Merge pull request #5947 from larshg/fixKinfuAndCmakeCleanup

larshg · web-flow · commit bcae7eaa2f02 · 2024-02-05T22:12:43.000+01:00
Fix kinfu and cmake cleanup
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -419,6 +419,12 @@ if(WITH_OPENGL)
   include("${PCL_SOURCE_DIR}/cmake/pcl_find_gl.cmake")
 endif()
 
+# GLEW
+option(WITH_GLEW "Support for GLEW" TRUE)
+if(WITH_GLEW)
+  find_package(GLEW QUIET)
+endif()
+
 # Boost (required)
 include("${PCL_SOURCE_DIR}/cmake/pcl_find_boost.cmake")
 
diff --git a/cmake/pcl_options.cmake b/cmake/pcl_options.cmake
@@ -88,8 +88,6 @@ mark_as_advanced(CMAKE_MSVC_CODE_LINK_OPTIMIZATION)
 # Project folders
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
-option(BUILD_tools "Useful PCL-based command line tools" ON)
-
 option(WITH_DOCS "Build doxygen documentation" OFF)
 
 # set index size
diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME common)
 set(SUBSYS_DESC "Point cloud common library")
 set(SUBSYS_DEPS)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS eigen3 boost)
 
diff --git a/cuda/CMakeLists.txt b/cuda/CMakeLists.txt
@@ -2,7 +2,7 @@ set(SUBSYS_NAME cuda)
 set(SUBSYS_DESC "Point cloud CUDA libraries")
 set(SUBSYS_DEPS)
 
-option(BUILD_CUDA "Build the CUDA-related subsystems" ${DEFAULT})
+option(BUILD_CUDA "Build the CUDA-related subsystems" OFF)
 
 if(NOT (BUILD_CUDA AND CUDA_FOUND))
   return()
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -2,9 +2,7 @@ set(SUBSYS_NAME examples)
 set(SUBSYS_DESC "PCL examples")
 set(SUBSYS_DEPS common io features search kdtree octree filters keypoints segmentation sample_consensus outofcore stereo geometry surface)
 
-set(DEFAULT FALSE)
-set(REASON "Code examples are disabled by default.")
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
+PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} OFF)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
 
 if(NOT build)
diff --git a/features/CMakeLists.txt b/features/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME features)
 set(SUBSYS_DESC "Point cloud features library")
 set(SUBSYS_DEPS common search kdtree octree filters 2d)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
 
diff --git a/filters/CMakeLists.txt b/filters/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME filters)
 set(SUBSYS_DESC "Point cloud filters library")
 set(SUBSYS_DEPS common sample_consensus search kdtree octree)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
 
diff --git a/geometry/CMakeLists.txt b/geometry/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME geometry)
 set(SUBSYS_DESC "Point cloud geometry library")
 set(SUBSYS_DEPS common)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
 
diff --git a/gpu/CMakeLists.txt b/gpu/CMakeLists.txt
@@ -2,7 +2,7 @@ set(SUBSYS_NAME gpu)
 set(SUBSYS_DESC "Point cloud GPU libraries")
 set(SUBSYS_DEPS)
 
-option(BUILD_GPU "Build the GPU-related subsystems" ${DEFAULT})
+option(BUILD_GPU "Build the GPU-related subsystems" OFF)
 
 if(NOT (BUILD_GPU AND CUDA_FOUND))
   return()
diff --git a/gpu/kinfu/tools/CMakeLists.txt b/gpu/kinfu/tools/CMakeLists.txt
@@ -2,7 +2,7 @@ set(SUBSUBSYS_NAME tools)
 set(SUBSUBSYS_DESC "Kinfu tools")
 set(SUBSUBSYS_DEPS gpu_kinfu visualization)
 set(SUBSUBSYS_OPT_DEPS opencv)
-set(EXT_DEPS openni)
+set(EXT_DEPS glew openni)
 set(DEFAULT TRUE)
 set(REASON "")
 
diff --git a/gpu/kinfu_large_scale/CMakeLists.txt b/gpu/kinfu_large_scale/CMakeLists.txt
@@ -2,6 +2,8 @@ set(SUBSYS_NAME gpu_kinfu_large_scale)
 set(SUBSYS_PATH gpu/kinfu_large_scale)
 set(SUBSYS_DESC "Kinect Fusion implementation, with volume shifting")
 set(SUBSYS_DEPS common io gpu_containers gpu_utils geometry search octree filters kdtree features surface)
+set(EXT_DEPS vtk) # Uses saveRgbPNGFile from png_io, which requires VTK to be present
+
 if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "12.0")
   set(DEFAULT FALSE)
   set(REASON "Kinfu_large_scale uses textures which was removed in CUDA 12")
@@ -10,7 +12,7 @@ else()
 endif()
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
-PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
 PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}")
 mark_as_advanced("BUILD_${SUBSYS_NAME}")
 
diff --git a/gpu/kinfu_large_scale/tools/CMakeLists.txt b/gpu/kinfu_large_scale/tools/CMakeLists.txt
@@ -2,7 +2,7 @@ set(SUBSUBSYS_NAME tools)
 set(SUBSUBSYS_DESC "Kinfu large scale tools")
 set(SUBSUBSYS_DEPS gpu_kinfu_large_scale visualization)
 set(SUBSUBSYS_OPT_DEPS )
-set(EXT_DEPS openni openni2)
+set(EXT_DEPS glew openni openni2)
 set(DEFAULT TRUE)
 set(REASON "")
 
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
@@ -3,7 +3,6 @@ set(SUBSYS_DESC "Point cloud IO library")
 set(SUBSYS_DEPS common octree)
 set(SUBSYS_EXT_DEPS boost eigen3)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 if(WIN32)
   PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS openni openni2 ensenso davidSDK dssdk rssdk rssdk2 pcap png vtk OpenMP EXT_DEPS ${SUBSYS_EXT_DEPS})
diff --git a/kdtree/CMakeLists.txt b/kdtree/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME kdtree)
 set(SUBSYS_DESC "Point cloud kd-tree library")
 set(SUBSYS_DEPS common)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS flann)
 
diff --git a/keypoints/CMakeLists.txt b/keypoints/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME keypoints)
 set(SUBSYS_DESC "Point cloud keypoints library")
 set(SUBSYS_DEPS common search kdtree octree features filters)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
 
diff --git a/ml/CMakeLists.txt b/ml/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME ml)
 set(SUBSYS_DESC "Point cloud machine learning library")
 set(SUBSYS_DEPS common)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
 
diff --git a/octree/CMakeLists.txt b/octree/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME octree)
 set(SUBSYS_DESC "Point cloud octree library")
 set(SUBSYS_DEPS common)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
 
diff --git a/people/CMakeLists.txt b/people/CMakeLists.txt
@@ -1,19 +1,10 @@
 set(SUBSYS_NAME people)
 set(SUBSYS_DESC "Point cloud people library")
 set(SUBSYS_DEPS common kdtree search sample_consensus filters io visualization geometry segmentation octree)
+set(EXT_DEPS vtk)
 
-if(NOT VTK_FOUND)
-  set(DEFAULT FALSE)
-  set(REASON "VTK was not found.")
-else()
-  set(DEFAULT TRUE)
-  set(REASON)
-  include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
-endif()
-
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
-PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
 
 PCL_ADD_DOC("${SUBSYS_NAME}")
 
diff --git a/registration/CMakeLists.txt b/registration/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME registration)
 set(SUBSYS_DESC "Point cloud registration library")
 set(SUBSYS_DEPS common octree kdtree search sample_consensus features filters)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
 
diff --git a/sample_consensus/CMakeLists.txt b/sample_consensus/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME sample_consensus)
 set(SUBSYS_DESC "Point cloud sample consensus library")
 set(SUBSYS_DEPS common search)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
 
diff --git a/search/CMakeLists.txt b/search/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME search)
 set(SUBSYS_DESC "Point cloud generic search library")
 set(SUBSYS_DEPS common kdtree octree)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS flann)
 
diff --git a/segmentation/CMakeLists.txt b/segmentation/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME segmentation)
 set(SUBSYS_DESC "Point cloud segmentation library")
 set(SUBSYS_DEPS common geometry search sample_consensus kdtree octree features filters ml)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
 
diff --git a/simulation/CMakeLists.txt b/simulation/CMakeLists.txt
@@ -2,11 +2,6 @@ set(SUBSYS_NAME simulation)
 set(SUBSYS_DESC "Point Cloud Library Simulation")
 set(SUBSYS_DEPS common io surface kdtree features search octree visualization filters geometry)
 
-set(build FALSE)
-find_package(OpenGL)
-
-find_package(GLEW)
-
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS opengl glew)
 
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
@@ -2,10 +2,8 @@ set(SUBSYS_NAME tools)
 set(SUBSYS_DESC "Useful PCL-based command line tools")
 set(SUBSYS_DEPS io)
 set(SUBSYS_OPT_DEPS filters sample_consensus segmentation search kdtree features surface octree registration recognition geometry keypoints ml visualization vtk)
-set(DEFAULT ON)
-set(REASON "")
 
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
+PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${SUBSYS_OPT_DEPS})
 
 if(NOT build)
diff --git a/tracking/CMakeLists.txt b/tracking/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME tracking)
 set(SUBSYS_DESC "Point cloud tracking library")
 set(SUBSYS_DEPS common search kdtree filters octree)
 
-set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
 
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
@@ -2,16 +2,7 @@ set(SUBSYS_NAME visualization)
 set(SUBSYS_DESC "Point cloud visualization library")
 set(SUBSYS_DEPS common io kdtree geometry search octree)
 
-if(NOT VTK_FOUND)
-  set(DEFAULT FALSE)
-  set(REASON "VTK was not found.")
-else()
-  set(DEFAULT TRUE)
-  set(REASON)
-  include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
-endif()
-
-PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS vtk OPT_DEPS openni openni2 ensenso davidSDK dssdk rssdk)
 
 if(ANDROID)
@@ -147,6 +138,11 @@ endif()
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${common_incs} ${impl_incs} ${common_impl_incs} ${vtk_incs})
 
+target_include_directories(${LIB_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>  
+)
+
 # apple workaround (continued)
 if(APPLE)
   target_link_libraries("${LIB_NAME}" "-framework Cocoa")
