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HTML
290 lines
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HTML
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<!DOCTYPE html>
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<title>Compiling PCL</title>
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<a href="#" class="icon icon-home"> Point Cloud Library
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<div class="version">
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1.12.0
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<!-- Local TOC -->
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<div class="local-toc"><ul>
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<li><a class="reference internal" href="#">Compiling PCL</a></li>
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<li><a class="reference internal" href="#developing-pcl-code">Developing PCL code</a></li>
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<li><a class="reference internal" href="#committing-changes-to-the-git-master">Committing changes to the git master</a></li>
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<li><a class="reference internal" href="#improving-the-pcl-documentation">Improving the PCL documentation</a></li>
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<li><a class="reference internal" href="#how-to-build-a-minimal-example">How to build a minimal example</a></li>
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<ul class="wy-breadcrumbs">
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<li><a href="#">Docs</a> »</li>
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<li>Compiling PCL</li>
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<div class="toctree-wrapper compound">
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<p>The following presents a set of advanced topics regarding PCL.</p>
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<div class="section" id="compiling-pcl">
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<h1>Compiling PCL</h1>
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<p>PCL uses modern C++ template programming in order to achieve maximum generality
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and reusability of its components. Due to intricate details of the current
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generation of C++ compilers however, the usage of templated code introduces
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additional compile-time delays. We present a series of tricks that, if used
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appropriately, will save you a lot of headaches and will speed up the
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compilation of your project.</p>
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<ul>
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<li><p class="first"><a class="reference internal" href="c_cache.html#c-cache"><span class="std std-ref">Using CCache to speed up compilation</span></a></p>
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<p><cite>CCache</cite> is a compiler cache. It speeds up recompilation by caching previous
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compilations and detecting when the same compilation is being done again.
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Supported languages are C, C++, Objective-C and Objective-C++.</p>
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<a class="reference internal image-reference" href="_images/ccache.png"><img alt="_images/ccache.png" src="_images/ccache.png" style="height: 75px;" /></a>
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</li>
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<li><p class="first"><a class="reference internal" href="distcc.html#distc"><span class="std std-ref">Using DistCC to speed up compilation</span></a></p>
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<p><cite>distcc</cite> is a program to distribute builds of C, C++, Objective C or
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Objective C++ code across several machines on a network. distcc should always
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generate the same results as a local build, is simple to install and use, and
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is usually much faster than a local compile.</p>
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<a class="reference internal image-reference" href="_images/distcc.png"><img alt="_images/distcc.png" src="_images/distcc.png" style="height: 75px;" /></a>
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</li>
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<li><p class="first"><a class="reference internal" href="compiler_optimizations.html#compiler-optimizations"><span class="std std-ref">Compiler optimizations</span></a></p>
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<p>Depending on what compiler optimizations you use, your code might behave
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differently, both at compile time and at run time.</p>
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<a class="reference internal image-reference" href="_images/optimize.png"><img alt="_images/optimize.png" src="_images/optimize.png" style="height: 75px;" /></a>
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</li>
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<li><p class="first"><a class="reference internal" href="single_compile_unit.html#single-compile-unit"><span class="std std-ref">Single compilation units</span></a></p>
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<p>In certain cases, it’s better to concatenate source files into single
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compilation units to speed up compiling.</p>
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<a class="reference internal image-reference" href="_images/unitybuild.jpg"><img alt="_images/unitybuild.jpg" src="_images/unitybuild.jpg" style="height: 75px;" /></a>
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</li>
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</ul>
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</div>
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<div class="section" id="developing-pcl-code">
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<h1>Developing PCL code</h1>
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<p>To make our lives easier, and to be able to read and integrate code from each
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other without causing ourselves headaches, we assembled a set of rules for PCL
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development that everyone should follow:</p>
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<div class="topic">
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<p class="topic-title">Rules</p>
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<ul class="simple">
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<li>if you make important commits, please <strong>_add the commit log_</strong> or something similar <strong>_to
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the changelist page_</strong>
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(<a class="reference external" href="https://github.com/PointCloudLibrary/pcl/blob/master/CHANGES.md">https://github.com/PointCloudLibrary/pcl/blob/master/CHANGES.md</a>);</li>
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<li>if you change anything in an existing algorithm, <strong>_make sure that there are
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unit tests_</strong> for it and <strong>_make sure that they pass before you commit_</strong> the code;</li>
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<li>if you add a new algorithm or method, please <strong>_document the code in a similar
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manner to the existing PCL code_</strong> (or better!), and <strong>_add some minimal unit
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tests_</strong> before you commit it;</li>
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<li>method definitions go into (include/.h), templated implementations go into
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(include/impl/.hpp), non-templated implementations go into (src/.cpp), and
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unit tests go in (test/.cpp);</li>
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<li>last but not least, please <strong>_respect the same naming and indentation
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guidelines_</strong> as you see in the <a class="reference internal" href="pcl_style_guide.html#pcl-style-guide"><span class="std std-ref">PCL C++ Programming Style Guide</span></a>.</li>
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</ul>
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</div>
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<ul>
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<li><p class="first"><a class="reference internal" href="pcl_style_guide.html#pcl-style-guide"><span class="std std-ref">PCL C++ Programming Style Guide</span></a></p>
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<p>Please follow the following naming and indentation rules when developing code for PCL.</p>
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</li>
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<li><p class="first"><a class="reference internal" href="exceptions_guide.html#exceptions-guide"><span class="std std-ref">Exceptions in PCL</span></a></p>
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<p>Short documentation on how to add new, throw and handle exceptions in PCL.</p>
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</li>
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<li><p class="first"><a class="reference internal" href="pcl2.html#pcl2"><span class="std std-ref">PCL 2.x API consideration guide</span></a></p>
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<p>An in-depth discussion about the PCL 2.x API can be found here.</p>
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</li>
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</ul>
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</div>
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<div class="section" id="committing-changes-to-the-git-master">
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<h1>Committing changes to the git master</h1>
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<p>In order to oversee the commit messages more easier and that the changelist looks homogenous please keep the following format:</p>
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<p>“* <fixed|bugfix|changed|new> X in @<classname>@ (#<bug number>)”</p>
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</div>
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<div class="section" id="improving-the-pcl-documentation">
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<h1>Improving the PCL documentation</h1>
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<ul>
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<li><p class="first"><a class="reference internal" href="how_to_write_a_tutorial.html#how-to-write-a-tutorial"><span class="std std-ref">How to write a good tutorial</span></a></p>
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<p>In case you want to contribute/help PCL by improving the existing
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documentation and tutorials/examples, please read our short guide on how to
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start.</p>
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</li>
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</ul>
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</div>
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<div class="section" id="how-to-build-a-minimal-example">
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<h1>How to build a minimal example</h1>
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<ul>
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<li><p class="first"><a class="reference internal" href="minimal_example.html#minimal-example"><span class="std std-ref">How to build a minimal example</span></a></p>
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<p>In case you need help to debug your code, please follow this guidelines to write a minimal example.</p>
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</li>
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</ul>
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