<commit_before>set(SUBSYS_NAME gpu_kinfu)
set(SUBSYS_PATH gpu/kinfu)
set(SUBSYS_DESC "Kinect Fusion implementation")
set(SUBSYS_DEPS common visualization io gpu_containers geometry search)

set(build FALSE)

# OpenNI found?
if(NOT OPENNI_FOUND OR NOT BUILD_OPENNI)
    set(DEFAULT FALSE)
    set(REASON "OpenNI was not found or was disabled by the user.")
else()
    set(DEFAULT TRUE)
    set(REASON)
endif()

PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
PCL_SET_SUBSYS_INCLUDE_DIR(${SUBSYS_NAME} ${SUBSYS_PATH})
mark_as_advanced("BUILD_${SUBSYS_NAME}")

if (build)
    FILE(GLOB incs include/pcl/gpu/kinfu/*.h*)
    FILE(GLOB srcs src/*.cpp src/*.h*)
    FILE(GLOB cuda src/cuda/*.cu src/cuda/*.h*)
    #FILE(GLOB tsdf src/cuda/tsdf_volume.cu)
    #FILE(GLOB est src/cuda/estimate_tranform.cu)

    source_group("Source Files\\cuda" FILES ${cuda} )
    source_group("Source Files" FILES ${srcs} )

    set(LIB_NAME pcl_${SUBSYS_NAME})
    include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_SOURCE_DIR}/src ${CUDA_INCLUDE_DIRS})

    if (UNIX OR APPLE)
        set (CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}  "-Xcompiler;-fPIC;")
    endif()

    if(NOT UNIX OR APPLE)
        add_definitions(-DPCLAPI_EXPORTS)
    endif()

    #set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "-gencode;arch=compute_11,code=compute_11;-gencode;arch=compute_12,code=compute_12")

    if(TRUE)
        #list(REMOVE_ITEM cuda ${est})
        #CUDA_COMPILE(est_objs ${est})

        set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "--ftz=true;--prec-div=false;--prec-sqrt=false")
        CUDA_COMPILE(cuda_objs ${cuda})

        #LIST(APPEND cuda ${est})
        #LIST(APPEND cuda_objs ${est_objs})

    else()
        list(REMOVE_ITEM cuda ${tsdf})
        CUDA_COMPILE(cuda_objs ${cuda})
        set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}  "--ftz=true;--prec-div=false;--prec-sqrt=false")
        CUDA_COMPILE(tsdf_obj ${tsdf})

        LIST(APPEND cuda ${tsdf})
        LIST(APPEND cuda_objs ${tsdf_obj})
    endif()

    PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${cuda} ${cuda_objs})
    target_link_libraries(${LIB_NAME} pcl_gpu_containers)

    set(EXT_DEPS "")
    #set(EXT_DEPS CUDA)
    PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")

    # Install include files
    PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_PATH} ${incs})

    add_subdirectory(test)
    add_subdirectory(tools)
endif()


<commit_msg>Make kinfu no longer depends on visualization<commit_after>set(SUBSYS_NAME gpu_kinfu)
set(SUBSYS_PATH gpu/kinfu)
set(SUBSYS_DESC "Kinect Fusion implementation")
set(SUBSYS_DEPS common io gpu_containers geometry search)

set(build FALSE)

# OpenNI found?
if(NOT OPENNI_FOUND OR NOT BUILD_OPENNI)
    set(DEFAULT FALSE)
    set(REASON "OpenNI was not found or was disabled by the user.")
else()
    set(DEFAULT TRUE)
    set(REASON)
endif()

PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
PCL_SET_SUBSYS_INCLUDE_DIR(${SUBSYS_NAME} ${SUBSYS_PATH})
mark_as_advanced("BUILD_${SUBSYS_NAME}")

if (build)
    FILE(GLOB incs include/pcl/gpu/kinfu/*.h*)
    FILE(GLOB srcs src/*.cpp src/*.h*)
    FILE(GLOB cuda src/cuda/*.cu src/cuda/*.h*)
    #FILE(GLOB tsdf src/cuda/tsdf_volume.cu)
    #FILE(GLOB est src/cuda/estimate_tranform.cu)

    source_group("Source Files\\cuda" FILES ${cuda} )
    source_group("Source Files" FILES ${srcs} )

    set(LIB_NAME pcl_${SUBSYS_NAME})
    include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_SOURCE_DIR}/src ${CUDA_INCLUDE_DIRS})

    if (UNIX OR APPLE)
        set (CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}  "-Xcompiler;-fPIC;")
    endif()

    if(NOT UNIX OR APPLE)
        add_definitions(-DPCLAPI_EXPORTS)
    endif()

    #set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "-gencode;arch=compute_11,code=compute_11;-gencode;arch=compute_12,code=compute_12")

    if(TRUE)
        #list(REMOVE_ITEM cuda ${est})
        #CUDA_COMPILE(est_objs ${est})

        set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "--ftz=true;--prec-div=false;--prec-sqrt=false")
        CUDA_COMPILE(cuda_objs ${cuda})

        #LIST(APPEND cuda ${est})
        #LIST(APPEND cuda_objs ${est_objs})

    else()
        list(REMOVE_ITEM cuda ${tsdf})
        CUDA_COMPILE(cuda_objs ${cuda})
        set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}  "--ftz=true;--prec-div=false;--prec-sqrt=false")
        CUDA_COMPILE(tsdf_obj ${tsdf})

        LIST(APPEND cuda ${tsdf})
        LIST(APPEND cuda_objs ${tsdf_obj})
    endif()

    PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${cuda} ${cuda_objs})
    target_link_libraries(${LIB_NAME} pcl_gpu_containers)

    set(EXT_DEPS "")
    #set(EXT_DEPS CUDA)
    PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")

    # Install include files
    PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_PATH} ${incs})

    if (BUILD_visualization)
        add_subdirectory(test)
        add_subdirectory(tools)
    endif()
endif()



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