Convert plain cupoch targets to namespaced targets

This catches any undefined targets immediately during the configuration step.

CMakeLists.txt

@@ -157,6 +157,7 @@ find_package(thrust REQUIRED CONFIG)
 find_package(stdgpu REQUIRED CONFIG)
 find_package(CUDAToolkit REQUIRED)
 add_library(cupoch_flags INTERFACE)
+add_library(cupoch::flags ALIAS cupoch_flags)
 if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
     # Generate for 10xx+ series GPUs by default.
     # Newer but not listed GPUs will JIT compile on launch.

examples/cpp/CMakeLists.txt

@@ -1,20 +1,22 @@
 macro(EXAMPLE_CPP EXAMPLE_CPP_NAME)
+    set(DEPS)
     foreach(module ${ARGN})
-        if(NOT BUILD_${module})
-            message(STATUS "Skipping example ${EXAMPLE_CPP_NAME} because ${module} is not enabled")
+        if(NOT BUILD_cupoch_${module})
+            message(STATUS "Skipping example ${EXAMPLE_CPP_NAME} because cupoch_${module} is not enabled")
         return()
         endif()
+        list(APPEND DEPS cupoch::${module})
     endforeach()
     add_executable(${EXAMPLE_CPP_NAME} "${EXAMPLE_CPP_NAME}.cpp")
-    target_link_libraries(${EXAMPLE_CPP_NAME} PRIVATE ${ARGN})
+    target_link_libraries(${EXAMPLE_CPP_NAME} PRIVATE ${DEPS})
     set_target_properties(${EXAMPLE_CPP_NAME} PROPERTIES
             FOLDER "examples/cpp/"
             RUNTIME_OUTPUT_DIRECTORY "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/examples")
 endmacro(EXAMPLE_CPP)
 
-EXAMPLE_CPP(image cupoch_visualization cupoch_geometry cupoch_io)
-EXAMPLE_CPP(pointcloud cupoch_visualization cupoch_geometry cupoch_io)
-EXAMPLE_CPP(trianglemesh cupoch_visualization cupoch_geometry cupoch_io)
-EXAMPLE_CPP(registration cupoch_visualization cupoch_registration cupoch_io)
-EXAMPLE_CPP(voxelization cupoch_visualization cupoch_geometry cupoch_io)
-EXAMPLE_CPP(kinematics cupoch_visualization cupoch_kinematics cupoch_io)
+EXAMPLE_CPP(image visualization geometry io)
+EXAMPLE_CPP(pointcloud visualization geometry io)
+EXAMPLE_CPP(trianglemesh visualization geometry io)
+EXAMPLE_CPP(registration visualization registration io)
+EXAMPLE_CPP(voxelization visualization geometry io)
+EXAMPLE_CPP(kinematics visualization kinematics io)

src/cupoch/camera/CMakeLists.txt

@@ -5,10 +5,11 @@ set(CUPOCH_MODULES ${CUPOCH_MODULES} cupoch_camera PARENT_SCOPE)
 
 file(GLOB_RECURSE CAMERA_SOURCE_FILES "*.cpp")
 add_library(cupoch_camera ${CAMERA_SOURCE_FILES})
+add_library(cupoch::camera ALIAS cupoch_camera)
 target_link_libraries(cupoch_camera
     PUBLIC
-        cupoch_utility
+        cupoch::utility
         Eigen3::Eigen
     PRIVATE
-        cupoch_flags
+        cupoch::flags
 )

src/cupoch/collision/CMakeLists.txt

@@ -9,13 +9,14 @@ find_package(tritriintersect REQUIRED CONFIG)
 
 file(GLOB_RECURSE COLLISION_SOURCE_FILES "*.cu")
 add_library(cupoch_collision ${COLLISION_SOURCE_FILES})
+add_library(cupoch::collision ALIAS cupoch_collision)
 target_link_libraries(cupoch_collision
     PUBLIC
-        cupoch_geometry
+        cupoch::geometry
         Eigen3::Eigen
     PRIVATE
-        cupoch_flags
-        cupoch_utility
+        cupoch::flags
+        cupoch::utility
         lbvh::lbvh
         lbvh::lbvh_index
         stdgpu::stdgpu

src/cupoch/geometry/CMakeLists.txt

@@ -8,14 +8,15 @@ find_package(tritriintersect REQUIRED CONFIG)
 
 file(GLOB_RECURSE GEOMETRY_SOURCE_FILES "*.cu")
 add_library(cupoch_geometry ${GEOMETRY_SOURCE_FILES})
+add_library(cupoch::geometry ALIAS cupoch_geometry)
 target_link_libraries(cupoch_geometry
     PUBLIC
-        cupoch_utility
-        cupoch_camera
-        cupoch_knn
+        cupoch::utility
+        cupoch::camera
+        cupoch::knn
         Eigen3::Eigen
         tritriintersect::tritriintersect
     PRIVATE
-        cupoch_flags
+        cupoch::flags
         stdgpu::stdgpu
 )

src/cupoch/imageproc/CMakeLists.txt

@@ -7,10 +7,11 @@ find_package(sgm REQUIRED CONFIG)
 
 file(GLOB_RECURSE IMAGEPROC_SOURCE_FILES "*.cpp")
 add_library(cupoch_imageproc ${IMAGEPROC_SOURCE_FILES})
+add_library(cupoch::imageproc ALIAS cupoch_imageproc)
 target_link_libraries(cupoch_imageproc
     PUBLIC
-        cupoch_geometry
+        cupoch::geometry
         sgm::sgm
     PRIVATE
-        cupoch_utility
+        cupoch::utility
 )

src/cupoch/integration/CMakeLists.txt

@@ -10,12 +10,13 @@ file(GLOB_RECURSE ALL_CUDA_SOURCE_FILES "*.cu")
 
 # create object library
 add_library(cupoch_integration ${ALL_CUDA_SOURCE_FILES})
+add_library(cupoch::integration ALIAS cupoch_integration)
 target_link_libraries(cupoch_integration
     PUBLIC
-        cupoch_camera
-        cupoch_geometry
+        cupoch::camera
+        cupoch::geometry
     PRIVATE
-        cupoch_flags
-        cupoch_utility
+        cupoch::flags
+        cupoch::utility
         stdgpu::stdgpu
 )

src/cupoch/io/CMakeLists.txt

@@ -15,13 +15,14 @@ set(IO_ALL_SOURCE_FILES ${IO_CPP_SOURCE_FILES} ${IO_CUDA_SOURCE_FILES})
 
 # Create object library
 add_library(cupoch_io ${IO_ALL_SOURCE_FILES})
+add_library(cupoch::io ALIAS cupoch_io)
 target_link_libraries(cupoch_io
     PUBLIC
-        cupoch_geometry
-        cupoch_utility
+        cupoch::geometry
+        cupoch::utility
         Eigen3::Eigen
     PRIVATE
-        cupoch_flags
+        cupoch::flags
         liblzf::liblzf
         PNG::PNG
         rply::rply

src/cupoch/kinematics/CMakeLists.txt

@@ -9,10 +9,11 @@ file(GLOB_RECURSE KINEMATICS_SOURCE_FILES "*.cpp")
 
 # Create object library
 add_library(cupoch_kinematics ${KINEMATICS_SOURCE_FILES})
+add_library(cupoch::kinematics ALIAS cupoch_kinematics)
 target_link_libraries(cupoch_kinematics
     PUBLIC
-        cupoch_collision
-        cupoch_io
-        cupoch_utility
+        cupoch::collision
+        cupoch::io
+        cupoch::utility
         urdfdom::urdfdom
 )

src/cupoch/kinfu/CMakeLists.txt

@@ -7,10 +7,11 @@ file(GLOB_RECURSE KINFU_SOURCE_FILES "*.cpp")
 
 # Create object library
 add_library(cupoch_kinfu ${KINFU_SOURCE_FILES})
+add_library(cupoch::kinfu ALIAS cupoch_kinfu)
 target_link_libraries(cupoch_kinfu
     PUBLIC
-        cupoch_camera
-        cupoch_geometry
-        cupoch_integration
-        cupoch_registration
+        cupoch::camera
+        cupoch::geometry
+        cupoch::integration
+        cupoch::registration
 )

src/cupoch/knn/CMakeLists.txt

@@ -11,12 +11,13 @@ file(GLOB_RECURSE ALL_CUDA_SOURCE_FILES "*.cu")
 
 # create object library
 add_library(cupoch_knn ${ALL_CUDA_SOURCE_FILES})
+add_library(cupoch::knn ALIAS cupoch_knn)
 target_link_libraries(cupoch_knn
     PUBLIC
-        cupoch_utility
+        cupoch::utility
         Eigen3::Eigen
         lbvh::lbvh_index
         flann::flann_cuda_s
     PRIVATE
-        cupoch_flags
+        cupoch::flags
 )

src/cupoch/odometry/CMakeLists.txt

@@ -8,11 +8,12 @@ file(GLOB_RECURSE ALL_CUDA_SOURCE_FILES "*.cu")
 
 # create object library
 add_library(cupoch_odometry ${ALL_CUDA_SOURCE_FILES})
+add_library(cupoch::odometry ALIAS cupoch_odometry)
 target_link_libraries(cupoch_odometry
     PUBLIC
-        cupoch_camera
-        cupoch_geometry
-        cupoch_utility
+        cupoch::camera
+        cupoch::geometry
+        cupoch::utility
     PRIVATE
         Eigen3::Eigen
 )

src/cupoch/planning/CMakeLists.txt

@@ -5,10 +5,11 @@ set(CUPOCH_MODULES ${CUPOCH_MODULES} cupoch_planning PARENT_SCOPE)
 
 file(GLOB_RECURSE ALL_CUDA_SOURCE_FILES "*.cu")
 add_library(cupoch_planning ${ALL_CUDA_SOURCE_FILES})
+add_library(cupoch::planning ALIAS cupoch_planning)
 target_link_libraries(cupoch_planning
     PUBLIC
-        cupoch_geometry
+        cupoch::geometry
     PRIVATE
-        cupoch_collision
-        cupoch_utility
+        cupoch::collision
+        cupoch::utility
 )

src/cupoch/registration/CMakeLists.txt

@@ -7,12 +7,13 @@ find_package(stdgpu REQUIRED CONFIG)
 
 file(GLOB_RECURSE ALL_CUDA_SOURCE_FILES "*.cu")
 add_library(cupoch_registration ${ALL_CUDA_SOURCE_FILES})
+add_library(cupoch::registration ALIAS cupoch_registration)
 target_link_libraries(cupoch_registration
     PUBLIC
-        cupoch_knn
-        cupoch_utility
+        cupoch::knn
+        cupoch::utility
         stdgpu::stdgpu
-        cupoch_flags
-        cupoch_geometry
+        cupoch::flags
+        cupoch::geometry
         Eigen3::Eigen
 )

src/cupoch/utility/CMakeLists.txt

@@ -9,9 +9,10 @@ find_package(stdgpu REQUIRED CONFIG)
 file(GLOB_RECURSE ALL_CPP_SOURCE_FILES "*.cpp")
 file(GLOB_RECURSE ALL_CUDA_SOURCE_FILES "*.cu")
 add_library(cupoch_utility ${ALL_CUDA_SOURCE_FILES} ${ALL_CPP_SOURCE_FILES})
+add_library(cupoch::utility ALIAS cupoch_utility)
 target_link_libraries(cupoch_utility
     PUBLIC
-        cupoch_flags
+        cupoch::flags
         dlpack::dlpack
         Eigen3::Eigen
         JsonCpp::JsonCpp

src/cupoch/visualization/CMakeLists.txt

@@ -34,16 +34,17 @@ file(GLOB_RECURSE VISUALIZATION_CPP_SOURCE_FILES "*.cpp")
 file(GLOB_RECURSE VISUALIZATION_CUDA_SOURCE_FILES "*.cu")
 # create object library
 add_library(cupoch_visualization ${VISUALIZATION_CUDA_SOURCE_FILES} ${VISUALIZATION_CPP_SOURCE_FILES})
+add_library(cupoch::visualization ALIAS cupoch_visualization)
 add_dependencies(cupoch_visualization shader_file_target)
 target_link_libraries(cupoch_visualization
     PUBLIC
-        cupoch_camera
-        cupoch_geometry
-        cupoch_utility
+        cupoch::camera
+        cupoch::geometry
+        cupoch::utility
         Eigen3::Eigen
         GLEW::GLEW
         glfw
     PRIVATE
-        cupoch_io
+        cupoch::io
         imgui::imgui
 )

src/python/CMakeLists.txt

@@ -11,10 +11,11 @@ target_link_libraries(${PACKAGE_NAME} PUBLIC pybind11::pybind11)
 
 add_library(cupoch_wrapper cupoch_pybind/device_vector_wrapper.cu
     cupoch_pybind/device_map_wrapper.cu)
+add_library(cupoch::wrapper ALIAS cupoch_wrapper)
 target_include_directories(cupoch_wrapper PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}
 )
-target_link_libraries(cupoch_wrapper PRIVATE cupoch_geometry)
+target_link_libraries(cupoch_wrapper PRIVATE cupoch::geometry)
 
 target_include_directories(${PACKAGE_NAME} PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}
@@ -24,12 +25,12 @@ target_include_directories(${PACKAGE_NAME} SYSTEM PRIVATE
     ${PYBIND11_INCLUDE_DIR} ${PYTHON_INCLUDE_DIRS}
 )
 
-target_link_libraries(${PACKAGE_NAME} PRIVATE cupoch_registration
-                      cupoch_visualization cupoch_io cupoch_odometry
-                      cupoch_planning cupoch_kinematics cupoch_kinfu
-                      cupoch_collision cupoch_integration
-                      cupoch_imageproc cupoch_geometry
-                      cupoch_utility cupoch_wrapper
+target_link_libraries(${PACKAGE_NAME} PRIVATE cupoch::registration
+                      cupoch::visualization cupoch::io cupoch::odometry
+                      cupoch::planning cupoch::kinematics cupoch::kinfu
+                      cupoch::collision cupoch::integration
+                      cupoch::imageproc cupoch::geometry
+                      cupoch::utility cupoch::wrapper
                       CUDA::cudart)
 if (WIN32)
     target_link_libraries(${PACKAGE_NAME} PRIVATE ${PYTHON_LIBRARIES})

src/tests/CMakeLists.txt

@@ -5,24 +5,28 @@ find_package(GTest REQUIRED CONFIG)
 file(GLOB_RECURSE UNIT_TEST_SOURCES "test_utility/*.cpp")
 set(DEPENDENCIES cupoch_utility)
 
-function(TEST module)
-  if(NOT BUILD_cupoch_${module})
-    message(STATUS "Skipping unit tests for ${module} because ${module} is not enabled")
-    return()
-  endif()
-  file(GLOB_RECURSE TEST_SOURCES "${module}/*.cpp")
+function(TEST TEST_NAME)
+  set(DEPS)
+  foreach(module ${TEST_NAME} ${ARGN})
+    if(NOT BUILD_cupoch_${module})
+      message(STATUS "Skipping example ${TEST_NAME} because cupoch_${module} is not enabled")
+      return()
+    endif()
+    list(APPEND DEPS cupoch::${module})
+  endforeach()
+  file(GLOB_RECURSE TEST_SOURCES "${TEST_NAME}/*.cpp")
   set(UNIT_TEST_SOURCES ${UNIT_TEST_SOURCES} ${TEST_SOURCES} PARENT_SCOPE)
-  set(DEPENDENCIES ${DEPENDENCIES} cupoch_${module} PARENT_SCOPE)
+  set(DEPENDENCIES ${DEPENDENCIES} ${DEPS} PARENT_SCOPE)
 endfunction()
 
-TEST(collision)
-TEST(geometry)
-TEST(integration)
+TEST(collision geometry)
+TEST(geometry camera)
+TEST(integration io)
 TEST(io)
-TEST(knn)
-TEST(odometry)
-TEST(planning)
-TEST(registration)
+TEST(knn geometry)
+TEST(odometry geometry)
+TEST(planning geometry)
+TEST(registration geometry)
 
 add_executable(unittests ${UNIT_TEST_SOURCES})
 add_definitions(-DTEST_DATA_DIR="${PROJECT_SOURCE_DIR}/examples/testdata")

third_party/flann_cuda-config.cmake

@@ -9,7 +9,7 @@ add_library(flann_cuda_s STATIC ${CU_SOURCES})
 add_library(flann::flann_cuda_s ALIAS flann_cuda_s)
 target_include_directories(flann_cuda_s PUBLIC $<BUILD_INTERFACE:${flann_cuda_SOURCE_DIR}>)
 target_compile_definitions(flann_cuda_s PUBLIC FLANN_USE_CUDA)
-target_link_libraries(flann_cuda_s PRIVATE cupoch_flags CUDA::cudart spdlog::spdlog rmm::rmm)
+target_link_libraries(flann_cuda_s PRIVATE cupoch::flags CUDA::cudart spdlog::spdlog rmm::rmm)
 install(TARGETS flann_cuda_s)
 install(DIRECTORY ${flann_cuda_SOURCE_DIR}/
     DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}

third_party/sgm-config.cmake

@@ -18,7 +18,7 @@ file(GLOB SGM_SRCS
 add_library(sgm ${SGM_SRCS})
 add_library(sgm::sgm ALIAS sgm)
 target_include_directories(sgm PUBLIC $<BUILD_INTERFACE:${sgm_SOURCE_DIR}/include>)
-target_link_libraries(sgm PRIVATE cupoch_flags CUDA::cudart thrust::thrust)
+target_link_libraries(sgm PRIVATE cupoch::flags CUDA::cudart thrust::thrust)
 install(TARGETS sgm)
 install(DIRECTORY ${sgm_SOURCE_DIR}/include/
   DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}