Update README and make OpenMP a private dependency (#212)

* make openmp private for registration

* update docs for pip install

* hide linalg header

* add missing header

* hide default thread call

Author: nathanhhughes

README.md

@@ -1,4 +1,4 @@
-# TEASER++: fast & certifiable 3D registration 
+# TEASER++: fast & certifiable 3D registration
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 [![Documentation Status](https://readthedocs.org/projects/teaser/badge/?version=latest)](https://teaser.readthedocs.io/en/latest/?badge=latest)
 [<img src="https://github.com/MIT-SPARK/TEASER-plusplus/workflows/build/badge.svg">](https://github.com/MIT-SPARK/TEASER-plusplus/actions)
@@ -97,11 +97,11 @@ sudo apt install cmake libeigen3-dev libboost-all-dev
 conda create -n teaser_test python=3.6 numpy
 conda activate teaser_test
 conda install -c open3d-admin open3d=0.9.0.0
+
 git clone https://github.com/MIT-SPARK/TEASER-plusplus.git
-cd TEASER-plusplus && mkdir build && cd build
-cmake -DTEASERPP_PYTHON_VERSION=3.6 .. && make teaserpp_python
-cd python && pip install .
-cd ../.. && cd examples/teaser_python_ply 
+cd TEASER-plusplus
+pip install .
+cd examples/teaser_python_ply
 python teaser_python_ply.py
 ```
 You should see output similar to this:
@@ -137,19 +137,20 @@ Number of outliers:  1700
 Time taken (s):  0.9492652416229248
 ```
 
-### Reproduce the GIF Above 
+### Reproduce the GIF Above
 Run the following script:
 ```shell script
 sudo apt install cmake libeigen3-dev libboost-all-dev
 conda create -n teaser_3dsmooth python=3.6 numpy
 conda activate teaser_3dsmooth
 conda install -c open3d-admin open3d=0.9.0.0
-conda install scikit-learn 
+conda install scikit-learn
+
 git clone https://github.com/MIT-SPARK/TEASER-plusplus.git
-cd TEASER-plusplus && mkdir build && cd build
-cmake -DTEASERPP_PYTHON_VERSION=3.6 .. && make teaserpp_python
-cd python && pip install .
-cd ../.. && cd examples/teaser_python_3dsmooth
+cd TEASER-plusplus
+pip install .
+
+cd examples/teaser_python_3dsmooth
 python teaser_python_3dsmooth.py
 ```
 You should be able to see Open3D windows showing registration results:

cmake/teaserppConfig.cmake

@@ -2,7 +2,5 @@ get_filename_component(TEASERPP_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
 include(CMakeFindDependencyMacro)
 
 find_dependency(Eigen3 3.3 REQUIRED)
-find_dependency(OpenMP REQUIRED)
 
 include("${TEASERPP_CMAKE_DIR}/teaserppTargets.cmake")
-

doc/installation.rst

@@ -116,23 +116,13 @@ Make sure you have compiled the project, then run:
 Installing Python bindings
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-TEASER++ uses `pybind11 <https://github.com/pybind/pybind11>`_ to allow for minimal-effort interoperability between C++ and Python. To compile Python binding, run the following in the ``build`` folder you just created:
+TEASER++ uses `pybind11 <https://github.com/pybind/pybind11>`_ to allow for minimal-effort interoperability between C++ and Python. To compile Python binding, run the following in the cloned repository you just created:
 
 .. code-block:: sh
 
-   cmake -DTEASERPP_PYTHON_VERSION=3.6 ..
-   make teaserpp_python
-
-You can replace ``3.6`` with the desired Python version you want to use TEASER++ with.
-
-Then, in the `build` folder, there should be a folder named ``python``. You can use the following commands to install the binding with ``pip``:
-
-.. code-block:: sh
-
-   cd python
    pip install .
 
-If you are using virtual environments or Anaconda, make sure to activate your environment before compiling and during ``pip install``. Make sure the targeted Python interpreter is the one in your desired environment, or otherwise there might be segmentation faults.
+If you are using virtual environments or Anaconda, make sure to activate your environment before run ``pip install``.
 
 Installing MATLAB Bindings
 ^^^^^^^^^^^^^^^^^^^^^^^^^^

teaser/CMakeLists.txt

@@ -65,15 +65,15 @@ target_include_directories(teaser_registration
         $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
     PRIVATE
         $<BUILD_INTERFACE:${spectra_SOURCE_DIR}/include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
 )
 if(NOT BUILD_SHARED_LIBS)
   set_property(TARGET teaser_registration PROPERTY POSITION_INDEPENDENT_CODE 1)
 endif()
 
 find_package(OpenMP)
 if(OpenMP_CXX_FOUND)
-    target_link_libraries(teaser_registration PUBLIC OpenMP::OpenMP_CXX)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
+    target_link_libraries(teaser_registration PRIVATE OpenMP::OpenMP_CXX)
 endif()
 
 add_library(teaserpp::teaser_registration ALIAS teaser_registration)

teaser/include/teaser/registration.h

@@ -16,8 +16,6 @@
 #include <Eigen/SVD>
 #include <Eigen/Geometry>
 
-#include "omp.h"
-
 #include "teaser/graph.h"
 #include "teaser/geometry.h"
 
@@ -26,6 +24,8 @@
 
 namespace teaser {
 
+int teaser_default_max_threads();
+
 /**
  * Struct to hold solution to a registration problem
  */
@@ -418,7 +418,6 @@ class RobustRegistrationSolver {
    * Note: the default values needed to be changed accordingly for best performance.
    */
   struct Params {
-
     /**
      * A bound on the noise of each provided measurement.
      */
@@ -511,7 +510,7 @@ class RobustRegistrationSolver {
     /**
      * Number of threads used for the maximum clique solver
      */
-    int max_clique_num_threads = omp_get_max_threads();
+    int max_clique_num_threads = teaser_default_max_threads();
   };
 
   RobustRegistrationSolver() = default;

teaser/src/certification.cc

@@ -17,7 +17,7 @@
 #include <Spectra/SymEigsShiftSolver.h>
 
 #include "teaser/certification.h"
-#include "teaser/linalg.h"
+#include "linalg.h" // private header for testing
 
 teaser::CertificationResult
 teaser::DRSCertifier::certify(const Eigen::Matrix3d& R_solution,

teaser/include/teaser/linalg.h teaser/src/linalg.hteaser/include/teaser/linalg.h renamed to teaser/src/linalg.h

@@ -10,6 +10,8 @@
 
 #include <iostream>
 
+#include <omp.h>
+
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
 #include <Eigen/Eigenvalues>

teaser/src/registration.cc

@@ -14,10 +14,16 @@
 #include <limits>
 #include <iterator>
 
+#include <omp.h>
+
 #include "teaser/utils.h"
 #include "teaser/graph.h"
 #include "teaser/macros.h"
 
+int teaser::teaser_default_max_threads() {
+ return omp_get_max_threads();
+}
+
 void teaser::ScalarTLSEstimator::estimate(const Eigen::RowVectorXd& X,
                                           const Eigen::RowVectorXd& ranges, double* estimate,
                                           Eigen::Matrix<bool, 1, Eigen::Dynamic>* inliers) {

test/teaser/CMakeLists.txt

@@ -35,6 +35,12 @@ endif ()
 # Executable for running unit tests
 add_executable(all_tests ${TEST_SRCS})
 target_link_libraries(all_tests ${TEST_LINK_LIBRARIES})
+target_include_directories(all_tests PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/../../teaser/src)
+
+find_package(OpenMP)
+if(OpenMP_CXX_FOUND)
+    target_link_libraries(all_tests OpenMP::OpenMP_CXX)
+endif()
 
 gtest_add_tests(TARGET all_tests
         TEST_LIST allTests)

test/teaser/linalg-test.cc

@@ -13,7 +13,7 @@
 
 #include <Eigen/Core>
 
-#include "teaser/linalg.h"
+#include "linalg.h"
 
 TEST(LinalgTest, HatMap) {
   {