Merge pull request #6062 from mvieth/configurable_instantiations

Give users more control regarding with which point types classes are …

Author: mvieth

CMakeLists.txt

@@ -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}")
@@ -232,10 +232,6 @@ if(CMAKE_COMPILER_IS_CLANG)
   set(CLANG_LIBRARIES "stdc++")
 endif()
 
-if(CMAKE_COMPILER_IS_MINGW)
-  add_definitions(-DPCL_ONLY_CORE_POINT_TYPES)
-endif()
-
 include("${PCL_SOURCE_DIR}/cmake/pcl_utils.cmake")
 DISSECT_VERSION()
 GET_OS_INFO()

cmake/pcl_options.cmake

@@ -48,8 +48,18 @@ mark_as_advanced(PCL_QHULL_REQUIRED_TYPE)
 option(PCL_PREFER_BOOST_FILESYSTEM "Prefer boost::filesystem over std::filesystem (if compiled as C++17 or higher, std::filesystem is chosen by default)" OFF)
 mark_as_advanced(PCL_PREFER_BOOST_FILESYSTEM)
 
+set(PCL_XYZ_POINT_TYPES "(pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZL)(pcl::PointXYZRGBA)(pcl::PointXYZRGB)(pcl::PointXYZRGBL)(pcl::PointXYZLAB)(pcl::PointXYZHSV)(pcl::InterestPoint)(pcl::PointNormal)(pcl::PointXYZRGBNormal)(pcl::PointXYZINormal)(pcl::PointXYZLNormal)(pcl::PointWithRange)(pcl::PointWithViewpoint)(pcl::PointWithScale)(pcl::PointSurfel)(pcl::PointDEM)" CACHE STRING "Point types with xyz information for which PCL classes will be instantiated. Alternative to PCL_ONLY_CORE_POINT_TYPES. You can remove unneeded types to reduce compile time and library size.")
+mark_as_advanced(PCL_XYZ_POINT_TYPES)
+
+set(PCL_NORMAL_POINT_TYPES "(pcl::Normal)(pcl::PointNormal)(pcl::PointXYZRGBNormal)(pcl::PointXYZINormal)(pcl::PointXYZLNormal)(pcl::PointSurfel)" CACHE STRING "Point types with normal information for which PCL classes will be instantiated. Alternative to PCL_ONLY_CORE_POINT_TYPES. You can remove unneeded types to reduce compile time and library size.")
+mark_as_advanced(PCL_NORMAL_POINT_TYPES)
+
 # Precompile for a minimal set of point types instead of all.
+if(CMAKE_COMPILER_IS_MSVC OR CMAKE_COMPILER_IS_MINGW)
+option(PCL_ONLY_CORE_POINT_TYPES "Compile explicitly only for a small subset of point types (e.g., pcl::PointXYZ instead of PCL_XYZ_POINT_TYPES)." ON)
+else()
 option(PCL_ONLY_CORE_POINT_TYPES "Compile explicitly only for a small subset of point types (e.g., pcl::PointXYZ instead of PCL_XYZ_POINT_TYPES)." OFF)
+endif()
 mark_as_advanced(PCL_ONLY_CORE_POINT_TYPES)
 
 # Precompile for a minimal set of point types instead of all.

common/include/pcl/impl/point_types.hpp

@@ -39,6 +39,7 @@
 #pragma once
 
 #include <pcl/memory.h>                 // for PCL_MAKE_ALIGNED_OPERATOR_NEW
+#include <pcl/pcl_config.h>             // for PCL_XYZ_POINT_TYPES, PCL_NORMAL_POINT_TYPES
 #include <pcl/pcl_macros.h>             // for PCL_EXPORTS
 #include <pcl/PCLPointField.h>          // for PCLPointField
 #include <pcl/point_types.h>            // implementee
@@ -118,42 +119,12 @@
   (pcl::PointXYZRGBNormal)      \
   (pcl::PointSurfel)            \
 
-// Define all point types that include XYZ data
-#define PCL_XYZ_POINT_TYPES   \
-  (pcl::PointXYZ)             \
-  (pcl::PointXYZI)            \
-  (pcl::PointXYZL)            \
-  (pcl::PointXYZRGBA)         \
-  (pcl::PointXYZRGB)          \
-  (pcl::PointXYZRGBL)         \
-  (pcl::PointXYZLAB)          \
-  (pcl::PointXYZHSV)          \
-  (pcl::InterestPoint)        \
-  (pcl::PointNormal)          \
-  (pcl::PointXYZRGBNormal)    \
-  (pcl::PointXYZINormal)      \
-  (pcl::PointXYZLNormal)      \
-  (pcl::PointWithRange)       \
-  (pcl::PointWithViewpoint)   \
-  (pcl::PointWithScale)       \
-  (pcl::PointSurfel)          \
-  (pcl::PointDEM)
-
 // Define all point types with XYZ and label
 #define PCL_XYZL_POINT_TYPES  \
   (pcl::PointXYZL)            \
   (pcl::PointXYZRGBL)         \
   (pcl::PointXYZLNormal)
 
-// Define all point types that include normal[3] data
-#define PCL_NORMAL_POINT_TYPES  \
-  (pcl::Normal)                 \
-  (pcl::PointNormal)            \
-  (pcl::PointXYZRGBNormal)      \
-  (pcl::PointXYZINormal)        \
-  (pcl::PointXYZLNormal)        \
-  (pcl::PointSurfel)
-
 // Define all point types that represent features
 #define PCL_FEATURE_POINT_TYPES \
   (pcl::PFHSignature125)        \

pcl_config.h.in

@@ -59,6 +59,10 @@
 /* Precompile for a minimal set of point types instead of all. */
 #cmakedefine PCL_ONLY_CORE_POINT_TYPES
 
+#define PCL_XYZ_POINT_TYPES @PCL_XYZ_POINT_TYPES@
+
+#define PCL_NORMAL_POINT_TYPES @PCL_NORMAL_POINT_TYPES@
+
 /* Do not precompile for any point types at all. */
 #cmakedefine PCL_NO_PRECOMPILE