Update gpu_people

levi-2020 · Jun 20, 2021 · 6af360d · 6af360d
1 parent a3c6f5d
commit 6af360d
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Showing 3 changed files with 12 additions and 26 deletions.
diff --git a/gpu/people/CMakeLists.txt b/gpu/people/CMakeLists.txt
@@ -14,8 +14,6 @@ if(NOT build)
   return()
 endif()
 
-REMOVE_VTK_DEFINITIONS()
-
 #find NPP
 unset(CUDA_npp_LIBRARY CACHE)
 find_cuda_helper_libs(nppc)
@@ -46,25 +44,15 @@ include_directories(
   "${CMAKE_CURRENT_SOURCE_DIR}/src/cuda/nvidia"
 )
 
-include_directories(SYSTEM
-  ${VTK_INCLUDE_DIRS}
-  ${OpenCV_INCLUDE_DIRS}
-  ${CUDA_INCLUDE_DIRS}
-)
+set(LIB_NAME "pcl_${SUBSYS_NAME}")
+
+PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${hdrs} ${srcs_cuda})
+target_link_libraries(${LIB_NAME} pcl_common pcl_search pcl_surface pcl_segmentation pcl_features pcl_sample_consensus pcl_gpu_utils pcl_gpu_containers "${CUDA_CUDART_LIBRARY}" ${CUDA_npp_LIBRARY})
 
 if(UNIX OR APPLE)
-  set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}  "-Xcompiler;-fPIC;")
+  target_compile_options(${LIB_NAME} INTERFACE $<$<COMPILE_LANGUAGE:CUDA>:"-Xcompiler=-fPIC">)
 endif()
-if(NOT UNIX OR APPLE)
-  add_definitions(-DPCLAPI_EXPORTS)
-endif()
-
-CUDA_COMPILE(objs_cuda ${srcs_cuda} ${hdrs})
-
-set(LIB_NAME "pcl_${SUBSYS_NAME}")
 
-PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${hdrs} ${srcs_cuda} ${objs_cuda})
-target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_search pcl_surface pcl_segmentation pcl_features pcl_sample_consensus pcl_gpu_utils pcl_gpu_containers "${CUDA_CUDART_LIBRARY}" ${CUDA_npp_LIBRARY})
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 
 # install include files

diff --git a/gpu/people/src/organized_plane_detector.cpp b/gpu/people/src/organized_plane_detector.cpp
@@ -38,10 +38,6 @@
 
 #include <pcl/console/print.h>
 
-#include <pcl/filters/voxel_grid.h>
-
-#include <pcl/features/integral_image_normal.h>
-
 #include <pcl/common/transforms.h>
 
 #include <pcl/segmentation/organized_multi_plane_segmentation.h>

diff --git a/gpu/people/tools/CMakeLists.txt b/gpu/people/tools/CMakeLists.txt
@@ -14,18 +14,20 @@ set(the_target people_tracking)
 include_directories(SYSTEM ${VTK_INCLUDE_DIRS})
 
 #PCL_ADD_EXECUTABLE(${the_target} "${SUBSYS_NAME}" people_tracking.cpp)
-#target_link_libraries("${the_target}" pcl_common pcl_filters pcl_kdtree pcl_segmentation pcl_kdtree pcl_gpu_people pcl_filters pcl_io pcl_visualization)
+#target_link_libraries("${the_target}" pcl_common pcl_kdtree pcl_gpu_people pcl_io pcl_visualization)
 
 if(HAVE_OPENNI)
   PCL_ADD_EXECUTABLE(pcl_people_app COMPONENT ${SUBSYS_NAME} SOURCES people_app.cpp)
-  target_link_libraries (pcl_people_app pcl_common pcl_filters pcl_kdtree pcl_segmentation pcl_kdtree pcl_gpu_people pcl_filters pcl_io pcl_visualization ${Boost_LIBRARIES})
+  target_link_libraries (pcl_people_app pcl_common pcl_gpu_people pcl_io pcl_visualization ${Boost_LIBRARIES})
+  target_include_directories(pcl_people_app PRIVATE ${CUDA_TOOLKIT_INCLUDE})
 endif()
 
 PCL_ADD_EXECUTABLE(pcl_people_pcd_prob COMPONENT ${SUBSYS_NAME} SOURCES people_pcd_prob.cpp)
-target_link_libraries (pcl_people_pcd_prob pcl_common pcl_filters pcl_kdtree pcl_segmentation pcl_kdtree pcl_gpu_people pcl_filters pcl_io pcl_visualization ${Boost_LIBRARIES})
+target_link_libraries (pcl_people_pcd_prob pcl_common pcl_kdtree pcl_gpu_people pcl_io pcl_visualization)
+target_include_directories(pcl_people_pcd_prob PRIVATE ${CUDA_TOOLKIT_INCLUDE})
 
 #PCL_ADD_EXECUTABLE(people_pcd_folder COMPONENT ${SUBSYS_NAME} SOURCES people_pcd_folder.cpp)
-#target_link_libraries (people_pcd_folder pcl_common pcl_filters pcl_kdtree pcl_segmentation pcl_kdtree pcl_gpu_people pcl_filters pcl_io pcl_visualization ${Boost_LIBRARIES})
+#target_link_libraries (people_pcd_folder pcl_common pcl_kdtree pcl_gpu_people pcl_io pcl_visualization)
 
 #PCL_ADD_EXECUTABLE(people_pcd_person COMPONENT ${SUBSYS_NAME} SOURCES people_pcd_person.cpp)
-#target_link_libraries (people_pcd_person pcl_common pcl_filters pcl_kdtree pcl_segmentation pcl_kdtree pcl_gpu_people pcl_filters pcl_io pcl_visualization)
+#target_link_libraries (people_pcd_person pcl_common pcl_kdtree pcl_gpu_people pcl_io pcl_visualization)