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fix issues with spdlog #15

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fix issues with spdlog #15

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jediofgever
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@jediofgever jediofgever commented Oct 20, 2021 •
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Hi,
the foxy branch won't build without linking spdlog,

1 error detected in the compilation of "/home/atas/colcon_ws/src/perception_cupoch/cupoch_conversions/src/cupoch_conversions.cu".
CMake Error at cupoch_conversions_generated_cupoch_conversions.cu.o.Release.cmake:280 (message):
  Error generating file
  /home/atas/colcon_ws/build/cupoch_conversions/CMakeFiles/cupoch_conversions.dir/src/./cupoch_conversions_generated_cupoch_conversions.cu.o

The PR has included linking of spdlog

A few humble opinions that might be helpful and improve cupoch and its ROS integration;

  • colcon of ROS2 is actually able to build cupoch inside a workspace(e.g colcon_ws), this may not be desirable for some, as cupoch is a large library and takes time to build, but some may find it useful if they are actively modifying/developing code within cupoch, so you don't need to separately build ROS2 packages and cupoch.

  • I have copied the cmake files in perception_cupoch and used them to build ROS2 package,
    THank you ! these are very valuable, is there anything to do to simplify these files ? It took me some time to get my head around and build MWE with cupoch, perception_cupoch and my own ROS2 code

@ZhenshengLee
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@jediofgever thank you for your report and contributions!

  • colcon of ROS2 is actually able to build cupoch inside a workspace(e.g colcon_ws)

Yes you are right

  • as cupoch is a large library and takes time to build, but some may find it useful if they are actively modifying/developing code within cupoch

You can do some separation of interests, and just add a package named cupoch_contrib(I already have it https://github.com/ZhenshengLee/cupoch_contrib , let's do it together), like opencv and opencv_contrib, apollo, apollo_contrib

is there anything to do to simplify these files ?

Yes you can! In CMake it's a common case to write a FindCupoch.cmake file to help developer get better cpp intergrations.
Check this issue if you like #3
After this, you can use cupoch only through find_package(cupoch) as easy as OpenCV.

@ZhenshengLee ZhenshengLee self-requested a review October 25, 2021 02:32
@ZhenshengLee ZhenshengLee added the enhancement New feature or request label Oct 25, 2021
@ZhenshengLee ZhenshengLee modified the milestones: PR1, PR2 Oct 25, 2021
@ZhenshengLee ZhenshengLee linked an issue Oct 25, 2021 that may be closed by this pull request
Add findcupoch.cmake. #3
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ZhenshengLee
ZhenshengLee requested changes Oct 25, 2021
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${spdlog_LIBRARIES} and spdlog are repeated, choose one and delete the other.

cupoch_conversions/cmake/ga_build_common.cmake
@@ -75,6 +77,7 @@ set(CUPOCH_LIBRARIES
liblzf
rply
spdlog
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${spdlog_LIBRARIES} and spdlog are repeated, choose one and delete the other.

ZhenshengLee
ZhenshengLee requested changes Dec 16, 2021
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Will have to change. Thanks.

cupoch_conversions/CMakeLists.txt

APPEND_TARGET_ARCH_FLAGS()

set_directory_properties(PROPERTIES COMPILE_DEFINITIONS "")
APPEND_TARGET_ARCH_FLAGS()
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repeated and trivial changes.

cupoch_conversions/CMakeLists.txt
add_definitions(${CUPOCH_DEFINITIONS})
message("zs: ${CMAKE_PROJECT_NAME} CUDA_NVCC_FLAGS = " ${CUDA_NVCC_FLAGS})
include(GATest)
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add this into cupoch_conversions/cmake/ga_build_common.cmake line 107 rather than here.

cupoch_conversions/cmake/ga_build_common.cmake
@@ -2,8 +2,8 @@
set(GA_BUILD_TEST ON)

# root dirs
#set(CUPOCH_ROOT $ENV{HOME}/colcon_ws/install/cupoch)
set(CUPOCH_ROOT "/opt/cupoch/cupoch/")
set(CUPOCH_ROOT $ENV{HOME}/colcon_ws/install/cupoch)
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Do not commit this change. Individual developer maintains his/her own paths.

@ZhenshengLee
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@jediofgever friendly ping for any update?

@jediofgever
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@ZhenshengLee apologies, I forget to keep track of this, I was planning to take a look into it one of these days

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Add findcupoch.cmake.
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@jediofgever @ZhenshengLee