Merge pull request #59 from utiasASRL/C++11

Get rid of boost dependency (in particular, switch to use standard library implementation of shared_ptr's)

CMakeLists.txt

@@ -20,7 +20,6 @@ if (NOT USE_AMENT)
 set(PROJECT_VERSION 1.1.0)
 
 # Find dependencies
-find_package(Boost 1.71.0 REQUIRED system)
 find_package(OpenMP REQUIRED)
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
@@ -31,9 +30,7 @@ find_package(lgmath 1.1.0 REQUIRED)
 file(GLOB_RECURSE SOURCE_FILES "src/*.cpp")
 add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES})
 target_link_libraries(${PROJECT_NAME}
-  PUBLIC
-    ${Boost_LIBRARIES}
-    lgmath
+  PUBLIC lgmath
 )
 target_include_directories(${PROJECT_NAME}
   PUBLIC
@@ -95,7 +92,6 @@ else()
 
 # Find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(Boost REQUIRED system)
 find_package(OpenMP REQUIRED)
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
@@ -106,31 +102,23 @@ find_package(lgmath REQUIRED)
 # Libraries
 file(GLOB_RECURSE SOURCE src/*.cpp)
 add_library(${PROJECT_NAME} ${SOURCE})
-ament_target_dependencies(${PROJECT_NAME} Boost Eigen3 OpenMP lgmath)
+ament_target_dependencies(${PROJECT_NAME} Eigen3 OpenMP lgmath)
 target_include_directories(${PROJECT_NAME}
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
-
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-# May need the following
-ament_export_dependencies(
-  Boost
-  Eigen3
-  OpenMP
-  lgmath
-)
+ament_export_dependencies(eigen3_cmake_module)
+ament_export_dependencies(OpenMP Eigen3 lgmath)
 
 install(
   DIRECTORY include/
   DESTINATION include
 )
 
 install(
-  TARGETS
-    # Libraries
-    ${PROJECT_NAME}
+  TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
@@ -141,41 +129,20 @@ install(
 endif()
 
 # Executables
+link_libraries(${PROJECT_NAME})
 add_executable(SimpleBAandTrajPrior samples/SimpleBAandTrajPrior.cpp)
-target_link_libraries(SimpleBAandTrajPrior ${PROJECT_NAME})
-
 add_executable(SimpleBAandCATrajPrior samples/SimpleBAandCATrajPrior.cpp)
-target_link_libraries(SimpleBAandCATrajPrior ${PROJECT_NAME})
-
 add_executable(SimpleBundleAdjustment samples/SimpleBundleAdjustment.cpp)
-target_link_libraries(SimpleBundleAdjustment ${PROJECT_NAME})
-
 add_executable(SimpleBundleAdjustmentFullRel samples/SimpleBundleAdjustmentFullRel.cpp)
-target_link_libraries(SimpleBundleAdjustmentFullRel ${PROJECT_NAME})
-
 add_executable(SimpleBundleAdjustmentRelLand samples/SimpleBundleAdjustmentRelLand.cpp)
-target_link_libraries(SimpleBundleAdjustmentRelLand ${PROJECT_NAME})
-
 add_executable(SimpleBundleAdjustmentRelLandX samples/SimpleBundleAdjustmentRelLandX.cpp)
-target_link_libraries(SimpleBundleAdjustmentRelLandX ${PROJECT_NAME})
-
 add_executable(SimplePoseGraphRelax samples/SimplePoseGraphRelax.cpp)
-target_link_libraries(SimplePoseGraphRelax ${PROJECT_NAME})
-
 add_executable(SimpleTrajectoryPrior samples/SimpleTrajectoryPrior.cpp)
-target_link_libraries(SimpleTrajectoryPrior ${PROJECT_NAME})
-
 add_executable(SpherePoseGraphRelax samples/SpherePoseGraphRelax.cpp)
-target_link_libraries(SpherePoseGraphRelax ${PROJECT_NAME})
-
 add_executable(TrustRegionExample samples/TrustRegionExample.cpp)
-target_link_libraries(TrustRegionExample ${PROJECT_NAME})
-
 add_executable(MotionDistortedP2PandCATrajPrior samples/MotionDistortedP2PandCATrajPrior.cpp)
-target_link_libraries(MotionDistortedP2PandCATrajPrior ${PROJECT_NAME})
-
 add_executable(SimpleP2PandCATrajPrior samples/SimpleP2PandCATrajPrior.cpp)
-target_link_libraries(SimpleP2PandCATrajPrior ${PROJECT_NAME})
+add_executable(SimplePointCloudAlignment samples/SimplePointCloudAlignment.cpp)
 
 if (USE_AMENT)
 
@@ -194,6 +161,7 @@ install(
     TrustRegionExample
     MotionDistortedP2PandCATrajPrior
     SimpleP2PandCATrajPrior
+    SimplePointCloudAlignment
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}

Dockerfile

@@ -5,7 +5,5 @@ CMD ["/bin/bash"]
 ARG DEBIAN_FRONTEND=noninteractive
 
 RUN apt update
-
 RUN apt install -q -y curl gnupg2 lsb-release build-essential cmake
-RUN apt install -q -y libboost-all-dev libomp-dev
-RUN apt install -q -y libeigen3-dev
+RUN apt install -q -y libeigen3-dev libomp-dev

Dockerfile.ROS2

@@ -1,10 +1,10 @@
-FROM ros:foxy
+FROM ros:galactic
 
 CMD ["/bin/bash"]
 
 ARG DEBIAN_FRONTEND=noninteractive
 
 RUN apt update
-RUN apt install -q -y curl gnupg2 lsb-release build-essential
-RUN apt install -q -y libboost-all-dev libomp-dev
-RUN apt install -q -y python3-colcon-core python3-colcon-common-extensions
+RUN apt install -q -y curl gnupg2 lsb-release build-essential cmake
+RUN apt install -q -y python3-colcon-core python3-colcon-common-extensions
+RUN apt install -q -y libeigen3-dev libomp-dev

Jenkinsfile

@@ -61,7 +61,7 @@ pipeline {
                         dir('lgmath') {
                             git branch: 'master', url: 'https://github.com/utiasASRL/lgmath.git'
                             sh '''
-                                source /opt/ros/foxy/setup.bash
+                                source /opt/ros/galactic/setup.bash
                                 colcon build --symlink-install --cmake-args "-DUSE_AMENT=ON"
                                 touch COLGON_IGNORE
                             '''

README.md

@@ -10,7 +10,6 @@ STEAM (Simultaneous Trajectory Estimation and Mapping) Engine is an optimization
 
 - Compiler with C++17 support and OpenMP
 - CMake (>=3.16)
-- Boost (>=1.71.0)
 - Eigen (>=3.3.7)
 - [lgmath (>=1.1.0)](https://github.com/utiasASRL/lgmath.git)
 - (Optional) ROS2 Foxy or later (colcon+ament_cmake)
@@ -21,22 +20,6 @@ STEAM (Simultaneous Trajectory Estimation and Mapping) Engine is an optimization
 sudo apt -q -y install build-essential cmake libomp-dev
 ```
 
-### Install Boost
-
-```bash
-# using APT
-sudo apt -q -y install libboost-all-dev
-
-# OR from source
-WORKSPACE=~/workspace  # choose your own workspace directory
-mkdir -p ${WORKSPACE}/boost && cd $_
-wget --no-verbose https://boostorg.jfrog.io/artifactory/main/release/1.71.0/source/boost_1_71_0.tar.gz
-tar xzf boost_1_71_0.tar.gz && cd boost_1_71_0
-./bootstrap.sh --with-python=$(which python3)
-./b2 cxxflags="-std=gnu++17" install
-ldconfig
-```
-
 ### Install Eigen (>=3.3.7)
 
 ```bash

include/steam.hpp

@@ -38,6 +38,7 @@
 #include <steam/evaluator/samples/LinearFuncErrorEval.hpp>
 #include <steam/evaluator/samples/ImuErrorEval.hpp>
 #include <steam/evaluator/samples/PointToPointErrorEval.hpp>
+#include <steam/evaluator/samples/PointToPointErrorEval2.hpp>
 
 // evaluator - block auto diff
 #include <steam/evaluator/blockauto/EvalTreeNode.hpp>

include/steam/common/Time.hpp

@@ -10,7 +10,6 @@
 #define STEAM_TIME_HPP
 
 #include <iostream>
-#include <boost/cstdint.hpp>
 
 namespace steam {
 
@@ -20,11 +19,11 @@ namespace steam {
 class Time {
  public:
   Time() : nsecs_(0) {}
-  Time(boost::int64_t nsecs) : nsecs_(nsecs) {}
+  Time(int64_t nsecs) : nsecs_(nsecs) {}
   Time(double secs) : nsecs_(secs*1e9) {}
-  Time(boost::int32_t secs, boost::int32_t nsec) {
-    boost::int64_t t1 = (boost::int64_t) secs;
-    boost::int64_t t2 = (boost::int64_t) nsec;
+  Time(int32_t secs, int32_t nsec) {
+    int64_t t1 = (int64_t) secs;
+    int64_t t2 = (int64_t) nsec;
     this->nsecs_ = t1*1000000000 + t2;
   }
 
@@ -44,7 +43,7 @@ class Time {
   ///        Usually it makes sense to use this method after *this* has been reduced to a
   ///        duration between two times.
   //////////////////////////////////////////////////////////////////////////////////////////////
-  const boost::int64_t& nanosecs() const {
+  const int64_t& nanosecs() const {
     return nsecs_;
   }
 
@@ -108,7 +107,7 @@ class Time {
   ///        seconds since epoch and 1e9 nsecs. Furthermore, a single base type, rather than
   ///        two combined unsigned int32s to allow nsecs to be used as a key in a std::map.
   //////////////////////////////////////////////////////////////////////////////////////////////
-  boost::int64_t nsecs_;
+  int64_t nsecs_;
 
 };
 

include/steam/common/Timer.hpp

@@ -11,7 +11,6 @@
 // system timer
 #include <sys/time.h>
 #include <iostream>
-#include <boost/cstdint.hpp>
 
 namespace steam {
 

include/steam/evaluator/ErrorEvaluator.hpp

@@ -21,8 +21,8 @@ template<int MEAS_DIM,       // Dimension of the measurement error. Note the mea
          int MAX_STATE_SIZE> // The maximum dimension of a single state variable perturbation
 struct ErrorEvaluator{
   typedef EvaluatorBase<Eigen::Matrix<double, MEAS_DIM, 1>,MEAS_DIM,MEAS_DIM,MAX_STATE_SIZE> type;
-  typedef boost::shared_ptr<type> Ptr;
-  typedef boost::shared_ptr<const type> ConstPtr;
+  typedef std::shared_ptr<type> Ptr;
+  typedef std::shared_ptr<const type> ConstPtr;
 };
 
 //////////////////////////////////////////////////////////////////////////////////////////////

include/steam/evaluator/EvaluatorBase.hpp

@@ -28,8 +28,8 @@ class EvaluatorBase
  public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<EvaluatorBase<TYPE,LHS_DIM,INNER_DIM,MAX_STATE_DIM> > Ptr;
-  typedef boost::shared_ptr<const EvaluatorBase<TYPE,LHS_DIM,INNER_DIM,MAX_STATE_DIM> > ConstPtr;
+  typedef std::shared_ptr<EvaluatorBase<TYPE,LHS_DIM,INNER_DIM,MAX_STATE_DIM> > Ptr;
+  typedef std::shared_ptr<const EvaluatorBase<TYPE,LHS_DIM,INNER_DIM,MAX_STATE_DIM> > ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Default constructor

include/steam/evaluator/blockauto/BlockAutomaticEvaluator.hpp

@@ -22,8 +22,8 @@ class BlockAutomaticEvaluator : public EvaluatorBase<TYPE>
  public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<BlockAutomaticEvaluator<TYPE,INNER_DIM,MAX_STATE_SIZE> > Ptr;
-  typedef boost::shared_ptr<const BlockAutomaticEvaluator<TYPE,INNER_DIM,MAX_STATE_SIZE> > ConstPtr;
+  typedef std::shared_ptr<BlockAutomaticEvaluator<TYPE,INNER_DIM,MAX_STATE_SIZE> > Ptr;
+  typedef std::shared_ptr<const BlockAutomaticEvaluator<TYPE,INNER_DIM,MAX_STATE_SIZE> > ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Default constructor

include/steam/evaluator/blockauto/EvalTreeNode-inl.hpp

@@ -5,7 +5,6 @@
 //////////////////////////////////////////////////////////////////////////////////////////////
 
 #include <steam/evaluator/blockauto/EvalTreeNode.hpp>
-#include <boost/make_shared.hpp>
 
 namespace steam {
 

include/steam/evaluator/blockauto/transform/ComposeInverseTransformEvaluator.hpp

@@ -22,8 +22,8 @@ class ComposeInverseTransformEvaluator : public TransformEvaluator
 public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<ComposeInverseTransformEvaluator> Ptr;
-  typedef boost::shared_ptr<const ComposeInverseTransformEvaluator> ConstPtr;
+  typedef std::shared_ptr<ComposeInverseTransformEvaluator> Ptr;
+  typedef std::shared_ptr<const ComposeInverseTransformEvaluator> ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Constructor -- T_ba = T_bx * inv(T_ax)

include/steam/evaluator/blockauto/transform/ComposeLandmarkEvaluator.hpp

@@ -28,8 +28,8 @@ class ComposeLandmarkEvaluator : public BlockAutomaticEvaluator<Eigen::Vector4d,
 public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<ComposeLandmarkEvaluator> Ptr;
-  typedef boost::shared_ptr<const ComposeLandmarkEvaluator> ConstPtr;
+  typedef std::shared_ptr<ComposeLandmarkEvaluator> Ptr;
+  typedef std::shared_ptr<const ComposeLandmarkEvaluator> ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Constructor

include/steam/evaluator/blockauto/transform/ComposeTransformEvaluator.hpp

@@ -22,8 +22,8 @@ class ComposeTransformEvaluator : public TransformEvaluator
 public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<ComposeTransformEvaluator> Ptr;
-  typedef boost::shared_ptr<const ComposeTransformEvaluator> ConstPtr;
+  typedef std::shared_ptr<ComposeTransformEvaluator> Ptr;
+  typedef std::shared_ptr<const ComposeTransformEvaluator> ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Constructor

include/steam/evaluator/blockauto/transform/ConstAccTransformEvaluator.hpp

@@ -20,8 +20,8 @@ class ConstAccTransformEvaluator : public TransformEvaluator
  public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<ConstAccTransformEvaluator> Ptr;
-  typedef boost::shared_ptr<const ConstAccTransformEvaluator> ConstPtr;
+  typedef std::shared_ptr<ConstAccTransformEvaluator> Ptr;
+  typedef std::shared_ptr<const ConstAccTransformEvaluator> ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Constructor

include/steam/evaluator/blockauto/transform/ConstVelTransformEvaluator.hpp

@@ -20,8 +20,8 @@ class ConstVelTransformEvaluator : public TransformEvaluator
  public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<ConstVelTransformEvaluator> Ptr;
-  typedef boost::shared_ptr<const ConstVelTransformEvaluator> ConstPtr;
+  typedef std::shared_ptr<ConstVelTransformEvaluator> Ptr;
+  typedef std::shared_ptr<const ConstVelTransformEvaluator> ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Constructor

include/steam/evaluator/blockauto/transform/FixedTransformEvaluator.hpp

@@ -20,8 +20,8 @@ class FixedTransformEvaluator : public TransformEvaluator
  public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<FixedTransformEvaluator> Ptr;
-  typedef boost::shared_ptr<const FixedTransformEvaluator> ConstPtr;
+  typedef std::shared_ptr<FixedTransformEvaluator> Ptr;
+  typedef std::shared_ptr<const FixedTransformEvaluator> ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Constructor

include/steam/evaluator/blockauto/transform/InverseTransformEvaluator.hpp

@@ -22,8 +22,8 @@ class InverseTransformEvaluator : public TransformEvaluator
 public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<InverseTransformEvaluator> Ptr;
-  typedef boost::shared_ptr<const InverseTransformEvaluator> ConstPtr;
+  typedef std::shared_ptr<InverseTransformEvaluator> Ptr;
+  typedef std::shared_ptr<const InverseTransformEvaluator> ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Constructor

include/steam/evaluator/blockauto/transform/LogMapEvaluator.hpp

@@ -27,8 +27,8 @@ class LogMapEvaluator : public BlockAutomaticEvaluator<Eigen::Matrix<double,6,1>
 public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<LogMapEvaluator> Ptr;
-  typedef boost::shared_ptr<const LogMapEvaluator> ConstPtr;
+  typedef std::shared_ptr<LogMapEvaluator> Ptr;
+  typedef std::shared_ptr<const LogMapEvaluator> ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Constructor

include/steam/evaluator/blockauto/transform/PositionEvaluator.hpp

@@ -26,8 +26,8 @@ class PositionEvaluator : public BlockAutomaticEvaluator<Eigen::Matrix<double, 3
 public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<PositionEvaluator> Ptr;
-  typedef boost::shared_ptr<const PositionEvaluator> ConstPtr;
+  typedef std::shared_ptr<PositionEvaluator> Ptr;
+  typedef std::shared_ptr<const PositionEvaluator> ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Constructor

include/steam/evaluator/blockauto/transform/TransformStateEvaluator.hpp

@@ -20,8 +20,8 @@ class TransformStateEvaluator : public TransformEvaluator
  public:
 
   /// Convenience typedefs
-  typedef boost::shared_ptr<TransformStateEvaluator> Ptr;
-  typedef boost::shared_ptr<const TransformStateEvaluator> ConstPtr;
+  typedef std::shared_ptr<TransformStateEvaluator> Ptr;
+  typedef std::shared_ptr<const TransformStateEvaluator> ConstPtr;
 
   //////////////////////////////////////////////////////////////////////////////////////////////
   /// \brief Constructor