Add instantiations for ICP and TransformationEstimationSVD

Add explicit instantiations in the .cpp files, for very commonly used point types (while building pcl_registration).
When using ICP or TransformationEstimationSVD in other files, the `extern template class ...` statements in the .h files tell the compiler to not instantiate the templates, and to use the previous instantiations instead (from pcl_registration).
This decreases the compilation time for user code, and also for e.g. pcl tools and pcl apps (the pcl_icp tool for example compiles in 10s now vs 13s before).
The compilation time of PCL as a whole decreases slightly (1.5 percent less in one configuration with clang).

Author: mvieth

apps/3d_rec_framework/CMakeLists.txt

@@ -90,7 +90,7 @@ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/
 
 set(LIB_NAME "pcl_${SUBSUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSUBSYS_NAME} SOURCES ${srcs} ${impl_incs_pipeline} ${incs_utils} ${incs_fw} ${incs_fw_global} ${incs_fw_local} ${incc_tools_framework} ${incs_pipelines} ${incs_pc_source})
-target_link_libraries("${LIB_NAME}" pcl_apps pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search)
+target_link_libraries("${LIB_NAME}" pcl_apps pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search pcl_registration)
 
 if(WITH_OPENNI)
   target_link_libraries("${LIB_NAME}" ${OPENNI_LIBRARIES})

apps/CMakeLists.txt

@@ -92,7 +92,7 @@ if(VTK_FOUND)
       src/manual_registration/pcl_viewer_dialog.ui
       BUNDLE)
 
-    target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QTX}::Widgets)
+    target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface pcl_registration ${QTX}::Widgets)
 
     PCL_ADD_EXECUTABLE(pcl_pcd_video_player
       COMPONENT

registration/include/pcl/registration/icp.h

@@ -47,7 +47,8 @@
 #include <pcl/registration/transformation_estimation_point_to_plane_lls.h>
 #include <pcl/registration/transformation_estimation_svd.h>
 #include <pcl/registration/transformation_estimation_symmetric_point_to_plane_lls.h>
-#include <pcl/memory.h> // for dynamic_pointer_cast, pcl::make_shared, shared_ptr
+#include <pcl/memory.h>     // for dynamic_pointer_cast, pcl::make_shared, shared_ptr
+#include <pcl/pcl_config.h> // for PCL_NO_PRECOMPILE
 
 namespace pcl {
 /** \brief @b IterativeClosestPoint provides a base implementation of the Iterative
@@ -447,3 +448,9 @@ class IterativeClosestPointWithNormals
 } // namespace pcl
 
 #include <pcl/registration/impl/icp.hpp>
+
+#if !defined(PCL_NO_PRECOMPILE) && !defined(PCL_REGISTRATION_ICP_CPP_)
+extern template class pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ>;
+extern template class pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI>;
+extern template class pcl::IterativeClosestPoint<pcl::PointXYZRGB, pcl::PointXYZRGB>;
+#endif // PCL_NO_PRECOMPILE

registration/include/pcl/registration/transformation_estimation_svd.h

@@ -42,6 +42,7 @@
 
 #include <pcl/registration/transformation_estimation.h>
 #include <pcl/cloud_iterator.h>
+#include <pcl/pcl_config.h> // for PCL_NO_PRECOMPILE
 
 namespace pcl {
 namespace registration {
@@ -154,3 +155,13 @@ class TransformationEstimationSVD
 } // namespace pcl
 
 #include <pcl/registration/impl/transformation_estimation_svd.hpp>
+
+#if !defined(PCL_NO_PRECOMPILE) &&                                                     \
+    !defined(PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_CPP_)
+extern template class pcl::registration::TransformationEstimationSVD<pcl::PointXYZ,
+                                                                     pcl::PointXYZ>;
+extern template class pcl::registration::TransformationEstimationSVD<pcl::PointXYZI,
+                                                                     pcl::PointXYZI>;
+extern template class pcl::registration::TransformationEstimationSVD<pcl::PointXYZRGB,
+                                                                     pcl::PointXYZRGB>;
+#endif // PCL_NO_PRECOMPILE

registration/src/icp.cpp

@@ -37,4 +37,15 @@
  *
  */
 
+#define PCL_REGISTRATION_ICP_CPP_
 #include <pcl/registration/icp.h>
+#include <pcl/pcl_config.h> // for PCL_NO_PRECOMPILE
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/pcl_exports.h> // for PCL_EXPORTS
+#include <pcl/point_types.h>
+template class PCL_EXPORTS pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ>;
+template class PCL_EXPORTS pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI>;
+template class PCL_EXPORTS
+    pcl::IterativeClosestPoint<pcl::PointXYZRGB, pcl::PointXYZRGB>;
+#endif // PCL_NO_PRECOMPILE

registration/src/transformation_estimation_svd.cpp

@@ -36,4 +36,17 @@
  *
  */
 
+#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_CPP_
 #include <pcl/registration/transformation_estimation_svd.h>
+#include <pcl/pcl_config.h> // for PCL_NO_PRECOMPILE
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/pcl_exports.h> // for PCL_EXPORTS
+#include <pcl/point_types.h>
+template class PCL_EXPORTS
+    pcl::registration::TransformationEstimationSVD<pcl::PointXYZ, pcl::PointXYZ>;
+template class PCL_EXPORTS
+    pcl::registration::TransformationEstimationSVD<pcl::PointXYZI, pcl::PointXYZI>;
+template class PCL_EXPORTS
+    pcl::registration::TransformationEstimationSVD<pcl::PointXYZRGB, pcl::PointXYZRGB>;
+#endif // PCL_NO_PRECOMPILE