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Merged
merged 3 commits into from
Jun 27, 2017
Merged

Octree Precompile #1639

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85d93ab
Fix linking error when using Octree with custom leaf container
stefanbuettner Jun 20, 2016
09c42e5
Cleanup octree includes
stefanbuettner Jun 20, 2016
633343b
Use PCL_NO_PRECOMPILE in modules which need custom octree leaf contai…
stefanbuettner Oct 19, 2016
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2 changes: 1 addition & 1 deletion apps/src/openni_change_viewer.cpp
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Expand Up @@ -39,7 +39,7 @@
#include <pcl/io/openni_grabber.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/octree/octree.h>
#include <pcl/octree/octree_pointcloud_changedetector.h>
#include <pcl/filters/extract_indices.h>

#include <pcl/console/parse.h>
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2 changes: 1 addition & 1 deletion doc/tutorials/content/sources/octree_change_detection/octree_change_detection.cpp
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@@ -1,5 +1,5 @@
#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>
#include <pcl/octree/octree_pointcloud_changedetector.h>

#include <iostream>
#include <vector>
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2 changes: 1 addition & 1 deletion doc/tutorials/content/sources/octree_search/octree_search.cpp
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@@ -1,5 +1,5 @@
#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>
#include <pcl/octree/octree_search.h>

#include <iostream>
#include <vector>
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1 change: 0 additions & 1 deletion features/include/pcl/features/impl/gfpfh.hpp
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Expand Up @@ -42,7 +42,6 @@
#define PCL_FEATURES_IMPL_GFPFH_H_

#include <pcl/features/gfpfh.h>
#include <pcl/octree/octree.h>
#include <pcl/octree/octree_search.h>
#include <pcl/common/eigen.h>

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2 changes: 1 addition & 1 deletion filters/include/pcl/filters/impl/morphological_filter.hpp
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Expand Up @@ -50,7 +50,7 @@
#include <pcl/common/common.h>
#include <pcl/common/io.h>
#include <pcl/filters/morphological_filter.h>
#include <pcl/octree/octree.h>
#include <pcl/octree/octree_search.h>

///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
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2 changes: 0 additions & 2 deletions gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/world_model.h
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Expand Up @@ -40,8 +40,6 @@
#define PCL_WORLD_MODEL_H_

#include <pcl/common/impl/common.hpp>
#include <pcl/octree/octree.h>
#include <pcl/octree/octree_impl.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/filter_indices.h>
#include <pcl/filters/crop_box.h>
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4 changes: 2 additions & 2 deletions gpu/octree/test/test_approx_nearest.cpp
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Expand Up @@ -48,7 +48,7 @@
#pragma warning (disable: 4521)
#endif
#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>
#include <pcl/octree/octree_search.h>
#if defined _MSC_VER
#pragma warning (default: 4521)
#endif
Expand Down Expand Up @@ -146,4 +146,4 @@ TEST(PCL_OctreeGPU, approxNearesSearch)
cout << "count_pcl_better: " << count_pcl_better << endl;
cout << "avg_diff_pcl_better: " << diff_pcl_better << endl;

}
}
1 change: 0 additions & 1 deletion gpu/octree/test/test_bfrs_gpu.cpp
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Expand Up @@ -44,7 +44,6 @@
#endif

#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>

#if defined _MSC_VER
#pragma warning (default: 4521)
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2 changes: 1 addition & 1 deletion gpu/octree/test/test_host_radius_search.cpp
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Expand Up @@ -46,7 +46,7 @@

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/octree/octree.h>
#include <pcl/octree/octree_search.h>

#if defined _MSC_VER
#pragma warning (default: 4521)
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4 changes: 2 additions & 2 deletions gpu/octree/test/test_knn_search.cpp
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Expand Up @@ -48,7 +48,7 @@
#pragma warning (disable: 4521)
#endif
#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>
#include <pcl/octree/octree_search.h>
#if defined _MSC_VER
#pragma warning (default: 4521)
#endif
Expand Down Expand Up @@ -182,4 +182,4 @@ TEST(PCL_OctreeGPU, exactNeighbourSearch)
pairs_gpu.pop_back();
}
}
}
}
1 change: 0 additions & 1 deletion gpu/octree/test/test_radius_search.cpp
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Expand Up @@ -45,7 +45,6 @@
#endif

#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>

#if defined _MSC_VER
#pragma warning (default: 4521)
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3 changes: 0 additions & 3 deletions io/include/pcl/compression/impl/octree_pointcloud_compression.hpp
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Expand Up @@ -38,7 +38,6 @@
#ifndef OCTREE_COMPRESSION_HPP
#define OCTREE_COMPRESSION_HPP

#include <pcl/octree/octree_pointcloud.h>
#include <pcl/compression/entropy_range_coder.h>

#include <iterator>
Expand All @@ -48,8 +47,6 @@
#include <iostream>
#include <stdio.h>

using namespace pcl::octree;

namespace pcl
{
namespace io
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5 changes: 1 addition & 4 deletions io/src/compression.cpp
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Expand Up @@ -35,13 +35,10 @@
*
* Author: Julius Kammerl ([email protected])
*/

#define PCL_NO_PRECOMPILE
#include <pcl/impl/instantiate.hpp>
#include <pcl/point_types.h>

#include <pcl/octree/octree.h>
#include <pcl/octree/octree_impl.h>

#include <pcl/compression/entropy_range_coder.h>
#include <pcl/compression/impl/entropy_range_coder.hpp>

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2 changes: 0 additions & 2 deletions octree/include/pcl/octree/impl/octree_base.hpp
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Expand Up @@ -42,8 +42,6 @@
#include <vector>

#include <pcl/impl/instantiate.hpp>
#include <pcl/point_types.h>
#include <pcl/octree/octree.h>

namespace pcl
{
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5 changes: 0 additions & 5 deletions octree/include/pcl/octree/impl/octree_iterator.hpp
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Expand Up @@ -39,11 +39,6 @@
#ifndef PCL_OCTREE_ITERATOR_HPP_
#define PCL_OCTREE_ITERATOR_HPP_

#include <vector>
#include <assert.h>

#include <pcl/common/common.h>

namespace pcl
{
namespace octree
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3 changes: 1 addition & 2 deletions octree/include/pcl/octree/impl/octree_pointcloud.hpp
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Expand Up @@ -39,11 +39,10 @@
#ifndef PCL_OCTREE_POINTCLOUD_HPP_
#define PCL_OCTREE_POINTCLOUD_HPP_

#include <vector>
#include <assert.h>

#include <pcl/common/common.h>

#include <pcl/octree/impl/octree_base.hpp>
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Should you not include octree_base.h instead?

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This one is a bit tricky.
Actually including neither octree_base.h nor octree_base.hpp should not be necessary at this point. But since OctreePointCloudAdjacency, for example, is used somewhere else in PCL with a custom LeafContainer and PCL_NO_PRECOMPILE is turned off, OctreePointCloudAdjacency is not instantiated for these LeafContainers. That's why octree_pointcloud_adjacency.hpp includes octree_pointcloud.hpp which in turn includes the octree_base.hpp in order to provide the implementation for that case.
However, perhaps it would make more sense to change the other code somewhere in PCL (don't look up the location, yet) to always include the required octree hpp files and remove the nested hpp includes in the octree module. That would yield a uniform include structure in the octree module.
Hope my thoughts are understandable.

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But since OctreePointCloudAdjacency, for example, is used somewhere else in PCL with a custom LeafContainer and PCL_NO_PRECOMPILE is turned off, OctreePointCloudAdjacency is not instantiated for these LeafContainers.

Would it not make more sense to make the instantiation there (where the custom leaf container is used) then? The same way it is done in supervoxel clustering.

This comment of course entailing the change to the include structure in the octree module, to make it uniform with the rest of the library.

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This is the only point left to discuss right?


//////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>
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11 changes: 10 additions & 1 deletion octree/include/pcl/octree/impl/octree_pointcloud_adjacency.hpp
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Expand Up @@ -38,7 +38,16 @@
#ifndef PCL_OCTREE_POINTCLOUD_ADJACENCY_HPP_
#define PCL_OCTREE_POINTCLOUD_ADJACENCY_HPP_

#include <pcl/octree/octree_pointcloud_adjacency.h>
#include <pcl/console/print.h>
#include <pcl/common/geometry.h>
/*
* OctreePointCloudAdjacency is not precompiled, since it's used in other
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OK, this makes sense.

* parts of PCL with custom LeafContainers. So if PCL_NO_PRECOMPILE is NOT
* used, octree_pointcloud_adjacency.h includes this file but octree_pointcloud.h
* would not include the implementation because it's precompiled. So we need to
* include it here "manually".
*/
#include <pcl/octree/impl/octree_pointcloud.hpp>

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename LeafContainerT, typename BranchContainerT>
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9 changes: 8 additions & 1 deletion octree/include/pcl/octree/impl/octree_pointcloud_voxelcentroid.hpp
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Expand Up @@ -40,7 +40,14 @@
#ifndef PCL_OCTREE_VOXELCENTROID_HPP
#define PCL_OCTREE_VOXELCENTROID_HPP

#include <pcl/octree/octree_pointcloud_voxelcentroid.h>
/*
* OctreePointCloudVoxelcontroid is not precompiled, since it's used in other
* parts of PCL with custom LeafContainers. So if PCL_NO_PRECOMPILE is NOT
* used, octree_pointcloud_voxelcentroid.h includes this file but octree_pointcloud.h
* would not include the implementation because it's precompiled. So we need to
* include it here "manually".
*/
#include <pcl/octree/impl/octree_pointcloud.hpp>

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename LeafContainerT, typename BranchContainerT> bool
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7 changes: 2 additions & 5 deletions octree/include/pcl/octree/impl/octree_search.hpp
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Expand Up @@ -39,13 +39,8 @@
#ifndef PCL_OCTREE_SEARCH_IMPL_H_
#define PCL_OCTREE_SEARCH_IMPL_H_

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <pcl/common/common.h>
#include <assert.h>


//////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename LeafContainerT, typename BranchContainerT> bool
pcl::octree::OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::voxelSearch (const PointT& point,
Expand Down Expand Up @@ -864,4 +859,6 @@ pcl::octree::OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::g
return (voxel_count);
}

#define PCL_INSTANTIATE_OctreePointCloudSearch(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudSearch<T>;

#endif // PCL_OCTREE_SEARCH_IMPL_H_
1 change: 1 addition & 0 deletions octree/include/pcl/octree/octree.h
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Expand Up @@ -51,6 +51,7 @@
#include <pcl/octree/octree_pointcloud_pointvector.h>
#include <pcl/octree/octree_pointcloud_changedetector.h>
#include <pcl/octree/octree_pointcloud_voxelcentroid.h>
#include <pcl/octree/octree_pointcloud_adjacency.h>

#include <pcl/octree/octree_search.h>

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14 changes: 7 additions & 7 deletions octree/include/pcl/octree/octree2buf_base.h
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Expand Up @@ -41,13 +41,11 @@

#include <vector>

#include "octree_nodes.h"
#include "octree_container.h"
#include "octree_key.h"
#include "octree_iterator.h"
#include <pcl/octree/octree_nodes.h>
#include <pcl/octree/octree_container.h>
#include <pcl/octree/octree_key.h>
#include <pcl/octree/octree_iterator.h>

#include <stdio.h>
#include <string.h>

namespace pcl
{
Expand Down Expand Up @@ -920,7 +918,9 @@ namespace pcl
}
}

//#include "impl/octree2buf_base.hpp"
#ifdef PCL_NO_PRECOMPILE
#include <pcl/octree/impl/octree2buf_base.hpp>
#endif

#endif

13 changes: 7 additions & 6 deletions octree/include/pcl/octree/octree_base.h
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Expand Up @@ -39,13 +39,12 @@
#ifndef PCL_OCTREE_TREE_BASE_H
#define PCL_OCTREE_TREE_BASE_H

#include <cstddef>
#include <vector>

#include "octree_nodes.h"
#include "octree_container.h"
#include "octree_key.h"
#include "octree_iterator.h"
#include <pcl/octree/octree_nodes.h>
#include <pcl/octree/octree_container.h>
#include <pcl/octree/octree_key.h>
#include <pcl/octree/octree_iterator.h>

namespace pcl
{
Expand Down Expand Up @@ -594,7 +593,9 @@ namespace pcl
}
}

//#include "impl/octree_base.hpp"
#ifdef PCL_NO_PRECOMPILE
#include <pcl/octree/impl/octree_base.hpp>
#endif

#endif

1 change: 0 additions & 1 deletion octree/include/pcl/octree/octree_container.h
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Expand Up @@ -39,7 +39,6 @@
#ifndef PCL_OCTREE_CONTAINER_H
#define PCL_OCTREE_CONTAINER_H

#include <string.h>
#include <vector>
#include <cstddef>

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12 changes: 7 additions & 5 deletions octree/include/pcl/octree/octree_iterator.h
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Expand Up @@ -43,11 +43,8 @@
#include <vector>
#include <deque>

#include "octree_nodes.h"
#include "octree_key.h"

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/octree/octree_nodes.h>
#include <pcl/octree/octree_key.h>

#include <iterator>

Expand Down Expand Up @@ -619,5 +616,10 @@ namespace pcl
}
}

/*
* Note: Since octree iterators depend on octrees, don't precompile them.
*/
#include <pcl/octree/impl/octree_iterator.hpp>

#endif

2 changes: 0 additions & 2 deletions octree/include/pcl/octree/octree_key.h
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Expand Up @@ -38,8 +38,6 @@
#ifndef PCL_OCTREE_KEY_H
#define PCL_OCTREE_KEY_H

#include <string>

namespace pcl
{
namespace octree
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3 changes: 0 additions & 3 deletions octree/include/pcl/octree/octree_nodes.h
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Expand Up @@ -42,9 +42,6 @@
#include <cstddef>

#include <assert.h>
#include <cstring>

#include <string.h>

#include <Eigen/Core>

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6 changes: 1 addition & 5 deletions octree/include/pcl/octree/octree_pointcloud.h
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Expand Up @@ -39,16 +39,12 @@
#ifndef PCL_OCTREE_POINTCLOUD_H
#define PCL_OCTREE_POINTCLOUD_H

#include "octree_base.h"
//#include "octree2buf_base.h"
#include <pcl/octree/octree_base.h>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <queue>
#include <vector>
#include <algorithm>
#include <iostream>

namespace pcl
{
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7 changes: 2 additions & 5 deletions octree/include/pcl/octree/octree_pointcloud_adjacency.h
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Expand Up @@ -40,10 +40,8 @@
#ifndef PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
#define PCL_OCTREE_POINTCLOUD_ADJACENCY_H_

#include <pcl/console/print.h>
#include <pcl/common/geometry.h>
#include <pcl/octree/boost.h>
#include <pcl/octree/octree_impl.h>
#include <pcl/octree/octree_pointcloud.h>
#include <pcl/octree/octree_pointcloud_adjacency_container.h>

#include <set>
Expand Down Expand Up @@ -247,9 +245,8 @@ namespace pcl

}

//#ifdef PCL_NO_PRECOMPILE
// Note: Do not precompile this octree type because it is typically used with custom leaf containers.
#include <pcl/octree/impl/octree_pointcloud_adjacency.hpp>
//#endif

#endif // PCL_OCTREE_POINTCLOUD_ADJACENCY_H_

3 changes: 2 additions & 1 deletion octree/include/pcl/octree/octree_pointcloud_changedetector.h
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Expand Up @@ -39,7 +39,8 @@
#ifndef PCL_OCTREE_CHANGEDETECTOR_H
#define PCL_OCTREE_CHANGEDETECTOR_H

#include "octree_pointcloud.h"
#include <pcl/octree/octree_pointcloud.h>
#include <pcl/octree/octree2buf_base.h>

namespace pcl
{
Expand Down
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