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k-d tree speedup (nanoflann / CUDA) #5299

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k-d tree speedup (nanoflann / CUDA) #5299

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94b5bca
added max leaf size to KdTree interface; implemented max leaf size fo…
yasamoka Jun 1, 2022
9ca2057
added KdTreeNanoflann; adjusted kdtree tests
yasamoka May 31, 2022
98ea16d
added copy and setMaxLeafSize tests to kdtree tests; fixed setMaxLeaf…
yasamoka Jun 1, 2022
4fe394b
added KdTreeFLANN CUDA with tests
yasamoka Jun 1, 2022
fefead3
fixed KdTree documentation
yasamoka Jun 6, 2022
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3 changes: 2 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -319,7 +319,8 @@ find_package(Eigen 3.1 REQUIRED)
include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})

# FLANN (required)
find_package(FLANN 1.9.1 REQUIRED)
set(flann_DIR ${FLANN_DIR}) # hack for flann::flann_cuda target to be found
find_package(FLANN 1.9.1 REQUIRED flann OPTIONAL_COMPONENTS flann_cuda)
if(NOT (${FLANN_LIBRARY_TYPE} MATCHES ${PCL_FLANN_REQUIRED_TYPE}) AND NOT (${PCL_FLANN_REQUIRED_TYPE} MATCHES "DONTCARE"))
message(FATAL_ERROR "Flann was selected with ${PCL_FLANN_REQUIRED_TYPE} but found as ${FLANN_LIBRARY_TYPE}")
endif()
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53 changes: 53 additions & 0 deletions cuda/kdtree/CMakeLists.txt
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@@ -0,0 +1,53 @@
set(SUBSYS_NAME cuda_kdtree)
set(SUBSYS_PATH cuda/kdtree)
set(SUBSYS_DESC "Point cloud kd-tree CUDA library")
set(SUBSYS_DEPS common cuda_common kdtree)
set(EXT_DEPS flann)

# ---[ Point Cloud Library - pcl/cuda/kdtree

if (NOT TARGET flann::flann_cuda)
return()
endif()

set(build TRUE)

PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
mark_as_advanced("BUILD_${SUBSYS_NAME}")

PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}")

if(NOT build)
return()
endif()

set(srcs
src/kdtree_flann.cpp
)

set(incs
include/pcl/${SUBSYS_PATH}/kdtree.h
include/pcl/${SUBSYS_PATH}/kdtree_flann.h
)

set(impl_incs
include/pcl/${SUBSYS_PATH}/impl/kdtree_flann.hpp
)

set(libs
pcl_kdtree
flann::flann_cuda
)

set(LIB_NAME "pcl_${SUBSYS_NAME}")
include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
target_link_libraries(${LIB_NAME} ${libs})
target_compile_definitions(${LIB_NAME} PUBLIC FLANN_USE_CUDA)

PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})

# Install include files
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_PATH}" ${incs})
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_PATH}/impl" ${impl_incs})
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