Add empty pipeline constructor

cpp/kiss_icp/core/Registration.cpp

@@ -167,15 +167,18 @@ LinearSystem BuildLinearSystem(const Correspondences &correspondences, const dou
 
 namespace kiss_icp {
 
+// Need to provide a definition to the static attribute
+
 Registration::Registration(int max_num_iteration, double convergence_criterion, int max_num_threads)
     : max_num_iterations_(max_num_iteration),
       convergence_criterion_(convergence_criterion),
-      // Only manipulate the number of threads if the user specifies something greater than 0
-      max_num_threads_(max_num_threads > 0 ? max_num_threads : tbb::info::default_concurrency()) {
-    // This global variable requires static duration storage to be able to manipulate the max
-    // concurrency from TBB across the entire class
-    static const auto tbb_control_settings = tbb::global_control(
-        tbb::global_control::max_allowed_parallelism, static_cast<size_t>(max_num_threads_));
+      tbb_control_settings(tbb::global_control::max_allowed_parallelism,
+                           static_cast<size_t>(tbb::info::default_concurrency())) {
+    // Only manipulate the number of threads if the user specifies something greater than 0
+    if (max_num_threads > 0) {
+        tbb_control_settings = tbb::global_control(tbb::global_control::max_allowed_parallelism,
+                                                   static_cast<size_t>(max_num_threads));
+    }
 }
 
 Sophus::SE3d Registration::AlignPointsToMap(const std::vector<Eigen::Vector3d> &frame,

cpp/kiss_icp/core/Registration.hpp

@@ -22,6 +22,9 @@
 // SOFTWARE.
 #pragma once
 
+#include <tbb/global_control.h>
+#include <tbb/info.h>
+
 #include <Eigen/Core>
 #include <sophus/se3.hpp>
 #include <vector>
@@ -41,6 +44,8 @@ struct Registration {
 
     int max_num_iterations_;
     double convergence_criterion_;
-    int max_num_threads_;
+    // This attribute is needed to be able to manipulate the max
+    // concurrency from TBB this class
+    tbb::global_control tbb_control_settings;
 };
 }  // namespace kiss_icp

cpp/kiss_icp/pipeline/KissICP.hpp

@@ -58,6 +58,7 @@ class KissICP {
     using Vector3dVectorTuple = std::tuple<Vector3dVector, Vector3dVector>;
 
 public:
+    explicit KissICP() : KissICP(KISSConfig()) {}
     explicit KissICP(const KISSConfig &config)
         : config_(config),
           registration_(
@@ -74,6 +75,7 @@ class KissICP {
     std::vector<Eigen::Vector3d> LocalMap() const { return local_map_.Pointcloud(); };
     Sophus::SE3d pose() const { return last_pose_; }
     Sophus::SE3d delta() const { return last_delta_; }
+    const KISSConfig &config() const { return config_; }
 
 private:
     Sophus::SE3d last_pose_;

ros/src/OdometryServer.hpp

@@ -74,7 +74,7 @@ class OdometryServer : public rclcpp::Node {
     rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr map_publisher_;
 
     /// KISS-ICP
-    std::unique_ptr<kiss_icp::pipeline::KissICP> kiss_icp_;
+    std::unique_ptr<kiss_icp::pipeline::KissICP> kiss_icp_ = nullptr;
 
     /// Global/map coordinate frame.
     std::string odom_frame_{"odom"};