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BUILD.bazel
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BUILD.bazel
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load(
"//tools/skylark:drake_cc.bzl",
"drake_cc_binary",
"drake_cc_googletest",
"drake_cc_library",
"drake_cc_package_library",
)
load("//tools/lint:lint.bzl", "add_lint_tests")
package(default_visibility = ["//visibility:public"])
drake_cc_package_library(
name = "perception",
visibility = ["//visibility:public"],
deps = [
":depth_image_to_point_cloud",
":point_cloud",
":point_cloud_flags",
":point_cloud_to_lcm",
],
)
drake_cc_library(
name = "point_cloud_flags",
srcs = ["point_cloud_flags.cc"],
hdrs = ["point_cloud_flags.h"],
deps = [
"//common:essential",
],
)
drake_cc_library(
name = "point_cloud",
srcs = ["point_cloud.cc"],
hdrs = ["point_cloud.h"],
interface_deps = [
":point_cloud_flags",
"//common:essential",
"//common:parallelism",
],
deps = [
"//common:unused",
"@common_robotics_utilities",
"@nanoflann_internal//:nanoflann",
],
)
drake_cc_library(
name = "depth_image_to_point_cloud",
srcs = ["depth_image_to_point_cloud.cc"],
hdrs = ["depth_image_to_point_cloud.h"],
deps = [
":point_cloud",
"//common:essential",
"//math:geometric_transform",
"//systems/framework:leaf_system",
"//systems/sensors:camera_info",
"//systems/sensors:image",
],
)
drake_cc_library(
name = "point_cloud_to_lcm",
srcs = ["point_cloud_to_lcm.cc"],
hdrs = ["point_cloud_to_lcm.h"],
deps = [
":point_cloud",
"//lcmtypes:point_cloud",
"//systems/framework:leaf_system",
],
)
drake_cc_googletest(
name = "depth_image_to_point_cloud_test",
deps = [
":depth_image_to_point_cloud",
"//common/test_utilities:eigen_matrix_compare",
"//systems/sensors:camera_info",
],
)
drake_cc_googletest(
name = "point_cloud_flags_test",
deps = [
":point_cloud_flags",
"//common/test_utilities:expect_no_throw",
],
)
drake_cc_googletest(
name = "point_cloud_test_serial",
srcs = ["test/point_cloud_test.cc"],
defines = ["ENABLE_PARALLEL_OPS=false"],
num_threads = 1,
deps = [
":point_cloud",
"//common:random",
"//common/test_utilities:eigen_matrix_compare",
"//common/test_utilities:expect_no_throw",
"@common_robotics_utilities",
],
)
drake_cc_googletest(
name = "point_cloud_test_parallel",
srcs = ["test/point_cloud_test.cc"],
defines = ["ENABLE_PARALLEL_OPS=true"],
num_threads = 2,
deps = [
":point_cloud",
"//common:random",
"//common/test_utilities:eigen_matrix_compare",
"//common/test_utilities:expect_no_throw",
"@common_robotics_utilities",
],
)
drake_cc_googletest(
name = "point_cloud_to_lcm_test",
deps = [
":point_cloud_to_lcm",
"//common:bit_cast",
"//common/test_utilities:limit_malloc",
],
)
add_lint_tests(enable_clang_format_lint = False)