Make it compile with v22.06 (and wo compat) (#3)

sofa-framework · Jul 5, 2022 · 26b6bb8 · 26b6bb8
1 parent 4f87552
commit 26b6bb8
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Showing 11 changed files with 103 additions and 108 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -13,12 +13,12 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-20.04, macos-10.15, windows-2019]
-        sofa_branch: [master, v21.12]
+        sofa_branch: [master, v22.06]
 
     steps:
       - name: Setup SOFA and environment
         id: sofa
-        uses: sofa-framework/sofa-setup-action@v3.0
+        uses: sofa-framework/sofa-setup-action@v4
         with:
           sofa_root: ${{ github.workspace }}/sofa
           sofa_version: ${{ matrix.sofa_branch }}

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,13 +1,13 @@
 cmake_minimum_required(VERSION 3.12)
 project(Registration VERSION 0.1)
 
-find_package(Sofa.GL REQUIRED)
-sofa_find_package(SofaMiscCollision REQUIRED)
-sofa_find_package(SofaOpenglVisual REQUIRED)
-sofa_find_package(SofaExporter REQUIRED)
+find_package(Sofa.Helper REQUIRED)
+sofa_find_package(Sofa.GL REQUIRED)
+sofa_find_package(Sofa.Component.IO.Mesh REQUIRED)
+sofa_find_package(Sofa.Component.Engine.Generate REQUIRED)
+sofa_find_package(Sofa.Component.Collision.Response.Mapper REQUIRED)
 sofa_find_package(SofaDistanceGrid QUIET)
 sofa_find_package(image QUIET)
-find_package(Eigen3 REQUIRED)
 
 set(REGISTRATION_SRC "src/${PROJECT_NAME}")
 
@@ -54,11 +54,14 @@ else()
 endif()
 
 # Config files and install rules for pythons scripts
-sofa_set_python_directory(Registration "python")
+sofa_install_pythonscripts(
+    PLUGIN_NAME ${PROJECT_NAME}
+    PYTHONSCRIPTS_SOURCE_DIR "python"
+)
 
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${README_FILES} ${PYTHON_FILES})
-target_link_libraries(${PROJECT_NAME} PUBLIC SofaMeshCollision SofaMiscCollision SofaBaseCollision SofaBaseVisual SofaExporter SofaOpenglVisual SofaLoader SofaMiscForceField SofaGeneralEngine)
-target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
+target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.IO.Mesh Sofa.Component.Collision.Response.Mapper Sofa.Component.Engine.Generate)
+target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.GL)
 
 if(image_FOUND)
     target_link_libraries(${PROJECT_NAME} PUBLIC image)

diff --git a/RegistrationConfig.cmake.in b/RegistrationConfig.cmake.in
@@ -2,35 +2,20 @@
 
 @PACKAGE_INIT@
 
-set(REGISTRATION_HAVE_SOFAMISCCOLLISION @REGISTRATION_HAVE_SOFAMISCCOLLISION@)
-set(REGISTRATION_HAVE_SOFAOPENGLVISUAL @REGISTRATION_HAVE_SOFAOPENGLVISUAL@)
-set(REGISTRATION_HAVE_SOFAEXPORTER @REGISTRATION_HAVE_SOFAEXPORTER@)
 set(REGISTRATION_HAVE_SOFADISTANCEGRID @REGISTRATION_HAVE_SOFADISTANCEGRID@)
 set(REGISTRATION_HAVE_IMAGE @REGISTRATION_HAVE_IMAGE@)
-set(REGISTRATION_HAVE_SOFA_GL @REGISTRATION_HAVE_SOFA_GL@)
 
-find_package(SofaGui REQUIRED)
-find_package(image QUIET)
-find_package(Eigen3 REQUIRED)
+find_package(Sofa.GL QUIET REQUIRED)
+find_package(Sofa.Component.IO.Mesh QUIET REQUIRED)
+find_package(Sofa.Component.Engine.Generate QUIET REQUIRED)
+find_package(Sofa.Component.Collision.Response.Mapper QUIET REQUIRED)
 
-if(REGISTRATION_HAVE_SOFAMISCCOLLISION)
-    find_package(SofaMiscCollision QUIET REQUIRED)
-endif()
-if(REGISTRATION_HAVE_SOFAOPENGLVISUAL)
-    find_package(SofaOpenglVisual QUIET REQUIRED)
-endif()
-if(REGISTRATION_HAVE_SOFAEXPORTER)
-    find_package(SofaExporter QUIET REQUIRED)
-endif()
 if(REGISTRATION_HAVE_SOFADISTANCEGRID)
     find_package(SofaDistanceGrid QUIET REQUIRED)
 endif()
 if(REGISTRATION_HAVE_IMAGE)
     find_package(Image QUIET REQUIRED)
 endif()
-if(REGISTRATION_HAVE_SOFA_GL)
-	find_package(Sofa.GL REQUIRED)
-endif()
 
 if(NOT TARGET Registration)
 	include("${CMAKE_CURRENT_LIST_DIR}/RegistrationTargets.cmake")

diff --git a/src/Registration/ClosestPointRegistrationForceField.inl b/src/Registration/ClosestPointRegistrationForceField.inl
@@ -35,17 +35,13 @@
 #include <omp.h>
 #endif
 
-#include <SofaLoader/MeshOBJLoader.h>
-#include <SofaGeneralEngine/NormalsFromPoints.h>
+#include <sofa/component/io/mesh/MeshOBJLoader.h>
+#include <sofa/component/engine/generate/NormalsFromPoints.h>
 #include <limits>
 #include <set>
 #include <iterator>
 #include <sofa/gl/Color.h>
 
-using std::cerr;
-using std::endl;
-
-
 
 namespace sofa
 {
@@ -106,22 +102,22 @@ void ClosestPointRegistrationForceField<DataTypes>::init()
 
     // Get source triangles
     if(!sourceTriangles.getValue().size()) {
-        sofa::component::loader::MeshOBJLoader *meshobjLoader;
-        this->getContext()->get( meshobjLoader, core::objectmodel::BaseContext::Local);
-        if (meshobjLoader)
+        sofa::component::io::mesh::MeshOBJLoader *MeshOBJLoader;
+        this->getContext()->get( MeshOBJLoader, core::objectmodel::BaseContext::Local);
+        if (MeshOBJLoader)
         {
-            if(sourceTriangles.setParent(&meshobjLoader->d_triangles))
+            if(sourceTriangles.setParent(&MeshOBJLoader->d_triangles))
             {
-                msg_info()<<"imported triangles from "<<meshobjLoader->getName();
+                msg_info()<<"imported triangles from "<<MeshOBJLoader->getName();
             }
             else
             {
-                msg_warning()<<"unable to import triangles from "<<meshobjLoader->getName();
+                msg_warning()<<"unable to import triangles from "<<MeshOBJLoader->getName();
             }
         }
     }
     // Get source normals
-    if(!sourceNormals.getValue().size()) serr<<"normals of the source model not found"<<sendl;
+    if(!sourceNormals.getValue().size()) msg_error()<<"normals of the source model not found";
 }
 
 template<class DataTypes>
@@ -328,7 +324,7 @@ void ClosestPointRegistrationForceField<DataTypes>::addForce(const core::Mechani
     // add rest spring force
     for (unsigned int i=0; i<nb; i++)
     {
-        //serr<<"addForce() between "<<i<<" and "<<closestPos[i]<<sendl;
+        //msg_error()<<"addForce() between "<<i<<" and "<<closestPos[i];
         Coord u = this->closestPos[i]-x[i];
         Real nrm2 = u.norm2();
         Real k = this->ks.getValue();
@@ -405,7 +401,7 @@ void ClosestPointRegistrationForceField<DataTypes>::draw(const core::visual::Vis
         if (showArrowSize.getValue()==0 || drawMode.getValue() == 0)	vparams->drawTool()->drawLines(points, 1, c);
         else if (drawMode.getValue() == 1)	for (unsigned int i=0;i<points.size()/2;++i) vparams->drawTool()->drawCylinder(points[2*i+1], points[2*i], showArrowSize.getValue(), c);
         else if (drawMode.getValue() == 2)	for (unsigned int i=0;i<points.size()/2;++i) vparams->drawTool()->drawArrow(points[2*i+1], points[2*i], showArrowSize.getValue(), c);
-        else serr << "No proper drawing mode found!" << sendl;
+        else msg_error() << "No proper drawing mode found!";
     }
 
     if(drawColorMap.getValue())

diff --git a/src/Registration/GroupwiseRegistrationEngine.h b/src/Registration/GroupwiseRegistrationEngine.h
@@ -116,7 +116,12 @@ class GroupwiseRegistrationEngine : public core::DataEngine
         {
             helper::ReadAccessor<Data<VecCoord> > pos(vf_inputs[i]);
             helper::WriteOnlyAccessor<Data<VecCoord> > outPos(vf_outputs[i]);
-            if(N!=pos.size()) { serr<<"input"<<i+1<<" has an invalid size"<<sendl; return; }
+
+            if(N!=pos.size()) 
+            { 
+                msg_error() << "input" << i + 1 << " has an invalid size" ;
+                return;
+            }
 
             affine R; Coord t;
             ClosestRigid(pos.ref(), pos0.ref(), R, t);

diff --git a/src/Registration/InertiaAlign.cpp b/src/Registration/InertiaAlign.cpp
@@ -83,8 +83,8 @@ void InertiaAlign::init()
 
         }
     }
-    sout << "Source intertia matrix"<<sendl<<eigenSourceInertiaMatrix << sendl;
-    sout << "Target intertia matrix"<<sendl<<eigenTargetInertiaMatrix << sendl;
+    msg_info() << "Source intertia matrix \n"  << eigenSourceInertiaMatrix;
+    msg_info() << "Target intertia matrix \n" << eigenTargetInertiaMatrix;
 
     Eigen::EigenSolver<Eigen::Matrix3d> solverTarget(eigenTargetInertiaMatrix);
     Eigen::EigenSolver<Eigen::Matrix3d> solverSource(eigenSourceInertiaMatrix);
@@ -244,24 +244,25 @@ void InertiaAlign::init()
     Lzt = sqrt(abs( Txx+Tyy-Tzz)/2);
 
 
-    sout << "EigenVectorsSource =" << sendl;
+    msg_info() << "EigenVectorsSource =";
     for(unsigned int i=0;i<3;i++)
     {
         for(unsigned int j=0;j<3;j++)
-            sout << eigenvectorsSource(i,j) << " ";
-        sout << sendl;
+            msg_info() << eigenvectorsSource(i,j) << " ";
+
+        msg_info() << "\n";
 
     }
 
     SReal scale_u = Lxs / Lxt;
     SReal scale_v = Lys / Lyt;
     SReal scale_w = Lzs / Lzt;
 
-    sout << "Scale X = " << scale_u << "Scale Y = "<< scale_v << "Scale Z = " << scale_w << sendl;
+    msg_info() << "Scale X = " << scale_u << "Scale Y = "<< scale_v << "Scale Z = " << scale_w;
 
 
-    sout << "Lxs = " <<Lxs<< "Lys = " <<Lys<< "Lzs = " <<Lzs << sendl;
-    sout << "Lxt = " <<Lxt<< "Lyt = " <<Lyt<< "Lzt = " <<Lzt << sendl;
+    msg_info() << "Lxs = " <<Lxs<< "Lys = " <<Lys<< "Lzs = " <<Lzs;
+    msg_info() << "Lxt = " <<Lxt<< "Lyt = " <<Lyt<< "Lzt = " <<Lzt;
     /*Creation of the two 4x4 transformation matrix:
      *
      *MTransformSource :
@@ -325,7 +326,7 @@ void InertiaAlign::init()
     }
 
 
-    sout <<"Source Directe? "<< sdirect << sendl;
+    msg_info() <<"Source Directe? "<< sdirect;
 
     for(unsigned int i=0;i<3;i++)
     {
@@ -348,7 +349,7 @@ void InertiaAlign::init()
         }
     }
 
-    sout <<"Target Directe? "<< sdirect << sendl;
+    msg_info() <<"Target Directe? "<< sdirect;
 
     //Normalised last line
     MTransformTarget(3,3) = 1;
@@ -393,25 +394,25 @@ void InertiaAlign::init()
 
     }
 
-    sout << "MTransformSource before inversion ="<< sendl;
+    msg_info() << "MTransformSource before inversion =";
     for(unsigned int i=0;i<4;i++)
     {
         for(unsigned int j=0;j<4;j++)
         {
-            sout <<MTransformSource(i,j)<< " ";
+            msg_info() <<MTransformSource(i,j)<< " ";
         }
-        sout << sendl;
+        msg_info() << "\n";
     }
 
     MTransformSource = inverseTransform(MTransformSource);
-    sout << "MTransformSource after inversion ="<< sendl;
+    msg_info() << "MTransformSource after inversion =";
     for(unsigned int i=0;i<4;i++)
     {
         for(unsigned int j=0;j<4;j++)
         {
-            sout <<MTransformSource(i,j)<< " ";
+            msg_info() <<MTransformSource(i,j)<< " ";
         }
-        sout << sendl;
+        msg_info() << "\n";
     }
     type::Matrix4 MTranslation;
     for(unsigned int i=0;i<4;i++)
@@ -503,7 +504,7 @@ void InertiaAlign::init()
         }
         (*m_positions.beginEdit()) = positionDistSource;
     }
-    sout << "Indice choisi : " << indice_min << " avec une distance de " << distance_min << sendl;
+    msg_info() << "Indice choisi : " << indice_min << " avec une distance de " << distance_min;
     //Compute the best transformation
     switch(indice_min)
     {
@@ -548,9 +549,9 @@ void InertiaAlign::init()
     {
        for(unsigned int j=0;j<4;j++)
        {
-         sout << MTransformTarget(k,j) << " ";
+         msg_info() << MTransformTarget(k,j) << " ";
        }
-       sout << sendl;
+       msg_info();
     }
     MTransformSource = MTransformTarget * MTransformSource;
 
@@ -559,9 +560,9 @@ void InertiaAlign::init()
     {
        for(unsigned int j=0;j<4;j++)
        {
-         sout << MTransformSource(k,j) << " ";
+         msg_info() << MTransformSource(k,j) << " ";
        }
-       sout << sendl;
+       msg_info();
     }
 
     Eigen::Matrix4d MDeterminantTest;
@@ -573,7 +574,7 @@ void InertiaAlign::init()
        }
     }
     if(MDeterminantTest.determinant()<0)
-        sout << "The MTransformSourceMatrix is not a Transformation matrix" << sendl;
+        msg_info() << "The MTransformSourceMatrix is not a Transformation matrix";
     for (size_t i = 0; i < waPositions.size(); i++)
     {
         type::Vector4 pointS,pointT;
@@ -648,14 +649,14 @@ Matrix4 InertiaAlign::inverseTransform(Matrix4 transformToInvert)
     Vector3 Translation;
     Matrix4 transformInverted;
 
-    sout << "Before inversion"<< sendl;
+    msg_info() << "Before inversion";
     for(unsigned int i=0;i<4;i++)
     {
         for(unsigned int j=0;j<4;j++)
         {
-            sout << transformToInvert(i,j)<< " ";
+            msg_info() << transformToInvert(i,j)<< " ";
         }
-        sout << sendl;
+        msg_info() << "\n";
     }
     for(unsigned int i=0;i<3;i++)
     {
@@ -668,16 +669,16 @@ Matrix4 InertiaAlign::inverseTransform(Matrix4 transformToInvert)
 
     bool bS = type::invertMatrix(rotationInverted,rotationToInvert);
 
-    sout << "Translation = " << Translation;
+    msg_info() << "Translation = " << Translation;
     if(!bS)
     {
-        sout <<"Error : Source transformation matrix is not invertible"<<sendl;
+        msg_info() <<"Error : Source transformation matrix is not invertible";
     }
     else //Compute R-1 * t
     {
         Translation = (-1*rotationInverted * Translation);
     }
-    sout << "Translation = " << Translation;
+    msg_info() << "Translation = " << Translation;
     for(unsigned int i=0;i<3;i++)
     {
         for(unsigned int j=0;j<3;j++)
@@ -688,14 +689,14 @@ Matrix4 InertiaAlign::inverseTransform(Matrix4 transformToInvert)
     }
     transformInverted(3,3)=1;
 
-    sout << "After inversion"<< sendl;
+    msg_info() << "After inversion";
     for(unsigned int i=0;i<4;i++)
     {
         for(unsigned int j=0;j<4;j++)
         {
-            sout << transformInverted(i,j)<< " ";
+            msg_info() << transformInverted(i,j)<< " ";
         }
-        sout << sendl;
+        msg_info() << "\n";
     }
     return transformInverted;