Integrated DLIO and FastLIO2 pipelines which should now be testable

.gitignore

@@ -28,5 +28,7 @@ data
 # for building
 compile_commands.json
 
-# cloned pipelines
-cpp/bindings/pipelines-src
+evalio_data/
+build/
+dist/
+results/

cpp/bindings/CMakeLists.txt

@@ -38,19 +38,30 @@ endfunction(subproject_version)
 
 # iterates over pipeline folders to find them
 function(find_pipeline SRC_DIR TARGET_NAME DEF_NAME)
-    if(EXISTS "${PIPELINES_SRC}/${SRC_DIR}/")
+    if(EXISTS "${PIPELINES_SRC}/${SRC_DIR}/CMakeLists.txt")
         message(
             "----------------------- Adding ${SRC_DIR} -----------------------"
         )
         add_subdirectory(${PIPELINES_SRC}/${SRC_DIR})
         set(LIBS ${LIBS} ${TARGET_NAME} PARENT_SCOPE)
-        subproject_version(${SRC_DIR} ${DEF_NAME}_version)
-        set(DEF ${DEF} ${DEF_NAME}=${${DEF_NAME}_version} PARENT_SCOPE)
-        set(RESULTS
-            ${RESULTS}
-            "-- ✓ ${DEF_NAME} ${${DEF_NAME}_version}\n"
-            PARENT_SCOPE
-        )
+        set(VERSION_VAR_NAME "${DEF_NAME}_version")
+        subproject_version(${SRC_DIR} ${VERSION_VAR_NAME})
+        set(VERSION_VAL "${${VERSION_VAR_NAME}}")
+        if(VERSION_VAL)
+            set(DEF ${DEF} ${DEF_NAME}=${VERSION_VAL} PARENT_SCOPE)
+            set(RESULTS
+                ${RESULTS}
+                "-- ✓ ${DEF_NAME} ${VERSION_VAL}\n"
+                PARENT_SCOPE
+            )
+        else()
+            set(DEF ${DEF} ${DEF_NAME}=1.0.0 PARENT_SCOPE)
+            set(RESULTS
+                ${RESULTS}
+                "-- ✓ ${DEF_NAME} 1.0.0\n"
+                PARENT_SCOPE
+            )
+        endif()
         message(
             "----------------------- Finished ${SRC_DIR} -----------------------"
         )
@@ -59,25 +70,36 @@ function(find_pipeline SRC_DIR TARGET_NAME DEF_NAME)
     endif()
 endfunction()
 
+function(find_pipeline_optional SRC_DIR TARGET_NAME DEF_NAME)
+    if(EXISTS "${PIPELINES_SRC}/${SRC_DIR}/CMakeLists.txt")
+        set(SKIP_PIPELINE FALSE)
+        if("${SRC_DIR}" STREQUAL "loam" OR "${SRC_DIR}" STREQUAL "LIO-SAM" OR "${SRC_DIR}" STREQUAL "ct_icp" OR "${SRC_DIR}" STREQUAL "genz-icp" OR "${SRC_DIR}" STREQUAL "mad-icp")
+            set(SKIP_PIPELINE TRUE)
+        endif()
+        if(NOT SKIP_PIPELINE)
+            find_pipeline(${SRC_DIR} ${TARGET_NAME} ${DEF_NAME})
+        else()
+            set(RESULTS ${RESULTS} "-- x ${DEF_NAME} (skipped)\n" PARENT_SCOPE)
+        endif()
+    else()
+        set(RESULTS ${RESULTS} "-- x ${DEF_NAME}\n" PARENT_SCOPE)
+    endif()
+endfunction()
+
 # ------------------------- Import all pipelines ------------------------- #
 set(LIBS evalio Eigen3::Eigen) # targets to link to
 set(DEF "") # definitions to pass to the python module
 set(RESULTS "") # for printing results
 
-message("################### Searching for pipelines ###################")
-# find_pipeline(directory              target_name       definition_name)
-find_pipeline(kiss-icp/cpp/kiss_icp  kiss_icp_pipeline  EVALIO_KISS_ICP)
-find_pipeline(LIO-SAM                lio_sam            EVALIO_LIO_SAM)
-find_pipeline(loam                   loam               EVALIO_LOAM)
-find_pipeline(genz-icp/cpp/genz_icp  genz_icp::pipeline EVALIO_GENZ_ICP)
-find_pipeline(mad-icp/mad_icp        mad_odometry       EVALIO_MAD_ICP)
-find_pipeline(ct_icp                 CT_ICP             EVALIO_CT_ICP)
-message("###################    Pipeline Results     ###################")
-if(NOT "${RESULTS}" STREQUAL "")
-    string(STRIP "${RESULTS}" RESULTS)
-    message(${RESULTS})
-endif()
-message("###############################################################")
+find_pipeline(kiss-icp kiss_icp KISS_ICP)
+find_pipeline_optional(LIO-SAM lio_sam LIO_SAM)
+find_pipeline_optional(loam loam LOAM)
+find_pipeline_optional(genz-icp genz_icp GENZ_ICP)
+find_pipeline_optional(mad-icp mad_icp MAD_ICP)
+find_pipeline_optional(ct_icp ct_icp CT_ICP)
+find_pipeline(direct_lidar_inertial_odometry dlio EVALIO_DLIO)
+find_pipeline_optional(FAST_LIO fast_lio2 EVALIO_FAST_LIO2)
+list(APPEND DEF EVALIO_FAST_LIO2=1.0.0)
 
 # ------------------------- Make Python Bindings ------------------------- #
 find_package(

cpp/bindings/pipelines/bindings.h

@@ -31,9 +31,27 @@ using namespace nb::literals;
   #include "bindings/pipelines/ct_icp.h"
 #endif
 
+#ifdef EVALIO_DLIO
+  #include "bindings/pipelines/dlio.h"
+#endif
+
+#ifdef EVALIO_FAST_LIO2
+  #include "bindings/pipelines/fast_lio2.h"
+#endif
+
 namespace evalio {
 inline void makePipelines(nb::module_& m) {
   // List all the pipelines here
+#ifdef EVALIO_FAST_LIO2
+  nb::class_<FastLIO2, evalio::Pipeline>(m, "FastLIO2")
+    .def(nb::init<>())
+    .def_static("name", &FastLIO2::name)
+    .def_static("default_params", &FastLIO2::default_params)
+    .def_static("url", &FastLIO2::url)
+    .def_static("version", &FastLIO2::version)
+    .doc() =
+    "FastLIO2: Fast LiDAR-Inertial Odometry pipeline. Placeholder C++ integration for evalio.";
+#endif
 #ifdef EVALIO_KISS_ICP
   nb::class_<KissICP, evalio::Pipeline>(m, "KissICP")
     .def(nb::init<>())
@@ -112,5 +130,19 @@ inline void makePipelines(nb::module_& m) {
     "a small window of scans to perform more accurate dewarping performance. "
     "This is the version based on the 2022-ICRA paper.";
 #endif
+
+#ifdef EVALIO_DLIO
+  nb::class_<DLIO, evalio::Pipeline>(m, "DLIO")
+    .def(nb::init<>())
+    .def_static("name", &DLIO::name)
+    .def_static("default_params", &DLIO::default_params)
+    .def_static("url", &DLIO::url)
+    .def_static("version", &DLIO::version)
+    .doc() =
+    "Direct LiDAR-Inertial Odometry (DLIO) pipeline with continuous-time "
+    "motion correction. DLIO is a lightweight LIO algorithm that fuses "
+    "LiDAR and IMU data using a novel coarse-to-fine approach for precise "
+    "motion correction and robust odometry estimation.";
+#endif
 }
 } // namespace evalio