Make cupoch/cupoch.h work with a subset of modules

valgur · May 22, 2023 · d277f53 · d277f53
1 parent 0f38658
commit d277f53
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Showing 23 changed files with 60 additions and 41 deletions.
diff --git a/conanfile.py b/conanfile.py
@@ -192,6 +192,7 @@ def package_info(self):
             # component.requires = MODULE_DEPS.get(module, [])
             self.cpp_info.libs += [f"cupoch_{module}"]
             self.cpp_info.libs += mod_lib_deps.get(module, [])
+            self.cpp_info.defines.append(f"CUPOCH_{module.upper()}_ENABLED")
         self.cpp_info.libs += ["cupoch_utility"]
 
         # Propagate necessary build flags

diff --git a/examples/cpp/image.cpp b/examples/cpp/image.cpp
@@ -18,11 +18,7 @@
  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  * IN THE SOFTWARE.
 **/
-#include "cupoch/geometry/image.h"
-#include "cupoch/io/class_io/image_io.h"
-#include "cupoch/utility/console.h"
-#include "cupoch/utility/helper.h"
-#include "cupoch/visualization/utility/draw_geometry.h"
+#include "cupoch/cupoch.h"
 
 int main(int argc, char **argv) {
     using namespace cupoch;

diff --git a/examples/cpp/kinematics.cpp b/examples/cpp/kinematics.cpp
@@ -18,9 +18,7 @@
  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  * IN THE SOFTWARE.
 **/
-#include "cupoch/kinematics/kinematic_chain.h"
-#include "cupoch/utility/console.h"
-#include "cupoch/visualization/utility/draw_geometry.h"
+#include "cupoch/cupoch.h"
 
 int main(int argc, char *argv[]) {
     using namespace cupoch;

diff --git a/examples/cpp/pointcloud.cpp b/examples/cpp/pointcloud.cpp
@@ -18,11 +18,7 @@
  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  * IN THE SOFTWARE.
 **/
-#include "cupoch/geometry/pointcloud.h"
-#include "cupoch/io/class_io/pointcloud_io.h"
-#include "cupoch/utility/console.h"
-#include "cupoch/utility/helper.h"
-#include "cupoch/visualization/utility/draw_geometry.h"
+#include "cupoch/cupoch.h"
 
 int main(int argc, char *argv[]) {
     using namespace cupoch;

diff --git a/examples/cpp/registration.cpp b/examples/cpp/registration.cpp
@@ -18,12 +18,7 @@
  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  * IN THE SOFTWARE.
 **/
-#include "cupoch/geometry/pointcloud.h"
-#include "cupoch/io/class_io/pointcloud_io.h"
-#include "cupoch/registration/registration.h"
-#include "cupoch/utility/console.h"
-#include "cupoch/utility/helper.h"
-#include "cupoch/visualization/utility/draw_geometry.h"
+#include "cupoch/cupoch.h"
 
 int main(int argc, char *argv[]) {
     using namespace cupoch;

diff --git a/examples/cpp/trianglemesh.cpp b/examples/cpp/trianglemesh.cpp
@@ -18,11 +18,7 @@
  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  * IN THE SOFTWARE.
 **/
-#include "cupoch/geometry/trianglemesh.h"
-#include "cupoch/io/class_io/trianglemesh_io.h"
-#include "cupoch/utility/console.h"
-#include "cupoch/utility/helper.h"
-#include "cupoch/visualization/utility/draw_geometry.h"
+#include "cupoch/cupoch.h"
 
 int main(int argc, char **argv) {
     using namespace cupoch;

diff --git a/examples/cpp/voxelization.cpp b/examples/cpp/voxelization.cpp
@@ -18,15 +18,7 @@
  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  * IN THE SOFTWARE.
 **/
-#include "cupoch/cupoch_config.h"
-#include "cupoch/geometry/geometry.h"
-#include "cupoch/geometry/pointcloud.h"
-#include "cupoch/geometry/voxelgrid.h"
-#include "cupoch/io/class_io/pointcloud_io.h"
-#include "cupoch/io/class_io/voxelgrid_io.h"
-#include "cupoch/utility/console.h"
-#include "cupoch/utility/helper.h"
-#include "cupoch/visualization/utility/draw_geometry.h"
+#include "cupoch/cupoch.h"
 
 using namespace cupoch;
 

diff --git a/src/cupoch/camera/CMakeLists.txt b/src/cupoch/camera/CMakeLists.txt
@@ -6,6 +6,7 @@ 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_compile_definitions(cupoch_camera PUBLIC CUPOCH_CAMERA_ENABLED)
 target_link_libraries(cupoch_camera
     PUBLIC
         cupoch::utility

diff --git a/src/cupoch/collision/CMakeLists.txt b/src/cupoch/collision/CMakeLists.txt
@@ -10,6 +10,7 @@ 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_compile_definitions(cupoch_collision PUBLIC CUPOCH_COLLISION_ENABLED)
 target_link_libraries(cupoch_collision
     PUBLIC
         cupoch::geometry

diff --git a/src/cupoch/cupoch.h b/src/cupoch/cupoch.h
@@ -1,37 +1,67 @@
 #pragma once
 
+#include "cupoch/cupoch_config.h"
+#include "cupoch/utility/console.h"
+#include "cupoch/utility/eigen.h"
+#include "cupoch/utility/filesystem.h"
+#include "cupoch/utility/helper.h"
+
+#ifdef CUPOCH_CAMERA_ENABLED
 #include "cupoch/camera/pinhole_camera_intrinsic.h"
 #include "cupoch/camera/pinhole_camera_parameters.h"
-#include "cupoch/collision/primitives.h"
+#endif
+
+#ifdef CUPOCH_COLLISION_ENABLED
 #include "cupoch/collision/collision.h"
-#include "cupoch/cupoch_config.h"
+#include "cupoch/collision/primitives.h"
+#endif
+
+#ifdef CUPOCH_GEOMETRY_ENABLED
 #include "cupoch/geometry/boundingvolume.h"
 #include "cupoch/geometry/distancetransform.h"
 #include "cupoch/geometry/geometry.h"
+#include "cupoch/geometry/graph.h"
 #include "cupoch/geometry/image.h"
 #include "cupoch/geometry/lineset.h"
-#include "cupoch/geometry/graph.h"
 #include "cupoch/geometry/pointcloud.h"
 #include "cupoch/geometry/rgbdimage.h"
 #include "cupoch/geometry/trianglemesh.h"
 #include "cupoch/geometry/voxelgrid.h"
+#endif
+
+#ifdef CUPOCH_KNN_ENABLED
 #include "cupoch/knn/kdtree_flann.h"
+#endif
+
+#ifdef CUPOCH_IO_ENABLED
 #include "cupoch/io/class_io/ijson_convertible_io.h"
 #include "cupoch/io/class_io/image_io.h"
 #include "cupoch/io/class_io/pointcloud_io.h"
 #include "cupoch/io/class_io/trianglemesh_io.h"
 #include "cupoch/io/class_io/voxelgrid_io.h"
 #include "cupoch/io/ros/pointcloud_msg.h"
+#endif
+
+#ifdef CUPOCH_KINEMATICS_ENABLED
 #include "cupoch/kinematics/kinematic_chain.h"
+#endif
+
+#ifdef CUPOCH_KINFU_ENABLED
 #include "cupoch/kinfu/kinfu.h"
+#endif
+
+#ifdef CUPOCH_ODOMETRY_ENABLED
 #include "cupoch/odometry/odometry.h"
+#endif
+
+#ifdef CUPOCH_REGISTRATION_ENABLED
 #include "cupoch/registration/feature.h"
 #include "cupoch/registration/registration.h"
 #include "cupoch/registration/transformation_estimation.h"
-#include "cupoch/utility/console.h"
-#include "cupoch/utility/eigen.h"
-#include "cupoch/utility/filesystem.h"
-#include "cupoch/utility/helper.h"
+#endif
+
+#ifdef CUPOCH_VISUALIZATION_ENABLED
 #include "cupoch/visualization/utility/draw_geometry.h"
 #include "cupoch/visualization/visualizer/view_control.h"
-#include "cupoch/visualization/visualizer/visualizer.h"
+#include "cupoch/visualization/visualizer/visualizer.h"
+#endif
diff --git a/src/cupoch/geometry/CMakeLists.txt b/src/cupoch/geometry/CMakeLists.txt
@@ -9,6 +9,7 @@ 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_compile_definitions(cupoch_geometry PUBLIC CUPOCH_GEOMETRY_ENABLED)
 target_link_libraries(cupoch_geometry
     PUBLIC
         cupoch::utility

diff --git a/src/cupoch/imageproc/CMakeLists.txt b/src/cupoch/imageproc/CMakeLists.txt
@@ -8,6 +8,7 @@ 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_compile_definitions(cupoch_imageproc PUBLIC CUPOCH_IMAGEPROC_ENABLED)
 target_link_libraries(cupoch_imageproc
     PUBLIC
         cupoch::geometry

diff --git a/src/cupoch/integration/CMakeLists.txt b/src/cupoch/integration/CMakeLists.txt
@@ -11,6 +11,7 @@ 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_compile_definitions(cupoch_integration PUBLIC CUPOCH_INTEGRATION_ENABLED)
 target_link_libraries(cupoch_integration
     PUBLIC
         cupoch::camera

diff --git a/src/cupoch/io/CMakeLists.txt b/src/cupoch/io/CMakeLists.txt
@@ -16,6 +16,7 @@ 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_compile_definitions(cupoch_io PUBLIC CUPOCH_IO_ENABLED)
 target_link_libraries(cupoch_io
     PUBLIC
         cupoch::geometry

diff --git a/src/cupoch/kinematics/CMakeLists.txt b/src/cupoch/kinematics/CMakeLists.txt
@@ -10,6 +10,7 @@ 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_compile_definitions(cupoch_kinematics PUBLIC CUPOCH_KINEMATICS_ENABLED)
 target_link_libraries(cupoch_kinematics
     PUBLIC
         cupoch::collision

diff --git a/src/cupoch/kinfu/CMakeLists.txt b/src/cupoch/kinfu/CMakeLists.txt
@@ -8,6 +8,7 @@ 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_compile_definitions(cupoch_kinfu PUBLIC CUPOCH_KINFU_ENABLED)
 target_link_libraries(cupoch_kinfu
     PUBLIC
         cupoch::camera

diff --git a/src/cupoch/knn/CMakeLists.txt b/src/cupoch/knn/CMakeLists.txt
@@ -12,6 +12,7 @@ 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_compile_definitions(cupoch_knn PUBLIC CUPOCH_KNN_ENABLED)
 target_link_libraries(cupoch_knn
     PUBLIC
         cupoch::utility

diff --git a/src/cupoch/odometry/CMakeLists.txt b/src/cupoch/odometry/CMakeLists.txt
@@ -9,6 +9,7 @@ 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_compile_definitions(cupoch_odometry PUBLIC CUPOCH_ODOMETRY_ENABLED)
 target_link_libraries(cupoch_odometry
     PUBLIC
         cupoch::camera

diff --git a/src/cupoch/planning/CMakeLists.txt b/src/cupoch/planning/CMakeLists.txt
@@ -6,6 +6,7 @@ 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_compile_definitions(cupoch_planning PUBLIC CUPOCH_PLANNING_ENABLED)
 target_link_libraries(cupoch_planning
     PUBLIC
         cupoch::geometry

diff --git a/src/cupoch/registration/CMakeLists.txt b/src/cupoch/registration/CMakeLists.txt
@@ -8,6 +8,7 @@ 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_compile_definitions(cupoch_registration PUBLIC CUPOCH_REGISTRATION_ENABLED)
 target_link_libraries(cupoch_registration
     PUBLIC
         cupoch::knn

diff --git a/src/cupoch/utility/CMakeLists.txt b/src/cupoch/utility/CMakeLists.txt
@@ -10,6 +10,7 @@ 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_compile_definitions(cupoch_utility PUBLIC CUPOCH_UTILITY_ENABLED)
 target_link_libraries(cupoch_utility
     PUBLIC
         cupoch::flags

diff --git a/src/cupoch/visualization/CMakeLists.txt b/src/cupoch/visualization/CMakeLists.txt
@@ -35,6 +35,7 @@ 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)
+target_compile_definitions(cupoch_visualization PUBLIC CUPOCH_VISUALIZATION_ENABLED)
 add_dependencies(cupoch_visualization shader_file_target)
 target_link_libraries(cupoch_visualization
     PUBLIC

diff --git a/src/python/CMakeLists.txt b/src/python/CMakeLists.txt
@@ -12,6 +12,7 @@ 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_compile_definitions(cupoch_wrapper PUBLIC CUPOCH_WRAPPER_ENABLED)
 target_include_directories(cupoch_wrapper PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}
 )