1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
|
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 visualization io gpu_containers gpu_utils geometry search octree filters kdtree features surface)
set(build FALSE)
# OpenNI found?
if(NOT WITH_OPENNI)
set(DEFAULT FALSE)
set(REASON "OpenNI was not found or was disabled by the user.")
else()
set(DEFAULT TRUE)
set(REASON)
endif()
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}")
mark_as_advanced("BUILD_${SUBSYS_NAME}")
if(NOT build)
return()
endif()
REMOVE_VTK_DEFINITIONS()
file(GLOB incs include/pcl/gpu/kinfu_large_scale/*.h*)
file(GLOB impl_incs include/pcl/gpu/kinfu_large_scale/impl/*.h*)
file(GLOB srcs src/*.cpp src/*.h*)
file(GLOB cuda src/cuda/*.cu src/cuda/*.h*)
source_group("Source Files\\cuda" FILES ${cuda})
source_group("Source Files" FILES ${srcs})
set(LIB_NAME "pcl_${SUBSYS_NAME}")
include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" "${CMAKE_CURRENT_SOURCE_DIR}/src" ${CUDA_INCLUDE_DIRS})
if(UNIX OR APPLE)
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "-Xcompiler;-fPIC;")
endif()
if(NOT UNIX OR APPLE)
add_definitions(-DPCLAPI_EXPORTS)
endif()
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "--ftz=true;--prec-div=false;--prec-sqrt=false")
CUDA_COMPILE(cuda_objs ${cuda})
PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${cuda} ${cuda_objs})
target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_gpu_utils pcl_gpu_containers pcl_gpu_octree pcl_octree pcl_filters)
set(EXT_DEPS "")
#set(EXT_DEPS CUDA)
PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
# Install include files
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_PATH}" ${incs})
add_subdirectory(test)
add_subdirectory(tools)
|
