Merge pull request #1639 from stefanbuettner/octreePrecompile

Octree Precompile
PointCloudLibrary · Jun 27, 2017 · ca664ce · ca664ce
2 parents ac6a9c3 + 633343b
commit ca664ce
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Showing 42 changed files with 91 additions and 181 deletions.
diff --git a/apps/src/openni_change_viewer.cpp b/apps/src/openni_change_viewer.cpp
@@ -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>

diff --git a/doc/tutorials/content/sources/octree_change_detection/octree_change_detection.cpp b/doc/tutorials/content/sources/octree_change_detection/octree_change_detection.cpp
@@ -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>

diff --git a/doc/tutorials/content/sources/octree_search/octree_search.cpp b/doc/tutorials/content/sources/octree_search/octree_search.cpp
@@ -1,5 +1,5 @@
 #include <pcl/point_cloud.h>
-#include <pcl/octree/octree.h>
+#include <pcl/octree/octree_search.h>
 
 #include <iostream>
 #include <vector>

diff --git a/features/include/pcl/features/impl/gfpfh.hpp b/features/include/pcl/features/impl/gfpfh.hpp
@@ -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>
 

diff --git a/filters/include/pcl/filters/impl/morphological_filter.hpp b/filters/include/pcl/filters/impl/morphological_filter.hpp
@@ -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

diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/world_model.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/world_model.h
@@ -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>

diff --git a/gpu/octree/test/test_approx_nearest.cpp b/gpu/octree/test/test_approx_nearest.cpp
@@ -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
@@ -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;    
 
-}
+}
diff --git a/gpu/octree/test/test_bfrs_gpu.cpp b/gpu/octree/test/test_bfrs_gpu.cpp
@@ -44,7 +44,6 @@
 #endif
 
 #include <pcl/point_cloud.h>
-#include <pcl/octree/octree.h>
 
 #if defined _MSC_VER
     #pragma warning (default: 4521)

diff --git a/gpu/octree/test/test_host_radius_search.cpp b/gpu/octree/test/test_host_radius_search.cpp
@@ -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)

diff --git a/gpu/octree/test/test_knn_search.cpp b/gpu/octree/test/test_knn_search.cpp
@@ -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
@@ -182,4 +182,4 @@ TEST(PCL_OctreeGPU, exactNeighbourSearch)
             pairs_gpu.pop_back();
         }             
     }     
-}
+}
diff --git a/gpu/octree/test/test_radius_search.cpp b/gpu/octree/test/test_radius_search.cpp
@@ -45,7 +45,6 @@
 #endif
 
 #include <pcl/point_cloud.h>
-#include <pcl/octree/octree.h>
 
 #if defined _MSC_VER
     #pragma warning (default: 4521)

diff --git a/io/include/pcl/compression/impl/octree_pointcloud_compression.hpp b/io/include/pcl/compression/impl/octree_pointcloud_compression.hpp
@@ -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>
@@ -48,8 +47,6 @@
 #include <iostream>
 #include <stdio.h>
 
-using namespace pcl::octree;
-
 namespace pcl
 {
   namespace io

diff --git a/io/src/compression.cpp b/io/src/compression.cpp
@@ -35,13 +35,10 @@
  *
  * Author: Julius Kammerl (julius@kammerl.de)
  */
-
+#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>
 

diff --git a/octree/include/pcl/octree/impl/octree_base.hpp b/octree/include/pcl/octree/impl/octree_base.hpp
@@ -42,8 +42,6 @@
 #include <vector>
 
 #include <pcl/impl/instantiate.hpp>
-#include <pcl/point_types.h>
-#include <pcl/octree/octree.h>
 
 namespace pcl
 {

diff --git a/octree/include/pcl/octree/impl/octree_iterator.hpp b/octree/include/pcl/octree/impl/octree_iterator.hpp
@@ -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

diff --git a/octree/include/pcl/octree/impl/octree_pointcloud.hpp b/octree/include/pcl/octree/impl/octree_pointcloud.hpp
@@ -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>
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

diff --git a/octree/include/pcl/octree/impl/octree_pointcloud_adjacency.hpp b/octree/include/pcl/octree/impl/octree_pointcloud_adjacency.hpp
@@ -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
+ * 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> 

diff --git a/octree/include/pcl/octree/impl/octree_pointcloud_voxelcentroid.hpp b/octree/include/pcl/octree/impl/octree_pointcloud_voxelcentroid.hpp
@@ -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

diff --git a/octree/include/pcl/octree/impl/octree_search.hpp b/octree/include/pcl/octree/impl/octree_search.hpp
@@ -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,
@@ -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_
diff --git a/octree/include/pcl/octree/octree.h b/octree/include/pcl/octree/octree.h
@@ -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>
 

diff --git a/octree/include/pcl/octree/octree2buf_base.h b/octree/include/pcl/octree/octree2buf_base.h
@@ -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
 {
@@ -920,7 +918,9 @@ namespace pcl
   }
 }
 
-//#include "impl/octree2buf_base.hpp"
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/octree/impl/octree2buf_base.hpp>
+#endif
 
 #endif
 
diff --git a/octree/include/pcl/octree/octree_base.h b/octree/include/pcl/octree/octree_base.h
@@ -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
 {
@@ -594,7 +593,9 @@ namespace pcl
   }
 }
 
-//#include "impl/octree_base.hpp"
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/octree/impl/octree_base.hpp>
+#endif
 
 #endif
 
diff --git a/octree/include/pcl/octree/octree_container.h b/octree/include/pcl/octree/octree_container.h
@@ -39,7 +39,6 @@
 #ifndef PCL_OCTREE_CONTAINER_H
 #define PCL_OCTREE_CONTAINER_H
 
-#include <string.h>
 #include <vector>
 #include <cstddef>
 

diff --git a/octree/include/pcl/octree/octree_iterator.h b/octree/include/pcl/octree/octree_iterator.h
@@ -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>
 
@@ -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
 
diff --git a/octree/include/pcl/octree/octree_key.h b/octree/include/pcl/octree/octree_key.h
@@ -38,8 +38,6 @@
 #ifndef PCL_OCTREE_KEY_H
 #define PCL_OCTREE_KEY_H
 
-#include <string>
-
 namespace pcl
 {
   namespace octree

diff --git a/octree/include/pcl/octree/octree_nodes.h b/octree/include/pcl/octree/octree_nodes.h
@@ -42,9 +42,6 @@
 #include <cstddef>
 
 #include <assert.h>
-#include <cstring>
-
-#include <string.h>
 
 #include <Eigen/Core>
 

diff --git a/octree/include/pcl/octree/octree_pointcloud.h b/octree/include/pcl/octree/octree_pointcloud.h
@@ -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
 {

diff --git a/octree/include/pcl/octree/octree_pointcloud_adjacency.h b/octree/include/pcl/octree/octree_pointcloud_adjacency.h
@@ -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>
@@ -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_
 
diff --git a/octree/include/pcl/octree/octree_pointcloud_changedetector.h b/octree/include/pcl/octree/octree_pointcloud_changedetector.h
@@ -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
 {