Changes to tools (PointCloudLibrary#5605)

* Move IO tools to tools folder.

* Made all dependencies optional and build tools if requirements are met.

* Fix opnni_viewer_simple

* Satisfy clang-tidy

* Make io hard-dependency.

* Link pcl_common to pcl_io_ply.

* Fix includes from pcl_common.

* Remove check for pcl_io target.

Move tools under if target pcl_recognition.
Move tools under other if, having nested if instead of multiple conditions in ifs.

* More reorganizing due to dependencies.

* Fixup remove boost.

* Fix missing TARGET keyword

Co-authored-by: Markus Vieth <[email protected]>

---------

Co-authored-by: Markus Vieth <[email protected]>

Author: larshg

common/CMakeLists.txt

@@ -172,9 +172,13 @@ set(kissfft_srcs
 )
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
-include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${kissfft_srcs} ${incs} ${common_incs} ${impl_incs} ${tools_incs} ${kissfft_incs} ${common_incs_impl} ${range_image_incs} ${range_image_incs_impl})
 
+target_include_directories(${LIB_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include> 
+)
+
 target_link_libraries(${LIB_NAME} Boost::boost)
 
 if(MSVC AND NOT (MSVC_VERSION LESS 1915))

io/CMakeLists.txt

@@ -211,7 +211,7 @@ if(MINGW)
 endif()
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/ply" ${PLY_INCLUDES})
 target_include_directories(pcl_io_ply PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
-target_link_libraries(pcl_io_ply Boost::boost)
+target_link_libraries(pcl_io_ply pcl_common Boost::boost)
 
 set(srcs
   src/debayer.cpp
@@ -440,7 +440,3 @@ PCL_ADD_INCLUDES("${SUBSYS_NAME}" compression ${compression_incs})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/openni_camera" ${OPENNI_INCLUDES})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/openni2" ${OPENNI2_INCLUDES})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
-
-if(BUILD_tools)
-  add_subdirectory(tools)
-endif()

io/tools/CMakeLists.txt

@@ -121,10 +121,10 @@ class SimpleOpenNIViewer
     void 
     keyboard_callback (const pcl::visualization::KeyboardEvent& event, void* cookie)
     {
-      string* message = (string*)cookie;
+      auto message = static_cast<std::string*>(cookie);
       std::cout << (*message) << " :: ";
       if (event.getKeyCode())
-        std::cout << "the key \'" << event.getKeyCode() << "\' (" << (int)event.getKeyCode() << ") was";
+        std::cout << "the key \'" << event.getKeyCode() << "\' (" << static_cast<int>(event.getKeyCode()) << ") was";
       else
         std::cout << "the special key \'" << event.getKeySym() << "\' was";
       if (event.keyDown())
@@ -135,7 +135,7 @@ class SimpleOpenNIViewer
 
     void mouse_callback (const pcl::visualization::MouseEvent& mouse_event, void* cookie)
     {
-      string* message = (string*) cookie;
+      auto message = static_cast<std::string*>(cookie);
       if (mouse_event.getType() == pcl::visualization::MouseEvent::MouseButtonPress && mouse_event.getButton() == pcl::visualization::MouseEvent::LeftButton)
       {
         std::cout << (*message) << " :: " << mouse_event.getX () << " , " << mouse_event.getY () << std::endl;
@@ -167,8 +167,10 @@ class SimpleOpenNIViewer
 
       std::string mouseMsg3D("Mouse coordinates in PCL Visualizer");
       std::string keyMsg3D("Key event for PCL Visualizer");
-      cloud_viewer_.registerMouseCallback (&SimpleOpenNIViewer::mouse_callback, *this, (void*)(&mouseMsg3D));    
-      cloud_viewer_.registerKeyboardCallback(&SimpleOpenNIViewer::keyboard_callback, *this, (void*)(&keyMsg3D));
+      cloud_viewer_.registerMouseCallback(
+          &SimpleOpenNIViewer::mouse_callback, *this, static_cast<void*>(&mouseMsg3D));
+      cloud_viewer_.registerKeyboardCallback(
+          &SimpleOpenNIViewer::keyboard_callback, *this, static_cast<void*>(&keyMsg3D));
       std::function<void (const CloudConstPtr&)> cloud_cb = [this] (const CloudConstPtr& cloud) { cloud_callback (cloud); };
       boost::signals2::connection cloud_connection = grabber_.registerCallback (cloud_cb);
 
@@ -177,12 +179,16 @@ class SimpleOpenNIViewer
       {
           std::string mouseMsg2D("Mouse coordinates in image viewer");
           std::string keyMsg2D("Key event for image viewer");
-          image_viewer_.registerMouseCallback (&SimpleOpenNIViewer::mouse_callback, *this, (void*)(&mouseMsg2D));
-          image_viewer_.registerKeyboardCallback(&SimpleOpenNIViewer::keyboard_callback, *this, (void*)(&keyMsg2D));
+          image_viewer_.registerMouseCallback(&SimpleOpenNIViewer::mouse_callback,
+                                              *this,
+                                              static_cast<void*>(&mouseMsg2D));
+          image_viewer_.registerKeyboardCallback(&SimpleOpenNIViewer::keyboard_callback,
+                                                 *this,
+                                                 static_cast<void*>(&keyMsg2D));
           std::function<void (const openni_wrapper::Image::Ptr&)> image_cb = [this] (const openni_wrapper::Image::Ptr& img) { image_callback (img); };
           image_connection = grabber_.registerCallback (image_cb);
       }
-      unsigned char* rgb_data = 0;
+      unsigned char* rgb_data = nullptr;
       unsigned rgb_data_size = 0;
 
       grabber_.start ();
@@ -271,7 +277,7 @@ usage(char ** argv)
 int
 main(int argc, char ** argv)
 {
-  std::string device_id("");
+  std::string device_id;
   pcl::OpenNIGrabber::Mode depth_mode = pcl::OpenNIGrabber::OpenNI_Default_Mode;
   pcl::OpenNIGrabber::Mode image_mode = pcl::OpenNIGrabber::OpenNI_Default_Mode;
   bool xyz = false;
@@ -315,7 +321,7 @@ main(int argc, char ** argv)
           for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices(); ++deviceIdx)
           {
             std::cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName(deviceIdx) << ", product: " << driver.getProductName(deviceIdx)
-              << ", connected: " << (int) driver.getBus(deviceIdx) << " @ " << (int) driver.getAddress(deviceIdx) << ", serial number: \'" << driver.getSerialNumber(deviceIdx) << "\'" << std::endl;
+              << ", connected: " << static_cast<int>(driver.getBus(deviceIdx)) << " @ " << static_cast<int>(driver.getAddress(deviceIdx)) << ", serial number: \'" << driver.getSerialNumber(deviceIdx) << "\'" << std::endl;
           }
 
         }
@@ -336,10 +342,10 @@ main(int argc, char ** argv)
 
   unsigned mode;
   if (pcl::console::parse(argc, argv, "-depthmode", mode) != -1)
-    depth_mode = (pcl::OpenNIGrabber::Mode) mode;
+    depth_mode = static_cast<pcl::OpenNIGrabber::Mode>(mode);
 
   if (pcl::console::parse(argc, argv, "-imagemode", mode) != -1)
-    image_mode = (pcl::OpenNIGrabber::Mode) mode;
+    image_mode = static_cast<pcl::OpenNIGrabber::Mode>(mode);
 
   if (pcl::console::find_argument(argc, argv, "-xyz") != -1)
     xyz = true;