simplified and sped up the compilation of @pcl_tracking@

git-svn-id: svn+ssh://svn.pointclouds.org/pcl/trunk@8364 a9d63959-f2ad-4865-b262-bf0e56cfafb6

tracking/CMakeLists.txt

@@ -12,14 +12,8 @@ if(build)
     set(srcs 
         src/tracking.cpp
         src/particle_filter.cpp
-        src/particle_filter_omp.cpp
         src/kld_adaptive_particle_filter.cpp
-        src/kld_adaptive_particle_filter_omp.cpp
-        src/nearest_pair_point_cloud_coherence.cpp
-        src/approx_nearest_pair_point_cloud_coherence.cpp
-        src/distance_coherence.cpp
-        src/normal_coherence.cpp
-        src/hsv_color_coherence.cpp
+        src/coherence.cpp
         )
 
     set(incs 

tracking/include/pcl/tracking/impl/approx_nearest_pair_point_cloud_coherence.hpp

@@ -2,6 +2,7 @@
 #define PCL_TRACKING_IMPL_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_
 
 #include <pcl/search/octree.h>
+#include <pcl/tracking/approx_nearest_pair_point_cloud_coherence.h>
 
 namespace pcl
 {

tracking/include/pcl/tracking/impl/coherence.hpp

@@ -1,6 +1,9 @@
 #ifndef PCL_TRACKING_IMPL_COHERENCE_H_
 #define PCL_TRACKING_IMPL_COHERENCE_H_
 
+#include <pcl/console/print.h>
+#include <pcl/tracking/coherence.h>
+
 namespace pcl
 {
   namespace tracking

tracking/include/pcl/tracking/impl/distance_coherence.hpp

@@ -2,6 +2,7 @@
 #define PCL_TRACKING_IMPL_DISTANCE_COHERENCE_H_
 
 #include <Eigen/Dense>
+#include <pcl/tracking/distance_coherence.h>
 
 namespace pcl
 {

tracking/include/pcl/tracking/impl/hsv_color_coherence.hpp

@@ -39,16 +39,13 @@
 #ifndef PCL_TRACKING_IMPL_HSV_COLOR_COHERENCE_H_
 #define PCL_TRACKING_IMPL_HSV_COLOR_COHERENCE_H_
 
-#include <Eigen/Dense>
-
-#ifdef BUILD_Maintainer
-#  if defined __GNUC__
-#      pragma GCC system_header 
-#  elif defined _MSC_VER
-#    pragma warning(push, 1)
-#  endif
+#if defined __GNUC__
+#  pragma GCC system_header 
 #endif
 
+#include <pcl/tracking/hsv_color_coherence.h>
+#include <Eigen/Dense>
+
 namespace pcl
 {
   namespace tracking
@@ -176,10 +173,4 @@ namespace pcl
 
 #define PCL_INSTANTIATE_HSVColorCoherence(T) template class PCL_EXPORTS pcl::tracking::HSVColorCoherence<T>;
 
-#ifdef BUILD_Maintainer
-#  if defined _MSC_VER
-#    pragma warning(pop)
-#  endif
-#endif
-
 #endif

tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp

@@ -1,6 +1,8 @@
 #ifndef PCL_TRACKING_IMPL_KLD_ADAPTIVE_PARTICLE_FILTER_H_
 #define PCL_TRACKING_IMPL_KLD_ADAPTIVE_PARTICLE_FILTER_H_
 
+#include <pcl/tracking/kld_adaptive_particle_filter.h>
+
 template <typename PointInT, typename StateT> bool
 pcl::tracking::KLDAdaptiveParticleFilterTracker<PointInT, StateT>::initCompute ()
 {

tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp

@@ -1,6 +1,8 @@
 #ifndef PCL_TRACKING_IMPL_KLD_ADAPTIVE_PARTICLE_OMP_FILTER_H_
 #define PCL_TRACKING_IMPL_KLD_ADAPTIVE_PARTICLE_OMP_FILTER_H_
 
+#include <pcl/tracking/kld_adaptive_particle_filter_omp.h>
+
 template <typename PointInT, typename StateT> void
 pcl::tracking::KLDAdaptiveParticleFilterOMPTracker<PointInT, StateT>::weight ()
 {

tracking/include/pcl/tracking/impl/nearest_pair_point_cloud_coherence.hpp

@@ -3,6 +3,7 @@
 
 #include <pcl/search/kdtree.h>
 #include <pcl/search/organized.h>
+#include <pcl/tracking/nearest_pair_point_cloud_coherence.h>
 
 namespace pcl
 {

tracking/include/pcl/tracking/impl/normal_coherence.hpp

@@ -2,6 +2,8 @@
 #define PCL_TRACKING_IMPL_NORMAL_COHERENCE_H_
 
 #include <pcl/common/common.h>
+#include <pcl/console/print.h>
+#include <pcl/tracking/normal_coherence.h>
 
 template <typename PointInT> double 
 pcl::tracking::NormalCoherence<PointInT>::computeCoherence (PointInT &source, PointInT &target)

tracking/include/pcl/tracking/impl/particle_filter.hpp

@@ -5,6 +5,7 @@
 #include <pcl/common/eigen.h>
 #include <pcl/common/transforms.h>
 #include <pcl/tracking/boost.h>
+#include <pcl/tracking/particle_filter.h>
 
 template <typename PointInT, typename StateT> bool
 pcl::tracking::ParticleFilterTracker<PointInT, StateT>::initCompute ()

tracking/include/pcl/tracking/impl/particle_filter_omp.hpp

@@ -1,6 +1,8 @@
 #ifndef PCL_TRACKING_IMPL_PARTICLE_OMP_FILTER_H_
 #define PCL_TRACKING_IMPL_PARTICLE_OMP_FILTER_H_
 
+#include <pcl/tracking/particle_filter_omp.h>
+
 template <typename PointInT, typename StateT> void
 pcl::tracking::ParticleFilterOMPTracker<PointInT, StateT>::weight ()
 {

tracking/include/pcl/tracking/impl/tracker.hpp

@@ -4,6 +4,7 @@
 #include <pcl/common/eigen.h>
 #include <ctime>
 #include <pcl/tracking/boost.h>
+#include <pcl/tracking/tracker.h>
 
 template <typename PointInT, typename StateT> bool
 pcl::tracking::Tracker<PointInT, StateT>::initCompute ()

tracking/include/pcl/tracking/tracker.h

@@ -41,6 +41,7 @@
 #define PCL_TRACKING_TRACKER_H_
 
 #include <pcl/tracking/tracking.h>
+#include <pcl/pcl_base.h>
 #include <pcl/search/search.h>
 
 namespace pcl

tracking/src/nearest_pair_point_cloud_coherence.cpp → tracking/src/coherence.cpp

@@ -2,9 +2,9 @@
  * Software License Agreement (BSD License)
  *
  *  Point Cloud Library (PCL) - www.pointclouds.org
- *  Copyright (c) 2010-2011, Willow Garage, Inc.
+ *  Copyright (c) 2012-, Open Perception, Inc.
  *
- *  All rights reserved. 
+ *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
  *  modification, are permitted provided that the following conditions
@@ -16,7 +16,7 @@
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *   * Neither the name of the copyright holder(s) nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
@@ -33,15 +33,20 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *
- *  $Id$
- *
  */
+#include <pcl/tracking/impl/approx_nearest_pair_point_cloud_coherence.hpp>
+#include <pcl/tracking/impl/distance_coherence.hpp>
+#include <pcl/tracking/impl/hsv_color_coherence.hpp>
+#include <pcl/tracking/impl/nearest_pair_point_cloud_coherence.hpp>
+#include <pcl/tracking/impl/normal_coherence.hpp>
 
+#ifndef PCL_NO_PRECOMPILE
 #include <pcl/impl/instantiate.hpp>
 #include <pcl/point_types.h>
-#include <pcl/point_cloud.h>
-
-#include <pcl/tracking/nearest_pair_point_cloud_coherence.h>
-#include <pcl/tracking/impl/nearest_pair_point_cloud_coherence.hpp>
+PCL_INSTANTIATE(ApproxNearestPairPointCloudCoherence, PCL_XYZ_POINT_TYPES)
+PCL_INSTANTIATE(DistanceCoherence, PCL_XYZ_POINT_TYPES)
+PCL_INSTANTIATE(HSVColorCoherence, (pcl::PointXYZRGB)(pcl::PointXYZRGBNormal)(pcl::PointXYZRGBA))
+PCL_INSTANTIATE(NearestPairPointCloudCoherence, PCL_XYZ_POINT_TYPES)
+PCL_INSTANTIATE(NormalCoherence, PCL_NORMAL_POINT_TYPES)
+#endif    // PCL_NO_PRECOMPILE
 
-PCL_INSTANTIATE_PRODUCT(NearestPairPointCloudCoherence, (PCL_XYZ_POINT_TYPES))

tracking/src/kld_adaptive_particle_filter.cpp

@@ -1,9 +1,50 @@
-#include <pcl/impl/instantiate.hpp>
-#include <pcl/point_types.h>
-#include <pcl/tracking/kld_adaptive_particle_filter.h>
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2012-, Open Perception, Inc.
+ *
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder(s) nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
 #include <pcl/tracking/impl/kld_adaptive_particle_filter.hpp>
+#include <pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp>
 
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/impl/instantiate.hpp>
+#include <pcl/point_types.h>
 #define PCL_TRACKING_NORMAL_SUPPORTED
 PCL_INSTANTIATE_PRODUCT(KLDAdaptiveParticleFilterTracker, ((pcl::PointNormal) (pcl::PointXYZINormal) (pcl::PointXYZRGBNormal))(PCL_STATE_POINT_TYPES))
+PCL_INSTANTIATE_PRODUCT(KLDAdaptiveParticleFilterOMPTracker, ((pcl::PointNormal) (pcl::PointXYZINormal) (pcl::PointXYZRGBNormal))(PCL_STATE_POINT_TYPES))
 #undef PCL_TRACKING_NORMAL_SUPPORTED
+PCL_INSTANTIATE_PRODUCT(KLDAdaptiveParticleFilterOMPTracker, ((pcl::PointXYZ) (pcl::PointXYZI) (pcl::PointXYZRGBA) (pcl::PointXYZRGB) (pcl::InterestPoint) (pcl::PointWithRange) (pcl::PointWithViewpoint) (pcl::PointWithScale))(PCL_STATE_POINT_TYPES))
 PCL_INSTANTIATE_PRODUCT(KLDAdaptiveParticleFilterTracker, ((pcl::PointXYZ) (pcl::PointXYZI) (pcl::PointXYZRGBA) (pcl::PointXYZRGB) (pcl::InterestPoint) (pcl::PointWithRange) (pcl::PointWithViewpoint) (pcl::PointWithScale))(PCL_STATE_POINT_TYPES))
+#endif    // PCL_NO_PRECOMPILE
+

tracking/src/particle_filter.cpp

@@ -1,10 +1,50 @@
-#include <pcl/impl/instantiate.hpp>
-#include <pcl/point_types.h>
-#include <pcl/tracking/particle_filter.h>
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2012-, Open Perception, Inc.
+ *
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder(s) nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
 #include <pcl/tracking/impl/particle_filter.hpp>
+#include <pcl/tracking/impl/particle_filter_omp.hpp>
 
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/impl/instantiate.hpp>
+#include <pcl/point_types.h>
 #define PCL_TRACKING_NORMAL_SUPPORTED
 PCL_INSTANTIATE_PRODUCT(ParticleFilterTracker, ((pcl::PointNormal) (pcl::PointXYZINormal) (pcl::PointXYZRGBNormal))(PCL_STATE_POINT_TYPES))
+PCL_INSTANTIATE_PRODUCT(ParticleFilterOMPTracker, ((pcl::PointNormal) (pcl::PointXYZINormal) (pcl::PointXYZRGBNormal))(PCL_STATE_POINT_TYPES))
 #undef PCL_TRACKING_NORMAL_SUPPORTED
 PCL_INSTANTIATE_PRODUCT(ParticleFilterTracker, ((pcl::PointXYZ) (pcl::PointXYZI) (pcl::PointXYZRGBA) (pcl::PointXYZRGB) (pcl::InterestPoint) (pcl::PointWithRange) (pcl::PointWithViewpoint) (pcl::PointWithScale))(PCL_STATE_POINT_TYPES))
+PCL_INSTANTIATE_PRODUCT(ParticleFilterOMPTracker, ((pcl::PointXYZ) (pcl::PointXYZI) (pcl::PointXYZRGBA) (pcl::PointXYZRGB) (pcl::InterestPoint) (pcl::PointWithRange) (pcl::PointWithViewpoint) (pcl::PointWithScale))(PCL_STATE_POINT_TYPES))
+#endif    // PCL_NO_PRECOMPILE