": [
+                "$gcc"
+            ]
+        }
+    ]
+}

Makefile

@@ -1,72 +1,95 @@
 # Copyright (C) 2023 Ethan Uppal. All rights reserved.
 
+INCLUDEDIR	:= include
+LIBDIR		:= lib
 SRCDIR		:= src
-INCLUDEDIR	:= src
+TESTDIR		:= tests
 
 CC			:= $(shell which g++ || which clang++)
 PY			:= $(shell which python3 || which python)
 CFLAGS		:= -std=c++17 -pedantic -Wall -Wextra -I $(INCLUDEDIR)
 CDEBUG		:= -g
 CRELEASE	:= -O3 -DRELEASE_BUILD
-TARGET		:= main
 LIBNAME		:= libcevicp.a
+MAINNAME	:= main
+TESTNAME	:= test
 
-# follow instructions in README to install in /usr/local
-LDFLAGS		:= $(shell sdl2-config --libs) \
-			   /usr/local/lib/libcmdapp.a \
-			   /usr/local/lib/libsdlwrapper.a \
-			   /usr/local/lib/libconfig.a
-CFLAGS		+= $(shell sdl2-config --cflags) \
-			   -I/usr/local/include/cmdapp \
-			   -I/usr/local/include/config \
-			   -I/usr/local/include/sdlwrapper \
-			   -I/usr/local/include/simple_test \
-			   -I/usr/local/include/eigen3
-
-# CFLAGS 		+= $(CRELEASE)
+ifeq ($(OPT), RELEASE)
+CFLAGS 		+= $(CRELEASE)
+else
 CFLAGS 		+= $(CDEBUG)
+endif
 
-SRC			:= $(shell find $(SRCDIR) -name "*.cpp")
-OBJ			:= $(SRC:.cpp=.o)
-DEPS 		:= $(OBJS:.o=.d) 
-
-
-LIBSRC		:= $(shell find $(SRCDIR)/icp -name "*.cpp" -type f) \
-			   $(shell find $(SRCDIR)/algo -name "*.cpp" -type f)
+LIBSRC		:= $(shell find $(LIBDIR) -name "*.cpp" -type f)
+LIBINCLUDE  := -I/usr/include/eigen3
 LIBOBJ		:= $(LIBSRC:.cpp=.o)
+LIBDEPS		:= $(LIBOBJ:.o=.d)
+$(LIBNAME): CFLAGS += $(LIBINCLUDE)
+
+MAINSRC		:= $(shell find $(SRCDIR) -name "*.cpp" -type f)
+MAININCLUDE := $(shell sdl2-config --cflags) \
+				-I/usr/include/eigen3 \
+			   	-I/usr/local/include/cmdapp \
+			   	-I/usr/local/include/config \
+			   	-I/usr/local/include/sdlwrapper
+MAINLD 		:= $(shell sdl2-config --libs) \
+			   	/usr/local/lib/libcmdapp.a \
+			   	/usr/local/lib/libsdlwrapper.a \
+			   	/usr/local/lib/libconfig.a
+MAINOBJ		:= $(MAINSRC:.cpp=.o)
+MAINDEPS	:= $(MAINOBJ:.o=.d)
+$(MAINNAME): CFLAGS += $(MAININCLUDE)
+$(MAINNAME): LDFLAGS += $(MAINLD)
+
+TESTSRC		:= $(shell find $(TESTDIR) -name "*.cpp" -type f)
+TESTINCLUDE := -I/usr/include/eigen3 \
+			   -I/usr/local/include/simple_test
+TESTOBJ		:= $(TESTSRC:.cpp=.o)
+TESTDEPS	:= $(TESTOBJ:.o=.d)
+$(TESTNAME): CFLAGS += $(TESTINCLUDE)
+$(TESTNAME): CFLAGS += -DTEST
+
+-include $(LIBDEPS)
+-include $(MAINDEPS)
+-include $(TESTDEPS)
 
--include $(DEPS)
-
-# Config parameters
 N		:= 1
 METHOD	:= trimmed
 
-$(TARGET): main.cpp $(OBJ)
-	$(CC) $(CFLAGS) $^ $(LDFLAGS) -o $@
-	@make readme
+ifeq ($(shell uname), Darwin)
+AR 		:= /usr/bin/libtool
+AR_OPT 	:= -static
+else
+AR 		:= ar
+AR_OPT 	:= rcs $@ $^
+endif
 
-.PHONY: test
-test: test.cpp $(OBJ)
-	@$(CC) $(CFLAGS) -DTEST -o _temp $^ $(LDFLAGS)
-	@echo 'Running tests...'
-	@./_temp
-	@rm -f ./_temp
+$(LIBNAME): $(LIBOBJ)
+	$(AR) $(AR_OPT) -o $@ $^
 
-.PHONY: view
-view: $(TARGET)
-	./$(TARGET) -S ex_data/scan$(N)/first.conf -D ex_data/scan$(N)/second.conf --method $(METHOD) --gui
+$(MAINNAME): $(MAINOBJ) $(LIBNAME)
+	$(CC) $(CFLAGS) $^ $(LDFLAGS) -o $@
 
-.PHONY: bench
-bench: $(TARGET)
-	./$(TARGET) -S ex_data/scan$(N)/first.conf -D ex_data/scan$(N)/second.conf --method $(METHOD) --bench
+$(TESTNAME): $(TESTOBJ) $(LIBNAME)
+	@$(CC) $(CFLAGS) $^ $(LDFLAGS) -o $@
+	@./$(TESTNAME)
+	@rm $(TESTNAME)
 
 %.o: %.cpp
 	@echo 'Compiling $@'
 	$(CC) $(CFLAGS) -MMD -MP $< -c -o $@
 
 .PHONY: clean
 clean:
-	rm -rf $(OBJ) $(TARGET) $(TARGET) $(DEPS) $(shell find . -name "*.dSYM") $(shell find . -name "*.d") docs
+	@rm -f $(LIBOBJ) $(LIBDEPS) $(LIBNAME) $(MAINOBJ) $(MAINDEPS) $(MAINNAME)
+
+.PHONY: view
+view: $(MAINNAME)
+	./$(MAINNAME) -S ex_data/scan$(N)/first.conf -D ex_data/scan$(N)/second.conf --method $(METHOD) --gui
+
+.PHONY: bench
+bench: $(MAINNAME)
+	./$(MAINNAME) -S ex_data/scan$(N)/first.conf -D ex_data/scan$(N)/second.conf --method $(METHOD) --bench
 
 # Not building book rn, add these commands to build
 # cd book; \
@@ -91,14 +114,3 @@ readme:
 .PHONY: math
 math:
 	@cd math; $(PY) ./icp_math.py
-
-ifeq ($(shell uname), Darwin)
-AR 		:= /usr/bin/libtool
-AR_OPT 	:= -static
-else
-AR 		:= ar
-AR_OPT 	:= rcs $@ $^
-endif
-
-$(LIBNAME): $(LIBOBJ)
-	$(AR) $(AR_OPT) $^ -o $@

book/main.md

@@ -46,13 +46,13 @@ Please read [this document](icp.pdf) to learn more about the math.
 First, download and install the dependencies.
 **Only eigen3 is necessary for the library. If you only wish to build the library, install eigen3 only. The remaining dependencies are only for the visualization tool.**
 
-| Dependency | Library Location (at which) | Header Location (under which) |
-| --- | --- | --- |
-| [eigen3](http://eigen.tuxfamily.org/index.php?title=Main_Page) | N/A | `/usr/local/include/eigen3/` |
-| [SDL2](https://www.libsdl.org) | `$(sdl2-config --cflags)` | `$(sdl2-config --libs)` |
-| My [SDL2 wrapper](https://github.com/cornellev/sdl-wrapper) | `/usr/local/lib/libsdlwrapper.a` | `/usr/local/include/sdlwrapper/` |
-| [libcmdapp2](https://ethanuppal.com/libcmdapp2/) | `/usr/local/lib/libcmdapp.a` | `/usr/local/include/` |
-| [libconfig](https://github.com/ethanuppal/config) | `/usr/local/lib/libconfig.a` | `/usr/local/include/` |
+| Dependency                                                     | Library Location (at which)      | Header Location (under which)    |
+| -------------------------------------------------------------- | -------------------------------- | -------------------------------- |
+| [eigen3](http://eigen.tuxfamily.org/index.php?title=Main_Page) | N/A                              | `/usr/include/eigen3/`           |
+| [SDL2](https://www.libsdl.org)                                 | `$(sdl2-config --cflags)`        | `$(sdl2-config --libs)`          |
+| My [SDL2 wrapper](https://github.com/cornellev/sdl-wrapper)    | `/usr/local/lib/libsdlwrapper.a` | `/usr/local/include/sdlwrapper/` |
+| [libcmdapp2](https://ethanuppal.com/libcmdapp2/)               | `/usr/local/lib/libcmdapp.a`     | `/usr/local/include/cmdapp`      |
+| [libconfig](https://github.com/ethanuppal/config)              | `/usr/local/lib/libconfig.a`     | `/usr/local/include/config`      |
 
 There is also a dependency on [simple-test](https://github.com/ethanuppal/simple-test) if you want to run the tests (`make test`).
 Please follow the installation instructions there.

src/icp/icp.h → include/icp/icp.h

@@ -12,6 +12,8 @@
 #include <functional>
 #include <unordered_map>
 #include <variant>
+#include <optional>
+
 #include "geo.h"
 
 namespace icp {
@@ -57,10 +59,10 @@ namespace icp {
          */
         RBTransform transform;
 
-        /** The source point cloud relative to its centroid. */
+        /** The source point cloud. */
         std::vector<Vector> a;
 
-        /** The destination point cloud relative to its centroid. */
+        /** The destination point cloud. */
         std::vector<Vector> b;
 
         /** Keeps track of the previous cost to ensure that progress is being
@@ -150,6 +152,10 @@ namespace icp {
         /** The current transform. */
         const RBTransform& current_transform() const;
 
+        /** Registers methods built into libcevicp. Must be called before constructing ICP instances
+         * for built-in methods. */
+        static void register_builtin_methods();
+
         /** Registers a new ICP method that can be created with `constructor`,
          * returning `false` if `name` has already been registered. */
         static bool register_method(std::string name,
@@ -166,15 +172,7 @@ namespace icp {
          * @pre `name` is a valid registered method. See
          * ICP::is_registered_method.
          */
-        static std::unique_ptr<ICP> from_method(std::string name, const Config& params = Config());
-
-        /** Whether `name` is a registered ICP method. */
-        static bool is_registered_method(std::string name);
-    };
-
-    struct Methods {
-        std::vector<std::string> registered_method_names;
-        std::vector<std::function<std::unique_ptr<ICP>(const ICP::Config&)>>
-            registered_method_constructors;
+        static std::optional<std::unique_ptr<ICP>> from_method(std::string name,
+            const Config& params = Config());
     };
-}
+}