Fix VS2022 build (OpenMP optional) and debugger working directory for examples/tests (#119)

* Pass compile on Windows

* Set debugger working diretoriy as project root for examples and tests on Windows

Author: unclearness

CMakeLists.txt

@@ -97,7 +97,10 @@ endif()
 
 if(MSVC)
   add_compile_definitions(_USE_MATH_DEFINES)
-  # add_compile_options(/openmp:llvm)
+  add_compile_options(/bigobj)
+  if(BUILD_WITH_OPENMP)
+    add_compile_options(/openmp:llvm)
+  endif()
 endif()
 
 ##############
@@ -247,6 +250,12 @@ if(BUILD_EXAMPLES)
       TBB::tbbmalloc
       PCL::PCL
     )
+   if(MSVC)
+     set_target_properties(${EXAMPLE_NAME}
+                           PROPERTIES VS_DEBUGGER_WORKING_DIRECTORY
+                           "${CMAKE_SOURCE_DIR}"
+     )
+   endif()
   endforeach()
 endif()
 
@@ -273,6 +282,13 @@ if(BUILD_TESTS)
     )
 
     gtest_discover_tests(${TEST_NAME} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
+
+   if(MSVC)
+     set_target_properties(${TEST_NAME}
+                           PROPERTIES VS_DEBUGGER_WORKING_DIRECTORY
+                           "${CMAKE_SOURCE_DIR}"
+     )
+   endif()
   endforeach()
 endif()
 

include/small_gicp/pcl/pcl_registration.hpp

@@ -99,8 +99,8 @@ class RegistrationPCL : public pcl::Registration<PointSource, PointTarget, float
   std::string registration_type_;  ///< Registration type ("GICP" or "VGICP").
   bool verbose_;                   ///< Verbosity flag.
 
-  std::shared_ptr<KdTree<pcl::PointCloud<PointSource>>> target_tree_;  ///< KdTree for target point cloud.
-  std::shared_ptr<KdTree<pcl::PointCloud<PointSource>>> source_tree_;  ///< KdTree for source point cloud.
+  std::shared_ptr<small_gicp::KdTree<pcl::PointCloud<PointSource>>> target_tree_;  ///< KdTree for target point cloud.
+  std::shared_ptr<small_gicp::KdTree<pcl::PointCloud<PointSource>>> source_tree_;  ///< KdTree for source point cloud.
 
   std::shared_ptr<GaussianVoxelMap> target_voxelmap_;  ///< VoxelMap for target point cloud.
   std::shared_ptr<GaussianVoxelMap> source_voxelmap_;  ///< VoxelMap for source point cloud.

include/small_gicp/pcl/pcl_registration_impl.hpp

@@ -44,7 +44,7 @@ void RegistrationPCL<PointSource, PointTarget>::setInputSource(const PointCloudS
   }
 
   pcl::Registration<PointSource, PointTarget, Scalar>::setInputSource(cloud);
-  source_tree_ = std::make_shared<KdTree<pcl::PointCloud<PointSource>>>(input_, KdTreeBuilderOMP(num_threads_));
+  source_tree_ = std::make_shared<small_gicp::KdTree<pcl::PointCloud<PointSource>>>(input_, KdTreeBuilderOMP(num_threads_));
   source_covs_.clear();
   source_voxelmap_.reset();
 }
@@ -56,7 +56,7 @@ void RegistrationPCL<PointSource, PointTarget>::setInputTarget(const PointCloudT
   }
 
   pcl::Registration<PointSource, PointTarget, Scalar>::setInputTarget(cloud);
-  target_tree_ = std::make_shared<KdTree<pcl::PointCloud<PointTarget>>>(target_, KdTreeBuilderOMP(num_threads_));
+  target_tree_ = std::make_shared<small_gicp::KdTree<pcl::PointCloud<PointTarget>>>(target_, KdTreeBuilderOMP(num_threads_));
   target_covs_.clear();
   target_voxelmap_.reset();
 }
@@ -214,7 +214,7 @@ void RegistrationPCL<PointSource, PointTarget>::computeTransformation(PointCloud
     estimate_covariances_omp(target_proxy, *target_tree_, k_correspondences_, num_threads_);
   }
 
-  Registration<GICPFactor, ParallelReductionOMP> registration;
+  small_gicp::Registration<GICPFactor, ParallelReductionOMP> registration;
   registration.criteria.rotation_eps = rotation_epsilon_;
   registration.criteria.translation_eps = transformation_epsilon_;
   registration.reduction.num_threads = num_threads_;

include/small_gicp/registration/reduction_omp.hpp

@@ -7,7 +7,11 @@
 namespace small_gicp {
 
 #ifndef _OPENMP
+#ifdef _WIN32
+#pragma message(__FILE__, " OpenMP is not available.Parallel reduction will be disabled.")
+#else
 #warning "OpenMP is not available. Parallel reduction will be disabled."
+#endif
 inline int omp_get_thread_num() {
   return 0;
 }