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Split features to two libs #5932

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Split features to two libs #5932

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1e4ff47
Build all point types on windows.
larshg Jan 13, 2024
9977557
Split features to two libs.
larshg Jan 13, 2024
01e875f
Add library as INTERFACE type if no sources.
larshg Jan 14, 2024
a721399
Add missing interface keyword.
larshg Jan 14, 2024
a420273
Move real library only commands under else case.
Jan 15, 2024
0051cb4
Move more real library only settings, at least for older versions cmake
Jan 15, 2024
3db3917
Move PCL_ADD_VERSION_INFO after targets have been defined.
Jan 15, 2024
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -144,7 +144,7 @@ if(CMAKE_COMPILER_IS_GNUCXX)
endif()

if(CMAKE_COMPILER_IS_MSVC)
add_definitions("-DBOOST_ALL_NO_LIB -D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -DPCL_ONLY_CORE_POINT_TYPES ${SSE_DEFINITIONS}")
add_definitions("-DBOOST_ALL_NO_LIB -D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX ${SSE_DEFINITIONS}")

if("${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
string(APPEND CMAKE_CXX_FLAGS " /fp:precise ${SSE_FLAGS} ${AVX_FLAGS}")
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47 changes: 28 additions & 19 deletions cmake/pcl_targets.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -173,6 +173,7 @@ macro(PCL_ADD_INCLUDES _component _subdir)
COMPONENT pcl_${_component})
endmacro()


###############################################################################
# Add a library target.
# _name The library name.
Expand All @@ -192,33 +193,41 @@ function(PCL_ADD_LIBRARY _name)
message(FATAL_ERROR "PCL_ADD_LIBRARY requires parameter COMPONENT.")
endif()

add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES})
PCL_ADD_VERSION_INFO(${_name})
target_compile_features(${_name} PUBLIC ${PCL_CXX_COMPILE_FEATURES})
if(NOT ARGS_SOURCES)
add_library(${_name} INTERFACE)
else()
add_library(${_name} ${PCL_LIB_TYPE} ${ARGS_SOURCES})

target_link_libraries(${_name} Threads::Threads)
if(TARGET OpenMP::OpenMP_CXX)
target_link_libraries(${_name} OpenMP::OpenMP_CXX)
endif()
PCL_ADD_VERSION_INFO(${_name})

if((UNIX AND NOT ANDROID) OR MINGW)
target_link_libraries(${_name} m ${ATOMIC_LIBRARY})
endif()
target_compile_features(${_name} PUBLIC ${PCL_CXX_COMPILE_FEATURES})

if(MINGW)
target_link_libraries(${_name} gomp)
endif()
target_link_libraries(${_name} Threads::Threads)

if(MSVC)
target_link_libraries(${_name} delayimp.lib) # because delay load is enabled for openmp.dll
endif()
if(TARGET OpenMP::OpenMP_CXX)
target_link_libraries(${_name} OpenMP::OpenMP_CXX)
endif()

set_target_properties(${_name} PROPERTIES
if((UNIX AND NOT ANDROID) OR MINGW)
target_link_libraries(${_name} m ${ATOMIC_LIBRARY})
endif()

if(MINGW)
target_link_libraries(${_name} gomp)
endif()

if(MSVC)
target_link_libraries(${_name} delayimp.lib) # because delay load is enabled for openmp.dll
endif()

set_target_properties(${_name} PROPERTIES
VERSION ${PCL_VERSION}
SOVERSION ${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}
DEFINE_SYMBOL "PCLAPI_EXPORTS")
set_target_properties(${_name} PROPERTIES FOLDER "Libraries")


set_target_properties(${_name} PROPERTIES FOLDER "Libraries")
endif()

install(TARGETS ${_name}
RUNTIME DESTINATION ${BIN_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT}
LIBRARY DESTINATION ${LIB_INSTALL_DIR} COMPONENT pcl_${ARGS_COMPONENT}
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160 changes: 89 additions & 71 deletions features/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,23 +14,20 @@ endif()

include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")

set(incs
set(LIB_NAME "pcl_${SUBSYS_NAME}")

set(incs_lib1
"include/pcl/${SUBSYS_NAME}/boost.h"
"include/pcl/${SUBSYS_NAME}/eigen.h"
"include/pcl/${SUBSYS_NAME}/board.h"
"include/pcl/${SUBSYS_NAME}/flare.h"
"include/pcl/${SUBSYS_NAME}/brisk_2d.h"
"include/pcl/${SUBSYS_NAME}/cppf.h"
"include/pcl/${SUBSYS_NAME}/cvfh.h"
"include/pcl/${SUBSYS_NAME}/our_cvfh.h"
"include/pcl/${SUBSYS_NAME}/crh.h"
"include/pcl/${SUBSYS_NAME}/don.h"
"include/pcl/${SUBSYS_NAME}/feature.h"
"include/pcl/${SUBSYS_NAME}/fpfh.h"
"include/pcl/${SUBSYS_NAME}/fpfh_omp.h"
"include/pcl/${SUBSYS_NAME}/from_meshes.h"
"include/pcl/${SUBSYS_NAME}/gasd.h"
"include/pcl/${SUBSYS_NAME}/gfpfh.h"
"include/pcl/${SUBSYS_NAME}/integral_image2D.h"
"include/pcl/${SUBSYS_NAME}/integral_image_normal.h"
"include/pcl/${SUBSYS_NAME}/intensity_gradient.h"
Expand All @@ -44,45 +41,18 @@ set(incs
"include/pcl/${SUBSYS_NAME}/normal_3d.h"
"include/pcl/${SUBSYS_NAME}/normal_3d_omp.h"
"include/pcl/${SUBSYS_NAME}/normal_based_signature.h"
"include/pcl/${SUBSYS_NAME}/organized_edge_detection.h"
"include/pcl/${SUBSYS_NAME}/pfh.h"
"include/pcl/${SUBSYS_NAME}/pfh_tools.h"
"include/pcl/${SUBSYS_NAME}/pfhrgb.h"
"include/pcl/${SUBSYS_NAME}/ppf.h"
"include/pcl/${SUBSYS_NAME}/ppfrgb.h"
"include/pcl/${SUBSYS_NAME}/shot.h"
"include/pcl/${SUBSYS_NAME}/shot_lrf.h"
"include/pcl/${SUBSYS_NAME}/shot_lrf_omp.h"
"include/pcl/${SUBSYS_NAME}/shot_omp.h"
"include/pcl/${SUBSYS_NAME}/spin_image.h"
"include/pcl/${SUBSYS_NAME}/principal_curvatures.h"
"include/pcl/${SUBSYS_NAME}/rift.h"
"include/pcl/${SUBSYS_NAME}/rops_estimation.h"
"include/pcl/${SUBSYS_NAME}/rsd.h"
"include/pcl/${SUBSYS_NAME}/grsd.h"
"include/pcl/${SUBSYS_NAME}/statistical_multiscale_interest_region_extraction.h"
"include/pcl/${SUBSYS_NAME}/vfh.h"
"include/pcl/${SUBSYS_NAME}/esf.h"
"include/pcl/${SUBSYS_NAME}/3dsc.h"
"include/pcl/${SUBSYS_NAME}/usc.h"
"include/pcl/${SUBSYS_NAME}/boundary.h"
"include/pcl/${SUBSYS_NAME}/range_image_border_extractor.h"
)

set(impl_incs
set(impl_incs_lib1
"include/pcl/${SUBSYS_NAME}/impl/board.hpp"
"include/pcl/${SUBSYS_NAME}/impl/flare.hpp"
"include/pcl/${SUBSYS_NAME}/impl/brisk_2d.hpp"
"include/pcl/${SUBSYS_NAME}/impl/cppf.hpp"
"include/pcl/${SUBSYS_NAME}/impl/cvfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/our_cvfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/crh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/don.hpp"
"include/pcl/${SUBSYS_NAME}/impl/feature.hpp"
"include/pcl/${SUBSYS_NAME}/impl/fpfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/fpfh_omp.hpp"
"include/pcl/${SUBSYS_NAME}/impl/gasd.hpp"
"include/pcl/${SUBSYS_NAME}/impl/gfpfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/integral_image2D.hpp"
"include/pcl/${SUBSYS_NAME}/impl/integral_image_normal.hpp"
"include/pcl/${SUBSYS_NAME}/impl/intensity_gradient.hpp"
Expand All @@ -95,44 +65,19 @@ set(impl_incs
"include/pcl/${SUBSYS_NAME}/impl/normal_3d.hpp"
"include/pcl/${SUBSYS_NAME}/impl/normal_3d_omp.hpp"
"include/pcl/${SUBSYS_NAME}/impl/normal_based_signature.hpp"
"include/pcl/${SUBSYS_NAME}/impl/organized_edge_detection.hpp"
"include/pcl/${SUBSYS_NAME}/impl/pfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/pfhrgb.hpp"
"include/pcl/${SUBSYS_NAME}/impl/ppf.hpp"
"include/pcl/${SUBSYS_NAME}/impl/ppfrgb.hpp"
"include/pcl/${SUBSYS_NAME}/impl/shot.hpp"
"include/pcl/${SUBSYS_NAME}/impl/shot_lrf.hpp"
"include/pcl/${SUBSYS_NAME}/impl/shot_lrf_omp.hpp"
"include/pcl/${SUBSYS_NAME}/impl/shot_omp.hpp"
"include/pcl/${SUBSYS_NAME}/impl/spin_image.hpp"
"include/pcl/${SUBSYS_NAME}/impl/principal_curvatures.hpp"
"include/pcl/${SUBSYS_NAME}/impl/rift.hpp"
"include/pcl/${SUBSYS_NAME}/impl/rops_estimation.hpp"
"include/pcl/${SUBSYS_NAME}/impl/rsd.hpp"
"include/pcl/${SUBSYS_NAME}/impl/grsd.hpp"
"include/pcl/${SUBSYS_NAME}/impl/statistical_multiscale_interest_region_extraction.hpp"
"include/pcl/${SUBSYS_NAME}/impl/vfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/esf.hpp"
"include/pcl/${SUBSYS_NAME}/impl/3dsc.hpp"
"include/pcl/${SUBSYS_NAME}/impl/usc.hpp"
"include/pcl/${SUBSYS_NAME}/impl/boundary.hpp"
"include/pcl/${SUBSYS_NAME}/impl/range_image_border_extractor.hpp"
)

set(srcs
set(srcs_lib1
src/board.cpp
src/flare.cpp
src/brisk_2d.cpp
src/boundary.cpp
src/cppf.cpp
src/cvfh.cpp
src/our_cvfh.cpp
src/crh.cpp
src/don.cpp
src/fpfh.cpp
src/from_meshes.cpp
src/gasd.cpp
src/gfpfh.cpp
src/integral_image_normal.cpp
src/intensity_gradient.cpp
src/intensity_spin.cpp
Expand All @@ -143,36 +88,109 @@ set(srcs
src/narf.cpp
src/normal_3d.cpp
src/normal_based_signature.cpp
)

PCL_ADD_LIBRARY(${LIB_NAME}_lib1 COMPONENT ${SUBSYS_NAME} SOURCES ${srcs_lib1} ${incs_lib1} ${impl_incs_lib1})
target_link_libraries(${LIB_NAME}_lib1 pcl_common pcl_search pcl_kdtree pcl_octree pcl_filters)

set(incs_lib2
"include/pcl/${SUBSYS_NAME}/3dsc.h"
"include/pcl/${SUBSYS_NAME}/cvfh.h"
"include/pcl/${SUBSYS_NAME}/esf.h"
"include/pcl/${SUBSYS_NAME}/fpfh.h"
"include/pcl/${SUBSYS_NAME}/fpfh_omp.h"
"include/pcl/${SUBSYS_NAME}/gfpfh.h"
"include/pcl/${SUBSYS_NAME}/grsd.h"
"include/pcl/${SUBSYS_NAME}/organized_edge_detection.h"
"include/pcl/${SUBSYS_NAME}/our_cvfh.h"
"include/pcl/${SUBSYS_NAME}/pfh.h"
"include/pcl/${SUBSYS_NAME}/pfh_tools.h"
"include/pcl/${SUBSYS_NAME}/pfhrgb.h"
"include/pcl/${SUBSYS_NAME}/ppf.h"
"include/pcl/${SUBSYS_NAME}/ppfrgb.h"
"include/pcl/${SUBSYS_NAME}/principal_curvatures.h"
"include/pcl/${SUBSYS_NAME}/range_image_border_extractor.h"
"include/pcl/${SUBSYS_NAME}/rift.h"
"include/pcl/${SUBSYS_NAME}/rops_estimation.h"
"include/pcl/${SUBSYS_NAME}/rsd.h"
"include/pcl/${SUBSYS_NAME}/shot.h"
"include/pcl/${SUBSYS_NAME}/shot_lrf.h"
"include/pcl/${SUBSYS_NAME}/shot_lrf_omp.h"
"include/pcl/${SUBSYS_NAME}/shot_omp.h"
"include/pcl/${SUBSYS_NAME}/spin_image.h"
"include/pcl/${SUBSYS_NAME}/statistical_multiscale_interest_region_extraction.h"
"include/pcl/${SUBSYS_NAME}/vfh.h"
"include/pcl/${SUBSYS_NAME}/usc.h"
)

set(impl_incs_lib2
"include/pcl/${SUBSYS_NAME}/impl/3dsc.hpp"
"include/pcl/${SUBSYS_NAME}/impl/cvfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/esf.hpp"
"include/pcl/${SUBSYS_NAME}/impl/fpfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/fpfh_omp.hpp"
"include/pcl/${SUBSYS_NAME}/impl/gfpfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/grsd.hpp"
"include/pcl/${SUBSYS_NAME}/impl/organized_edge_detection.hpp"
"include/pcl/${SUBSYS_NAME}/impl/our_cvfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/pfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/pfhrgb.hpp"
"include/pcl/${SUBSYS_NAME}/impl/ppf.hpp"
"include/pcl/${SUBSYS_NAME}/impl/ppfrgb.hpp"
"include/pcl/${SUBSYS_NAME}/impl/principal_curvatures.hpp"
"include/pcl/${SUBSYS_NAME}/impl/range_image_border_extractor.hpp"
"include/pcl/${SUBSYS_NAME}/impl/rift.hpp"
"include/pcl/${SUBSYS_NAME}/impl/rops_estimation.hpp"
"include/pcl/${SUBSYS_NAME}/impl/rsd.hpp"
"include/pcl/${SUBSYS_NAME}/impl/shot.hpp"
"include/pcl/${SUBSYS_NAME}/impl/shot_lrf.hpp"
"include/pcl/${SUBSYS_NAME}/impl/shot_lrf_omp.hpp"
"include/pcl/${SUBSYS_NAME}/impl/shot_omp.hpp"
"include/pcl/${SUBSYS_NAME}/impl/spin_image.hpp"
"include/pcl/${SUBSYS_NAME}/impl/statistical_multiscale_interest_region_extraction.hpp"
"include/pcl/${SUBSYS_NAME}/impl/vfh.hpp"
"include/pcl/${SUBSYS_NAME}/impl/usc.hpp"
)

set(srcs_lib2
src/3dsc.cpp
src/cvfh.cpp #depends on vfh and normalestimation(lib1)
src/esf.cpp
src/fpfh.cpp
src/gfpfh.cpp
src/grsd.cpp
src/organized_edge_detection.cpp
src/our_cvfh.cpp
src/pfh.cpp
src/ppf.cpp
src/shot.cpp
src/shot_lrf.cpp
src/spin_image.cpp
src/principal_curvatures.cpp
src/range_image_border_extractor.cpp
src/rift.cpp
src/rops_estimation.cpp
src/rsd.cpp
src/grsd.cpp
src/shot.cpp
src/shot_lrf.cpp
src/spin_image.cpp
src/statistical_multiscale_interest_region_extraction.cpp
src/vfh.cpp
src/esf.cpp
src/3dsc.cpp
src/vfh.cpp # depends on pfh
src/usc.cpp
src/range_image_border_extractor.cpp
)

PCL_ADD_LIBRARY(${LIB_NAME}_lib2 COMPONENT ${SUBSYS_NAME} SOURCES ${srcs_lib2} ${incs_lib2} ${impl_incs_lib2})
target_link_libraries(${LIB_NAME}_lib2 pcl_common pcl_search pcl_kdtree pcl_octree pcl_filters ${LIB_NAME}_lib1)

if(MSVC)
# Workaround to avoid hitting the MSVC 4GB linker memory limit when building pcl_features.
# Disable whole program optimization (/GL) and link-time code generation (/LTCG).
string(REPLACE "/GL" "" CMAKE_CXX_FLAGS_RELEASE ${CMAKE_CXX_FLAGS_RELEASE})
string(REPLACE "/LTCG" "" CMAKE_SHARED_LINKER_FLAGS_RELEASE ${CMAKE_SHARED_LINKER_FLAGS_RELEASE})
endif()

set(LIB_NAME "pcl_${SUBSYS_NAME}")
PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree pcl_filters)
PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME})
target_link_libraries(${LIB_NAME} INTERFACE ${LIB_NAME}_lib1 ${LIB_NAME}_lib2)

PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})

# Install headers
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
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