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programmeroftheeveprogrammeroftheeve
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3 files changed

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‎gpu/kinfu_large_scale_offline/CMakeLists.txt

Lines changed: 57 additions & 63 deletions
Original file line numberDiff line numberDiff line change
@@ -3,79 +3,73 @@ set(SUBSYS_PATH gpu/kinfu_large_scale_offline)
33
set(SUBSYS_DESC "Kinect Fusion implementation, with volume shifting with offline support")
44
set(SUBSYS_DEPS common visualization io gpu_containers gpu_utils geometry search octree filters kdtree features surface)
55

6-
set(build FALSE)
7-
8-
# OpenNI found?
9-
if(NOT OPENNI_FOUND OR NOT BUILD_OPENNI)
10-
set(DEFAULT FALSE)
11-
set(REASON "OpenNI was not found or was disabled by the user.")
12-
else()
13-
set(DEFAULT TRUE)
14-
set(REASON)
15-
endif()
6+
7+
8+
9+
set(DEFAULT TRUE)
10+
set(REASON)
1611

1712
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
1813
PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
1914
PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}")
2015
mark_as_advanced("BUILD_${SUBSYS_NAME}")
2116

22-
if (build)
23-
REMOVE_VTK_DEFINITIONS()
24-
FILE(GLOB incs include/pcl/gpu/kinfu_large_scale/*.h*)
25-
FILE(GLOB impl_incs include/pcl/gpu/kinfu_large_scale/impl/*.h*)
26-
FILE(GLOB srcs src/*.cpp src/*.h*)
27-
FILE(GLOB cuda src/cuda/*.cu src/cuda/*.h*)
28-
#FILE(GLOB tsdf src/cuda/tsdf_volume.cu)
29-
#FILE(GLOB est src/cuda/estimate_tranform.cu)
30-
31-
source_group("Source Files\\cuda" FILES ${cuda} )
32-
source_group("Source Files" FILES ${srcs} )
33-
34-
set(LIB_NAME "pcl_${SUBSYS_NAME}")
35-
include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" "${CMAKE_CURRENT_SOURCE_DIR}/src" ${CUDA_INCLUDE_DIRS})
3617

37-
if (UNIX OR APPLE)
38-
set (CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "-Xcompiler;-fPIC;")
39-
endif()
40-
41-
if(NOT UNIX OR APPLE)
42-
add_definitions(-DPCLAPI_EXPORTS)
43-
endif()
44-
45-
#set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "-gencode;arch=compute_11,code=compute_11;-gencode;arch=compute_12,code=compute_12")
46-
47-
if(TRUE)
48-
#list(REMOVE_ITEM cuda ${est})
49-
#CUDA_COMPILE(est_objs ${est})
50-
51-
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "--ftz=true;--prec-div=false;--prec-sqrt=false")
52-
CUDA_COMPILE(cuda_objs ${cuda})
18+
REMOVE_VTK_DEFINITIONS()
19+
FILE(GLOB incs include/pcl/gpu/kinfu_large_scale/*.h*)
20+
FILE(GLOB impl_incs include/pcl/gpu/kinfu_large_scale/impl/*.h*)
21+
FILE(GLOB srcs src/*.cpp src/*.h*)
22+
FILE(GLOB cuda src/cuda/*.cu src/cuda/*.h*)
23+
#FILE(GLOB tsdf src/cuda/tsdf_volume.cu)
24+
#FILE(GLOB est src/cuda/estimate_tranform.cu)
5325

54-
#LIST(APPEND cuda ${est})
55-
#LIST(APPEND cuda_objs ${est_objs})
56-
57-
else()
58-
list(REMOVE_ITEM cuda ${tsdf})
59-
CUDA_COMPILE(cuda_objs ${cuda})
60-
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "--ftz=true;--prec-div=false;--prec-sqrt=false")
61-
CUDA_COMPILE(tsdf_obj ${tsdf})
26+
source_group("Source Files\\cuda" FILES ${cuda} )
27+
source_group("Source Files" FILES ${srcs} )
28+
29+
set(LIB_NAME "pcl_${SUBSYS_NAME}")
30+
include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" "${CMAKE_CURRENT_SOURCE_DIR}/src" ${CUDA_INCLUDE_DIRS})
31+
32+
if (UNIX OR APPLE)
33+
set (CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "-Xcompiler;-fPIC;")
34+
endif()
35+
36+
if(NOT UNIX OR APPLE)
37+
add_definitions(-DPCLAPI_EXPORTS)
38+
endif()
39+
40+
#set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "-gencode;arch=compute_11,code=compute_11;-gencode;arch=compute_12,code=compute_12")
41+
42+
if(TRUE)
43+
#list(REMOVE_ITEM cuda ${est})
44+
#CUDA_COMPILE(est_objs ${est})
45+
46+
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "--ftz=true;--prec-div=false;--prec-sqrt=false")
47+
CUDA_COMPILE(cuda_objs ${cuda})
6248

63-
LIST(APPEND cuda ${tsdf})
64-
LIST(APPEND cuda_objs ${tsdf_obj})
65-
endif()
66-
67-
PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs} ${cuda} ${cuda_objs})
68-
target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_gpu_utils pcl_gpu_containers pcl_gpu_octree pcl_octree pcl_filters)
69-
70-
set(EXT_DEPS "")
71-
#set(EXT_DEPS CUDA)
72-
PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
73-
74-
# Install include files
75-
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_PATH}" ${incs})
49+
#LIST(APPEND cuda ${est})
50+
#LIST(APPEND cuda_objs ${est_objs})
7651

77-
add_subdirectory(test)
78-
add_subdirectory(tools)
52+
else()
53+
list(REMOVE_ITEM cuda ${tsdf})
54+
CUDA_COMPILE(cuda_objs ${cuda})
55+
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "--ftz=true;--prec-div=false;--prec-sqrt=false")
56+
CUDA_COMPILE(tsdf_obj ${tsdf})
57+
58+
LIST(APPEND cuda ${tsdf})
59+
LIST(APPEND cuda_objs ${tsdf_obj})
7960
endif()
61+
62+
PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs} ${cuda} ${cuda_objs})
63+
target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_gpu_utils pcl_gpu_containers pcl_gpu_octree pcl_octree pcl_filters)
64+
65+
set(EXT_DEPS "")
66+
#set(EXT_DEPS CUDA)
67+
PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
68+
69+
# Install include files
70+
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_PATH}" ${incs})
71+
72+
add_subdirectory(test)
73+
add_subdirectory(tools)
8074

8175

‎gpu/kinfu_large_scale_offline/tools/CMakeLists.txt

Lines changed: 32 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -1,50 +1,50 @@
1-
if(OPENNI_FOUND)
2-
if(NOT VTK_FOUND)
1+
2+
if(NOT VTK_FOUND)
33
set(DEFAULT FALSE)
44
set(REASON "VTK was not found.")
5-
else(NOT VTK_FOUND)
5+
else(NOT VTK_FOUND)
66
set(DEFAULT TRUE)
77
set(REASON)
88
set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
99
include("${VTK_USE_FILE}")
1010
include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
11-
endif(NOT VTK_FOUND)
11+
endif(NOT VTK_FOUND)
12+
13+
message("Kinfu Apps")
14+
15+
FILE(GLOB hdrs "*.h*")
16+
include_directories(${VTK_INCLUDE_DIRS})
17+
1218

13-
FILE(GLOB hdrs "*.h*")
14-
include_directories(${VTK_INCLUDE_DIRS})
19+
## STANDALONE TEXTURE MAPPING
20+
set(the_target pcl_kinfu_largeScale_offline_texture_output)
21+
set(srcs standalone_texture_mapping.cpp )
1522

23+
source_group("Source Files" FILES ${srcs} )
1624

17-
## STANDALONE TEXTURE MAPPING
18-
set(the_target pcl_kinfu_largeScale_texture_output)
19-
set(srcs standalone_texture_mapping.cpp )
25+
PCL_ADD_EXECUTABLE_OPT_BUNDLE("${the_target}" "${SUBSYS_NAME}" ${srcs} ${hdrs})
26+
target_link_libraries("${the_target}" pcl_common pcl_io pcl_visualization pcl_gpu_kinfu_large_scale_offline pcl_kdtree pcl_features pcl_surface)
2027

21-
source_group("Source Files" FILES ${srcs} )
28+
## KINECT FUSION
29+
set(the_target pcl_kinfu_largeScale_offline)
30+
set(srcs kinfuLS_app.cpp capture.cpp evaluation.cpp)
2231

23-
PCL_ADD_EXECUTABLE_OPT_BUNDLE("${the_target}" "${SUBSYS_NAME}" ${srcs} ${hdrs})
24-
target_link_libraries("${the_target}" pcl_common pcl_io ${OPENNI_LIBRARIES} pcl_visualization pcl_gpu_kinfu_large_scale pcl_kdtree pcl_features pcl_surface)
32+
source_group("Source Files" FILES ${srcs} )
2533

26-
## KINECT FUSION
27-
set(the_target pcl_kinfu_largeScale)
28-
set(srcs kinfuLS_app.cpp capture.cpp evaluation.cpp)
34+
PCL_ADD_EXECUTABLE_OPT_BUNDLE("${the_target}" "${SUBSYS_NAME}" ${srcs} ${hdrs})
35+
target_link_libraries("${the_target}" pcl_common pcl_io pcl_visualization pcl_gpu_kinfu_large_scale_offline pcl_octree)
2936

30-
source_group("Source Files" FILES ${srcs} )
37+
## STANDALONE MARCHING CUBES
38+
set(the_target pcl_kinfu_largeScale_mesh_offline_output)
39+
set(srcs process_kinfu_large_scale_output.cpp)
3140

32-
PCL_ADD_EXECUTABLE_OPT_BUNDLE("${the_target}" "${SUBSYS_NAME}" ${srcs} ${hdrs})
33-
target_link_libraries("${the_target}" pcl_common pcl_io ${OPENNI_LIBRARIES} pcl_visualization pcl_gpu_kinfu_large_scale pcl_octree)
34-
35-
## STANDALONE MARCHING CUBES
36-
set(the_target pcl_kinfu_largeScale_mesh_output)
37-
set(srcs process_kinfu_large_scale_output.cpp)
41+
PCL_ADD_EXECUTABLE_OPT_BUNDLE("${the_target}" "${SUBSYS_NAME}" ${srcs} ${hdrs})
42+
target_link_libraries("${the_target}" pcl_common pcl_io pcl_visualization pcl_gpu_kinfu_large_scale_offline pcl_filters)
3843

39-
PCL_ADD_EXECUTABLE_OPT_BUNDLE("${the_target}" "${SUBSYS_NAME}" ${srcs} ${hdrs})
40-
target_link_libraries("${the_target}" pcl_common pcl_io ${OPENNI_LIBRARIES} pcl_visualization pcl_gpu_kinfu_large_scale pcl_filters)
41-
42-
## RECORD MAPS_RGB
43-
set(the_target pcl_record_kinect_maps_rgb)
44-
set(srcs record_maps_rgb.cpp)
44+
## RECORD MAPS_RGB
45+
set(the_target pcl_record_kinect_maps_rgb_offline)
46+
set(srcs record_maps_rgb.cpp)
4547

46-
PCL_ADD_EXECUTABLE_OPT_BUNDLE("${the_target}" "${SUBSYS_NAME}" ${srcs} ${hdrs})
47-
target_link_libraries("${the_target}" pcl_common pcl_io ${OPENNI_LIBRARIES} pcl_visualization pcl_gpu_kinfu_large_scale pcl_filters)
48-
48+
PCL_ADD_EXECUTABLE_OPT_BUNDLE("${the_target}" "${SUBSYS_NAME}" ${srcs} ${hdrs})
49+
target_link_libraries("${the_target}" pcl_common pcl_io pcl_visualization pcl_gpu_kinfu_large_scale_offline pcl_filters)
4950

50-
endif(OPENNI_FOUND)

‎gpu/kinfu_large_scale_offline/tools/kinfuLS_app.cpp

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1338,7 +1338,8 @@ main (int argc, char* argv[])
13381338
}
13391339
else
13401340
{
1341-
capture.reset( new pcl::OpenNIGrabber() );
1341+
std::cout << "Please Spciefy a file" << std::endl;
1342+
//capture.reset( new pcl::OpenNIGrabber() );
13421343

13431344
//capture.reset( new pcl::ONIGrabber("d:/onis/20111013-224932.oni", true, true) );
13441345
//capture.reset( new pcl::ONIGrabber("d:/onis/reg20111229-180846.oni, true, true) );

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