Merge pull request #2 from uos/fix/optional-embree

Required Embree -> Optional Embree
uos · Feb 12, 2024 · ed68b46 · ed68b46
2 parents b93da73 + 1dad512
commit ed68b46
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Showing 2 changed files with 74 additions and 24 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -46,6 +46,12 @@ if(TARGET rmagine::optix)
     list(APPEND RADARAYS_ROS_DEFINITIONS -DRADARAYS_WITH_GPU)
 endif()
 
+if(TARGET rmagine::embree)
+    list(APPEND RADARAYS_ROS_LIBRARIES radarays_cpu)
+    set(RADARAYS_WITH_CPU True)
+    list(APPEND RADARAYS_ROS_DEFINITIONS -DRADARAYS_WITH_CPU)
+endif()
+
 
 add_message_files(
   FILES
@@ -101,7 +107,6 @@ add_library(radarays
     src/radarays_ros/radar_algorithms.cpp
     src/radarays_ros/ros_helper.cpp
     src/radarays_ros/Radar.cpp
-    src/radarays_ros/RadarCPU.cpp
 )
 
 add_dependencies(radarays 
@@ -112,7 +117,6 @@ add_dependencies(radarays
 
 target_link_libraries(radarays
     rmagine::core
-    rmagine::embree
     ${catkin_LIBRARIES}
     ${OpenCV_LIBS}
 )
@@ -123,6 +127,26 @@ install(TARGETS radarays
     RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 )
 
+if(RADARAYS_WITH_CPU)
+    add_library(radarays_cpu
+        src/radarays_ros/RadarCPU.cpp
+    )
+    add_dependencies(radarays_cpu 
+        ${${PROJECT_NAME}_EXPORTED_TARGETS}
+        ${catkin_EXPORTED_TARGETS}
+        ${PROJECT_NAME}_gencfg
+    )
+    target_link_libraries(radarays_cpu
+        radarays
+        rmagine::embree
+    )
+    install(TARGETS radarays_cpu
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+    )
+endif(RADARAYS_WITH_CPU)
+
 if(RADARAYS_WITH_GPU)
     add_library(radarays_gpu SHARED
         src/radarays_ros/image_algorithms.cu
@@ -160,35 +184,44 @@ add_dependencies(radar_simulator
 target_link_libraries(radar_simulator
     ${catkin_LIBRARIES}
     rmagine::core
-    rmagine::embree
     ${OpenCV_LIBS}
     radarays
 )
 
-target_compile_definitions(radar_simulator
-    PUBLIC ${RADARAYS_ROS_DEFINITIONS}
-)
+if(RADARAYS_WITH_CPU)
+    # Enable CPU simulation
+    target_compile_definitions(radar_simulator PUBLIC RADARAYS_WITH_CPU)
+    target_link_libraries(radar_simulator
+        radarays_cpu
+    )
+endif(RADARAYS_WITH_CPU)
 
 if(RADARAYS_WITH_GPU)
+    # Enable GPU simulation
     target_compile_definitions(radar_simulator PUBLIC RADARAYS_WITH_GPU)
     target_link_libraries(radar_simulator
         radarays_gpu
     )
 endif(RADARAYS_WITH_GPU)
 
-add_executable(ray_reflection_test src/ray_reflection_test.cpp)
 
-add_dependencies(ray_reflection_test 
-    ${${PROJECT_NAME}_EXPORTED_TARGETS}
-    ${catkin_EXPORTED_TARGETS}
-    ${PROJECT_NAME}_gencfg
-)
+# TESTS MAINLY PROTOTYPED WITH CPU
+if(RADARAYS_WITH_CPU)
+    add_executable(ray_reflection_test src/ray_reflection_test.cpp)
 
-## Specify libraries to link a library or executable target against
-target_link_libraries(ray_reflection_test
-    ${catkin_LIBRARIES}
-    rmagine::core
-    rmagine::embree
-    ${OpenCV_LIBS}
-    radarays
-)
+    add_dependencies(ray_reflection_test 
+        ${${PROJECT_NAME}_EXPORTED_TARGETS}
+        ${catkin_EXPORTED_TARGETS}
+        ${PROJECT_NAME}_gencfg
+    )
+
+    ## Specify libraries to link a library or executable target against
+    target_link_libraries(ray_reflection_test
+        ${catkin_LIBRARIES}
+        rmagine::core
+        rmagine::embree
+        ${OpenCV_LIBS}
+        radarays
+    )
+
+endif(RADARAYS_WITH_CPU)
diff --git a/src/radar_simulator.cpp b/src/radar_simulator.cpp
@@ -33,10 +33,14 @@
 
 #include <radarays_ros/ros_helper.h>
 
-#include <rmagine/simulation/OnDnSimulatorEmbree.hpp>
+
 #include <radarays_ros/image_algorithms.h>
 #include <radarays_ros/radar_algorithms.h>
+
+#if defined RADARAYS_WITH_CPU
+#include <rmagine/simulation/OnDnSimulatorEmbree.hpp>
 #include <radarays_ros/RadarCPU.hpp>
+#endif // defined RADARAYS_WITH_CPU
 
 #if defined RADARAYS_WITH_GPU
 #include <rmagine/simulation/OnDnSimulatorOptix.hpp>
@@ -116,20 +120,32 @@ int main_publisher(int argc, char** argv)
 
     // available computing unit
     bool gpu_available = false;
+    bool cpu_available = false;
     #if defined RADARAYS_WITH_GPU
         gpu_available = true;
-    #endif
+    #endif // defined RADARAYS_WITH_GPU
+
+    #if defined RADARAYS_WITH_CPU
+        cpu_available = true;
+    #endif // defined RADARAYS_WITH_CPU
 
 
     if(use_gpu && !gpu_available)
     {
         std::cout << "Desired computing unit 'GPU' is not available on your system." << std::endl;
         return 0;
     }
+
+    if(!use_gpu && !cpu_available)
+    {
+        std::cout << "Desired computing unit 'CPU' is not available on your system." << std::endl;
+        return 0;
+    }
 
     if(!use_gpu)
     {
         // CPU
+        #if defined RADARAYS_WITH_CPU
         rm::EmbreeMapPtr map_cpu = rm::import_embree_map(map_file);
 
         std::cout << "RadarCPU" << std::endl;
@@ -141,7 +157,8 @@ int main_publisher(int argc, char** argv)
             sensor_frame,
             map_cpu
         );
-    } else { 
+        #endif // defined RADARAYS_WITH_CPU
+    } else {
         // GPU
         #if defined RADARAYS_WITH_GPU
         rm::OptixMapPtr map_gpu = rm::import_optix_map(map_file);
@@ -155,7 +172,7 @@ int main_publisher(int argc, char** argv)
             sensor_frame,
             map_gpu
         );
-        #endif
+        #endif // defined RADARAYS_WITH_GPU
     }
 
     // image transport