Merge pull request #44 from uos/cleanup-cmake

amock · web-flow · commit e57700f06386 · 2025-06-27T08:49:32.000+02:00
Cleanup CMake + Remove Nabo
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -339,15 +339,6 @@ if(BUILD_VIEWER)
   endif()
 endif(BUILD_VIEWER)
 
-#------------------------------------------------------------------------------
-# Searching for NABO
-#------------------------------------------------------------------------------
-find_package(Nabo)
-if(Nabo_FOUND)
-  include_directories(${Nabo_INCLUDE_DIRS})
-  list(APPEND LVR2_DEFINITIONS -DLVR2_USE_NABO)
-endif(Nabo_FOUND)
-
 #------------------------------------------------------------------------------
 ## Searching for PCL
 #------------------------------------------------------------------------------
@@ -376,6 +367,7 @@ endif(WITH_PCL)
 #------------------------------------------------------------------------------
 # Searching CGAL
 #------------------------------------------------------------------------------
+set(CGAL_DATA_DIR ".")
 find_package(CGAL)
 if(CGAL_FOUND)
   
@@ -827,7 +819,6 @@ install(FILES package.xml DESTINATION share/lvr2)
 install(FILES
     CMakeModules/FindFLANN.cmake
     CMakeModules/FindLZ4.cmake
-    CMakeModules/FindNabo.cmake
     CMakeModules/FindOpenNI.cmake
     CMakeModules/FindOpenNI2.cmake
     CMakeModules/FindQVTK.cmake
diff --git a/CMakeModules/FindNabo.cmake b/CMakeModules/FindNabo.cmake
diff --git a/LVR2Config.cmake.in b/LVR2Config.cmake.in
@@ -141,12 +141,6 @@ if(@VTK_FOUND@)
     list(APPEND LVR2_DEFINITIONS ${VTK_DEFINITIONS})
 endif()
 
-# nabo
-if(@NABO_FOUND@)
-  find_package(Nabo REQUIRED)
-  list(APPEND LVR2_INCLUDE_DIRS ${NABO_INCLUDE_DIRS})
-endif()
-
 # pcl
 if(@PCL_FOUND@)
   find_package(PCL REQUIRED)
diff --git a/README.md b/README.md
@@ -177,7 +177,7 @@ Supported options:
                                         automatically.
   -p [ --pcm ] arg (=LVR2)              Point cloud manager used for point 
                                         handling and normal estimation. Choose 
-                                        from {FLANN, PCL, NABO, LVR2, LBVH_CUDA}.
+                                        from {FLANN, PCL, LVR2, LBVH_CUDA}.
   --nem arg (=0)                        Method for estimating point normals / 
                                         planes. 0: PCA (default), 1: RANSAC, 2:
                                         IPCA ilikebigbits, 3: IPCA exact. Make 
diff --git a/ext/spdlog/CMakeLists.txt b/ext/spdlog/CMakeLists.txt
@@ -148,7 +148,7 @@ if(SPDLOG_BUILD_PIC)
 endif()
 
 find_package(Threads REQUIRED)
-message(STATUS "Build type: " ${CMAKE_BUILD_TYPE})
+# message(STATUS "Build type: " ${CMAKE_BUILD_TYPE})
 # ---------------------------------------------------------------------------------------
 # Static/Shared library
 # ---------------------------------------------------------------------------------------
diff --git a/ext/spdmon/CMakeLists.txt b/ext/spdmon/CMakeLists.txt
@@ -21,7 +21,7 @@ set(CXX_STANDARD 17)
 include(cmake/StandardSettings.cmake)
 include(cmake/Utils.cmake)
 include(cmake/cpplint.cmake)
-message(STATUS "Started CMake for ${PROJECT_NAME} v${PROJECT_VERSION}...\n")
+message(STATUS "Build ${PROJECT_NAME}: v${PROJECT_VERSION}")
 
 
 # add every sub directory of the current source dir if it contains a CMakeLists.txt
@@ -135,7 +135,7 @@ function (ListToString result delim)
     set(${result} "${temp}" PARENT_SCOPE)
 endfunction(ListToString)
 
-message(STATUS "Added all header and implementation files.\n")
+# message(STATUS "Added all header and implementation files.")
 
 #
 # Set the project standard and warnings
@@ -147,7 +147,7 @@ else()
   target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
 endif()
 
-verbose_message("Applied compiler warnings. Using standard ${CXX_STANDARD}.\n")
+# verbose_message("Applied compiler warnings. Using standard ${CXX_STANDARD}.")
 
 #
 # Enable Doxygen
@@ -190,7 +190,7 @@ else()
 	endif()
 endif()
 
-message(STATUS "Finished setting up include directories.")
+# message(STATUS "Finished setting up include directories.")
 
 #
 # Model project dependencies 
@@ -208,7 +208,7 @@ message(STATUS "Finished setting up include directories.")
 #    ${PROJECT_NAME}_PROJECT_WARNINGS        
 #)
 
-verbose_message("Successfully added all dependencies and linked against them.")
+# verbose_message("Successfully added all dependencies and linked against them.")
 
 #
 # Provide alias to library for 
@@ -220,7 +220,7 @@ else()
   add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 endif()
 
-verbose_message("Project is now aliased as ${PROJECT_NAME}::${PROJECT_NAME}.\n")
+# verbose_message("Project is now aliased as ${PROJECT_NAME}::${PROJECT_NAME}.")
 
 #
 # Format the project using the `clang-format` target (i.e: cmake --build build --target clang-format)
@@ -311,8 +311,8 @@ if(${PROJECT_NAME}_GENERATE_EXPORT_HEADER)
       include
   )
 
-message(STATUS "Generated the export header `${PROJECT_NAME_LOWERCASE}_export.h` and installed it.")
+# message(STATUS "Generated the export header `${PROJECT_NAME_LOWERCASE}_export.h` and installed it.")
 endif()
 
-message(STATUS "Finished building requirements for installing the package.\n")
+# message(STATUS "Finished building requirements for installing the package.\n")
 
diff --git a/ext/spdmon/cmake/Utils.cmake b/ext/spdmon/cmake/Utils.cmake
@@ -34,7 +34,7 @@ function(add_clang_format_target)
 						-i  ${ALL_CXX_SOURCE_FILES})
 			endif()
 
-			message(STATUS "Format the project using the `clang-format` target (i.e: cmake --build build --target clang-format).\n")
+			# message(STATUS "Format the project using the `clang-format` target (i.e: cmake --build build --target clang-format).\n")
     endif()
 endfunction(add_clang_format_target)
 
diff --git a/ext/spdmon/cmake/cpplint.cmake b/ext/spdmon/cmake/cpplint.cmake
@@ -82,6 +82,6 @@ function(add_cpplint_style_check_target)
             VERBATIM)
 
 
-			message(STATUS "Format the project using the `cpplint` target (i.e: cmake --build build --target cpplint-format).\n")
+			# message(STATUS "Format the project using the `cpplint` target (i.e: cmake --build build --target cpplint-format).\n")
     endif()
 endfunction(add_cpplint_style_check_target)
diff --git a/include/lvr2/reconstruction/AdaptiveKSearchSurface.hpp b/include/lvr2/reconstruction/AdaptiveKSearchSurface.hpp
@@ -64,11 +64,6 @@
 //     #include "SearchTreeFlannPCL.hpp"
 // #endif
 
-// // SearchTreeNabo
-// #ifdef LVR2_USE_NABO
-//     #include "SearchTreeNabo.hpp"
-// #endif
-
 using std::numeric_limits;
 using std::string;
 using std::unique_ptr;
diff --git a/src/tools/lvr2_dmc_reconstruction/Main.cpp b/src/tools/lvr2_dmc_reconstruction/Main.cpp
@@ -54,9 +54,8 @@ PointsetSurfacePtr<BaseVecT> loadPointCloud(const dmc_reconstruction::Options& o
         std::cout << timestamp << "Using PCL as point cloud manager is not implemented yet!" << std::endl;
         panic_unimplemented("PCL as point cloud manager");
     }
-    else if(pcm_name == "FLANN" || pcm_name == "NABO" || pcm_name == "NANOFLANN")
+    else if(pcm_name == "FLANN" || pcm_name == "NANOFLANN")
     {
-        
         int plane_fit_method = 0;
         
         if(options.useRansac())
diff --git a/src/tools/lvr2_dmc_reconstruction/Options.cpp b/src/tools/lvr2_dmc_reconstruction/Options.cpp
@@ -20,7 +20,7 @@ namespace dmc_reconstruction{
                 ("kd", value<int>(&m_kd)->default_value(5), "Number of normals used for distance function evaluation")
                 ("ki", value<int>(&m_ki)->default_value(10), "Number of normals used in the normal interpolation process")
                 ("kn", value<int>(&m_kn)->default_value(10), "Size of k-neighborhood used for normal estimation")
-                ("pcm,p", value<string>(&m_pcm)->default_value("FLANN"), "Point cloud manager used for point handling and normal estimation. Choose from {PCL, NABO}.")
+                ("pcm,p", value<string>(&m_pcm)->default_value("FLANN"), "Point cloud manager used for point handling and normal estimation. Choose from {PCL}.")
                 ("ransac", "Set this flag for RANSAC based normal estimation.")
                 ("scanPoseFile", value<string>()->default_value(""), "ASCII file containing scan positions that can be used to flip normals")
                 ("threads", value<int>(&m_numThreads)->default_value( lvr2::OpenMPConfig::getNumThreads() ), "Number of threads")
diff --git a/src/tools/lvr2_ground_level_extractor/CMakeLists.txt b/src/tools/lvr2_ground_level_extractor/CMakeLists.txt
@@ -18,10 +18,6 @@ set(LVR2_GROUND_LEVEL_EXTRACTOR_DEPENDENCIES
     ${LVR2_LIB_DEPENDENCIES}
 )
 
-if( ${NABO_FOUND} )
-  set(LVR2_GROUND_LEVEL_EXTRACTOR_DEPENDENCIES ${LVR2_GROUND_LEVEL_EXTRACTOR_DEPENDENCIES} ${NABO_LIBRARY})
-endif( ${NABO_FOUND} )
-
 #####################################################################################
 # Add PCD io if PCL is installed
 #####################################################################################
diff --git a/src/tools/lvr2_gs_reconstruction/Main.cpp b/src/tools/lvr2_gs_reconstruction/Main.cpp
@@ -38,8 +38,7 @@ PointsetSurfacePtr<BaseVecT> loadPointCloud(const gs_reconstruction::Options& op
         std::cout << timestamp << "Using PCL as point cloud manager is not implemented yet!" << std::endl;
         panic_unimplemented("PCL as point cloud manager");
     }
-    else if (pcm_name == "FLANN" || pcm_name == "NABO" ||
-             pcm_name == "NANOFLANN")
+    else if (pcm_name == "FLANN" || pcm_name == "NANOFLANN")
     {
         surface = std::make_shared<AdaptiveKSearchSurface<BaseVecT>>(
             buffer, pcm_name, options.getKn(), options.getKi(), options.getKd(), 1, "");
diff --git a/src/tools/lvr2_gs_reconstruction/OptionsGS.cpp b/src/tools/lvr2_gs_reconstruction/OptionsGS.cpp
@@ -31,7 +31,7 @@ namespace gs_reconstruction{
                 ("kd", value<int>(&m_kd)->default_value(5), "Number of normals used for distance function evaluation")
                 ("ki", value<int>(&m_ki)->default_value(10), "Number of normals used in the normal interpolation process")
                 ("kn", value<int>(&m_kn)->default_value(10), "Size of k-neighborhood used for normal estimation")
-                ("pcm,p", value<string>(&m_pcm)->default_value("FLANN"), "Point cloud manager used for point handling and normal estimation. Choose from {PCL, NABO}.")
+                ("pcm,p", value<string>(&m_pcm)->default_value("FLANN"), "Point cloud manager used for point handling and normal estimation. Choose from {PCL}.")
                 ;
         setup();
     }
diff --git a/src/tools/lvr2_image_normals/CMakeLists.txt b/src/tools/lvr2_image_normals/CMakeLists.txt
@@ -22,10 +22,6 @@ if(PCL_FOUND)
   set(LVR2_IMG_NORMAL_DEPS  ${LVR2_IMG_NORMAL_DEPS} ${PCL_LIBRARIES} )
 endif(PCL_FOUND)
 
-if( ${NABO_FOUND} )
- set(LVR2_IMG_NORMAL_DEPS  ${LVR2_IMG_NORMAL_DEPS} ${NABO_LIBRARY} )
-endif( ${NABO_FOUND} )
-
 #####################################################################################
 # Add executable
 #####################################################################################
diff --git a/src/tools/lvr2_largescale_reconstruct_mpi/LargeScaleOptions.cpp b/src/tools/lvr2_largescale_reconstruct_mpi/LargeScaleOptions.cpp
@@ -58,7 +58,7 @@ Options::Options(int argc, char** argv) : BaseOption(argc, argv)
     ("chunkSize",value<int>(&m_chunkSize)->default_value(20),"Set the chunksize for the virtual grid. (default: 20)")
     ("extrude", value<bool>(&m_extrude)->default_value(false), "Do not extend grid. Can be used to avoid artefacts in dense data sets but. Disabling will possibly create additional holes in sparse data sets.")
     ("intersections,i",value<int>(&m_intersections)->default_value(-1),"Number of intersections used for reconstruction. If other than -1, voxelsize will calculated automatically.")
-    ("pcm,p",value<string>(&m_pcm)->default_value("FLANN"),"Point cloud manager used for point handling and normal estimation. Choose from {PCL, NABO}.")
+    ("pcm,p",value<string>(&m_pcm)->default_value("FLANN"),"Point cloud manager used for point handling and normal estimation. Choose from {PCL}.")
     ("useRansac", "Set this flag for RANSAC based normal estimation.")
     ("decomposition,d",value<string>(&m_pcm)->default_value("PMC"),"Defines the type of decomposition that is used for the voxels (Standard Marching Cubes "
         "(MC), Planar Marching Cubes (PMC), Standard Marching Cubes with sharp feature detection "
diff --git a/src/tools/lvr2_largescale_reconstruct_mpi/Options.cpp b/src/tools/lvr2_largescale_reconstruct_mpi/Options.cpp
@@ -65,7 +65,7 @@ Options::Options(int argc, char** argv)
         ("voxelsize,v", value<float>(&m_voxelsize)->default_value(10), "Voxelsize of grid used for reconstruction.")
         ("noExtrusion", "Do not extend grid. Can be used  to avoid artefacts in dense data sets but. Disabling will possibly create additional holes in sparse data sets.")
         ("intersections,i", value<int>(&m_intersections)->default_value(-1), "Number of intersections used for reconstruction. If other than -1, voxelsize will calculated automatically.")
-        ("pcm,p", value<string>(&m_pcm)->default_value("FLANN"), "Point cloud manager used for point handling and normal estimation. Choose from {PCL, NABO}.")
+        ("pcm,p", value<string>(&m_pcm)->default_value("FLANN"), "Point cloud manager used for point handling and normal estimation. Choose from {PCL}.")
         ("ransac", "Set this flag for RANSAC based normal estimation.")
         ("decomposition,d", value<string>(&m_pcm)->default_value("PMC"), "Defines the type of decomposition that is used for the voxels (Standard Marching Cubes (MC), Planar Marching Cubes (PMC), Standard Marching Cubes with sharp feature detection (SF) or Tetraeder (MT) decomposition. Choose from {MC, PMC, MT, SF}")
         ("optimizePlanes,o", "Shift all triangle vertices of a cluster onto their shared plane")
diff --git a/src/tools/lvr2_mesh_reducer/CMakeLists.txt b/src/tools/lvr2_mesh_reducer/CMakeLists.txt
@@ -18,10 +18,6 @@ set(LVR_REDUCE_DEPENDENCIES
     ${LVR2_LIB_DEPENDENCIES}
 )
 
-if( ${NABO_FOUND} )
-  set(LVR_REDUCE_DEPENDENCIES ${LVR_REDUCE_DEPENDENCIES} ${NABO_LIBRARY})
-endif( ${NABO_FOUND} )
-
 #####################################################################################
 # Add PCD io if PCL is installed
 #####################################################################################
diff --git a/src/tools/lvr2_reconstruct/CMakeLists.txt b/src/tools/lvr2_reconstruct/CMakeLists.txt
@@ -22,10 +22,6 @@ if(CUDA_FOUND)
   list(APPEND LVR2_RECONSTRUCT_DEPENDENCIES lvr2cuda_static)
 endif(CUDA_FOUND)
 
-if( ${NABO_FOUND} )
-  list(APPEND LVR2_RECONSTRUCT_DEPENDENCIES ${NABO_LIBRARY})
-endif( ${NABO_FOUND} )
-
 #####################################################################################
 # Add executable
 #####################################################################################
diff --git a/src/tools/lvr2_reconstruct/Main.cpp b/src/tools/lvr2_reconstruct/Main.cpp
@@ -288,7 +288,7 @@ PointsetSurfacePtr<BaseVecT> loadPointCloud(const reconstruct::Options& options)
         lvr2::logout::get() << lvr2::error << "[LVR2 Reconstruct] Using PCL as point cloud manager is not implemented yet!" << lvr2::endl;
         panic_unimplemented("PCL as point cloud manager");
     }
-    else if(pcm_name == "FLANN" || pcm_name == "NABO" || pcm_name == "NANOFLANN" || pcm_name == "LVR2")
+    else if(pcm_name == "FLANN" || pcm_name == "NANOFLANN" || pcm_name == "LVR2")
     {
         
         int plane_fit_method = options.getNormalEstimation();
diff --git a/src/tools/lvr2_reconstruct/Options.cpp b/src/tools/lvr2_reconstruct/Options.cpp
@@ -69,7 +69,7 @@ Options::Options(int argc, char** argv)
         ("voxelsize,v", value<float>(&m_voxelsize)->default_value(10), "Voxelsize of grid used for reconstruction.")
         ("noExtrusion", "Do not extend grid. Can be used  to avoid artefacts in dense data sets but. Disabling will possibly create additional holes in sparse data sets.")
         ("intersections,i", value<int>(&m_intersections)->default_value(-1), "Number of intersections used for reconstruction. If other than -1, voxelsize will calculated automatically.")
-        ("pcm,p", value<string>(&m_pcm)->default_value("LVR2"), "Point cloud manager used for point handling and normal estimation. Choose from {FLANN, PCL, NABO, LVR2, LBVH_CUDA}.")
+        ("pcm,p", value<string>(&m_pcm)->default_value("LVR2"), "Point cloud manager used for point handling and normal estimation. Choose from {FLANN, PCL, LVR2, LBVH_CUDA}.")
         ("nem", value<int>(&m_normalEstimation)->default_value(0), "Method for estimating point normals / planes. 0: PCA (default), 1: RANSAC, 2: IPCA ilikebigbits, 3: IPCA exact. Make sure the computing device is supporting the respective method.")
         ("decomposition,d", value<string>(&m_pcm)->default_value("PMC"), "Defines the type of decomposition that is used for the voxels (Standard Marching Cubes (MC), Planar Marching Cubes (PMC), Standard Marching Cubes with sharp feature detection (SF), Dual Marching Cubes with an adaptive Octree (DMC) or Tetraeder (MT) decomposition. Choose from {MC, PMC, MT, SF}")
         ("optimizePlanes,o", "Shift all triangle vertices of a cluster onto their shared plane")
diff --git a/src/tools/lvr2_transform/CMakeLists.txt b/src/tools/lvr2_transform/CMakeLists.txt
@@ -18,10 +18,6 @@ set(LVR2_TRANSFORM_DEPENDENCIES
 	${LVR2_LIB_DEPENDENCIES}
 	)
 
-if( ${NABO_FOUND} )
-  set(LVR2_TRANSFORM_DEPENDENCIES ${LVR2_TRANSFORM_DEPENDENCIES} ${NABO_LIBRARY})
-endif( ${NABO_FOUND} )
-
 
 #####################################################################################
 # Add executable
diff --git a/src/tools/lvr2_viewer/CMakeLists.txt b/src/tools/lvr2_viewer/CMakeLists.txt
@@ -194,10 +194,6 @@ if( UNIX )
   set(LVR2_VIEWER_DEPENDENCIES ${LVR2_VIEWER_DEPENDENCIES} pthread)
 endif( UNIX )
 
-if( ${NABO_FOUND} )
-  set(LVR2_VIEWER_DEPENDENCIES ${LVR2_VIEWER_DEPENDENCIES} ${NABO_LIBRARY})
-endif( ${NABO_FOUND} )
-
 #####################################################################################
 # Add main executable
 #####################################################################################
diff --git a/src/tools/lvr2_viewer/ui/LVRReconstructionEstimateNormalsDialogUI.ui b/src/tools/lvr2_viewer/ui/LVRReconstructionEstimateNormalsDialogUI.ui
@@ -147,11 +147,6 @@
      <string>NANOFLANN</string>
     </property>
    </item>
-   <item>
-    <property name="text">
-     <string>NABO</string>
-    </property>
-   </item>
    <item>
     <property name="text">
      <string>GPU</string>
diff --git a/src/tools/lvr2_viewer/ui/LVRReconstructionExtendedMarchingCubesDialogUI.ui b/src/tools/lvr2_viewer/ui/LVRReconstructionExtendedMarchingCubesDialogUI.ui
@@ -64,11 +64,6 @@
      <string>PCL</string>
     </property>
    </item>
-   <item>
-    <property name="text">
-     <string>NABO</string>
-    </property>
-   </item>
   </widget>
   <widget class="QLabel" name="label_kn">
    <property name="geometry">
diff --git a/src/tools/lvr2_viewer/ui/LVRReconstructionMarchingCubesDialogUI.ui b/src/tools/lvr2_viewer/ui/LVRReconstructionMarchingCubesDialogUI.ui
@@ -64,11 +64,6 @@
      <string>PCL</string>
     </property>
    </item>
-   <item>
-    <property name="text">
-     <string>NABO</string>
-    </property>
-   </item>
   </widget>
   <widget class="QLabel" name="label_kn">
    <property name="geometry">
diff --git a/src/tools/lvr2_viewer/widgets/LVRReconstructionEstimateNormalsDialog.cpp b/src/tools/lvr2_viewer/widgets/LVRReconstructionEstimateNormalsDialog.cpp
@@ -213,7 +213,7 @@ void LVREstimateNormalsDialog::estimateNormals()
         
         PointsetSurfacePtr<Vec> surface;
 
-        if(algo_str == "FLANN" || algo_str == "NABO" || algo_str == "NANOFLANN")
+        if(algo_str == "FLANN" || algo_str == "NANOFLANN")
         {
             surface = std::make_shared<AdaptiveKSearchSurface<Vec> >(
                 pc, algo_str, kn, ki, 20, false
diff --git a/src/tools/lvr2_viewer/widgets/LVRReconstructionExtendedMarchingCubesDialog.cpp b/src/tools/lvr2_viewer/widgets/LVRReconstructionExtendedMarchingCubesDialog.cpp
@@ -146,7 +146,7 @@ void LVRReconstructViaExtendedMarchingCubesDialog::generateMesh()
     
     PointsetSurfacePtr<Vec> surface;
 
-    if(pcm == "FLANN" || pcm == "NABO" || pcm == "NANOFLANN")
+    if(pcm == "FLANN" || pcm == "NANOFLANN")
     {
         surface = PointsetSurfacePtr<Vec>( new AdaptiveKSearchSurface<Vec>(pc_buffer, pcm, kn, ki, kd, ransac ? 1 : 0) );
     }
diff --git a/src/tools/lvr2_viewer/widgets/LVRReconstructionMarchingCubesDialog.cpp b/src/tools/lvr2_viewer/widgets/LVRReconstructionMarchingCubesDialog.cpp
@@ -209,7 +209,7 @@ void LVRReconstructViaMarchingCubesDialog::generateMesh()
     
     PointsetSurfacePtr<Vec> surface;
 
-    if(pcm == "FLANN" || pcm == "NABO" || pcm == "NANOFLANN")
+    if(pcm == "FLANN" || pcm == "NANOFLANN")
     {
         surface = PointsetSurfacePtr<Vec>( new AdaptiveKSearchSurface<Vec>(pc_buffer, pcm, kn, ki, kd, (ransac ? 1 : 0)) );
     }

Original file line number	Diff line number	Diff line change
`@@ -54,9 +54,8 @@ PointsetSurfacePtr<BaseVecT> loadPointCloud(const dmc_reconstruction::Options& o`
`54`	`54`	`std::cout << timestamp << "Using PCL as point cloud manager is not implemented yet!" << std::endl;`
`55`	`55`	`panic_unimplemented("PCL as point cloud manager");`
`56`	`56`	`}`
`57`		`- else if(pcm_name == "FLANN" \|\| pcm_name == "NABO" \|\| pcm_name == "NANOFLANN")`
	`57`	`+ else if(pcm_name == "FLANN" \|\| pcm_name == "NANOFLANN")`
`58`	`58`	`{`
`59`		`-`
`60`	`59`	`int plane_fit_method = 0;`
`61`	`60`
`62`	`61`	`if(options.useRansac())`