introduce gtsam_points/config.hpp

CMakeLists.txt

@@ -39,7 +39,9 @@ endif()
 
 # GPU-related
 if(BUILD_WITH_CUDA)
-  add_definitions(-DBUILD_GTSAM_POINTS_GPU)
+  if(NOT GTSAM_POINTS_USE_CUDA)
+    message(FATAL_ERROR "gtsam_points is not built with CUDA!!")
+  endif()
   set(GPU_SRCS src/glim/odometry/odometry_estimation_gpu.cpp)
 endif()
 

src/glim/mapping/global_mapping.cpp

@@ -11,6 +11,7 @@
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
+#include <gtsam_points/config.hpp>
 #include <gtsam_points/types/point_cloud_cpu.hpp>
 #include <gtsam_points/types/point_cloud_gpu.hpp>
 #include <gtsam_points/types/gaussian_voxelmap_cpu.hpp>
@@ -72,7 +73,7 @@ GlobalMappingParams::GlobalMappingParams() {
 GlobalMappingParams::~GlobalMappingParams() {}
 
 GlobalMapping::GlobalMapping(const GlobalMappingParams& params) : params(params) {
-#ifndef BUILD_GTSAM_POINTS_GPU
+#ifndef GTSAM_POINTS_USE_CUDA
   if (params.enable_gpu) {
     logger->error("GPU-based factors cannot be used because GLIM is built without GPU option!!");
   }
@@ -97,7 +98,7 @@ GlobalMapping::GlobalMapping(const GlobalMappingParams& params) : params(params)
     isam2.reset(new gtsam_points::ISAM2ExtDummy(isam2_params));
   }
 
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
   stream_buffer_roundrobin = std::make_shared<gtsam_points::StreamTempBufferRoundRobin>(64);
 #endif
 
@@ -233,7 +234,7 @@ void GlobalMapping::insert_submap(int current, const SubMap::Ptr& submap) {
     subsampled_submap = gtsam_points::random_sampling(submap->frame, params.randomsampling_rate, mt);
   }
 
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
   if (params.enable_gpu && !submap->frame->points_gpu) {
     submap->frame = gtsam_points::PointCloudGPU::clone(*submap->frame);
   }
@@ -309,7 +310,7 @@ void GlobalMapping::find_overlapping_submaps(double min_overlap) {
 
       if (false) {
       }
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
       else if (std::dynamic_pointer_cast<gtsam_points::GaussianVoxelMapGPU>(submaps[i]->voxelmaps.back()) && subsampled_submaps[j]->points_gpu) {
         const auto stream_buffer = std::any_cast<std::shared_ptr<gtsam_points::StreamTempBufferRoundRobin>>(stream_buffer_roundrobin)->get_stream_buffer();
         const auto& stream = stream_buffer.first;
@@ -431,7 +432,7 @@ boost::shared_ptr<gtsam::NonlinearFactorGraph> GlobalMapping::create_matching_co
         factors->emplace_shared<gtsam_points::IntegratedVGICPFactor>(X(i), X(current), voxelmap, subsampled_submaps[current]);
       }
     }
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
     else if (params.registration_error_factor_type == "VGICP_GPU") {
       const auto stream_buffer = std::any_cast<std::shared_ptr<gtsam_points::StreamTempBufferRoundRobin>>(stream_buffer_roundrobin)->get_stream_buffer();
       const auto& stream = stream_buffer.first;
@@ -480,7 +481,7 @@ void GlobalMapping::save(const std::string& path) {
 
   for (const auto& factor : isam2->getFactorsUnsafe()) {
     bool serializable = !boost::dynamic_pointer_cast<gtsam_points::IntegratedMatchingCostFactor>(factor)
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
                         && !boost::dynamic_pointer_cast<gtsam_points::IntegratedVGICPFactorGPU>(factor)
 #endif
       ;
@@ -513,7 +514,7 @@ void GlobalMapping::save(const std::string& path) {
     } else if (boost::dynamic_pointer_cast<gtsam_points::IntegratedVGICPFactor>(factor.second)) {
       type = "vgicp";
     }
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
     else if (boost::dynamic_pointer_cast<gtsam_points::IntegratedVGICPFactorGPU>(factor.second)) {
       type = "vgicp_gpu";
     }
@@ -612,7 +613,7 @@ bool GlobalMapping::load(const std::string& path) {
     subsampled_submaps[i] = subsampled_submap;
 
     if (params.enable_gpu) {
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
       subsampled_submaps[i] = gtsam_points::PointCloudGPU::clone(*subsampled_submaps[i]);
 
       for (int j = 0; j < params.submap_voxelmap_levels; j++) {
@@ -662,7 +663,7 @@ bool GlobalMapping::load(const std::string& path) {
 
     if (type == "vgicp" || type == "vgicp_gpu") {
       if (params.enable_gpu) {
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
         const auto stream_buffer = std::any_cast<std::shared_ptr<gtsam_points::StreamTempBufferRoundRobin>>(stream_buffer_roundrobin)->get_stream_buffer();
         const auto& stream = stream_buffer.first;
         const auto& buffer = stream_buffer.second;

src/glim/mapping/sub_mapping.cpp

@@ -7,6 +7,7 @@
 #include <gtsam/nonlinear/LinearContainerFactor.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 
+#include <gtsam_points/config.hpp>
 #include <gtsam_points/types/point_cloud_cpu.hpp>
 #include <gtsam_points/types/point_cloud_gpu.hpp>
 #include <gtsam_points/types/gaussian_voxelmap_cpu.hpp>
@@ -81,7 +82,7 @@ SubMapping::SubMapping(const SubMappingParams& params) : params(params) {
   values.reset(new gtsam::Values);
   graph.reset(new gtsam::NonlinearFactorGraph);
 
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
   stream = std::make_shared<gtsam_points::CUDAStream>();
   stream_buffer_roundrobin = std::make_shared<gtsam_points::StreamTempBufferRoundRobin>(8);
 #endif
@@ -159,7 +160,7 @@ void SubMapping::insert_frame(const EstimationFrame::ConstPtr& odom_frame_) {
     }
   }
 
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
   if (params.enable_gpu && !odom_frame->frame->points_gpu) {
     if (params.enable_gpu) {
       auto stream = std::static_pointer_cast<gtsam_points::CUDAStream>(this->stream);
@@ -289,7 +290,7 @@ void SubMapping::insert_frame(const EstimationFrame::ConstPtr& odom_frame_) {
           graph->emplace_shared<gtsam_points::IntegratedVGICPFactor>(X(keyframe_indices[i]), X(current), voxelmap, keyframes.back()->frame);
         }
       }
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
       else if (params.registration_error_factor_type == "VGICP_GPU") {
         auto roundrobin = std::static_pointer_cast<gtsam_points::StreamTempBufferRoundRobin>(stream_buffer_roundrobin);
         auto stream_buffer = roundrobin->get_stream_buffer();
@@ -379,7 +380,7 @@ void SubMapping::insert_keyframe(const int current, const EstimationFrame::Const
   *keyframe = *odom_frame;
 
   if (params.enable_gpu) {
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
     auto stream = std::static_pointer_cast<gtsam_points::CUDAStream>(this->stream);
     keyframe->frame = gtsam_points::PointCloudGPU::clone(*subsampled_frame, *stream);
     keyframe->voxelmaps.clear();
@@ -477,7 +478,7 @@ SubMap::Ptr SubMapping::create_submap(bool force_create) const {
   }
 
   // TODO: improve merging process
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
   if (params.enable_gpu) {
     // submap->frame = gtsam_points::merge_frames_gpu(poses_to_merge, keyframes_to_merge, submap_downsample_resolution);
   }

src/glim/viewer/interactive_viewer.cpp

@@ -22,6 +22,7 @@
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
+#include <gtsam_points/config.hpp>
 #include <gtsam_points/factors/integrated_matching_cost_factor.hpp>
 #include <gtsam_points/factors/integrated_vgicp_factor_gpu.hpp>
 #include <gtsam_points/optimizers/isam2_result_ext.hpp>
@@ -452,7 +453,7 @@ void InteractiveViewer::globalmap_on_smoother_update(gtsam_points::ISAM2Ext& isa
     if (boost::dynamic_pointer_cast<gtsam_points::IntegratedMatchingCostFactor>(factor)) {
       inserted_factors.push_back(std::make_tuple(FactorType::MATCHING_COST, factor->keys()[0], factor->keys()[1]));
     }
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
     if (boost::dynamic_pointer_cast<gtsam_points::IntegratedVGICPFactorGPU>(factor)) {
       inserted_factors.push_back(std::make_tuple(FactorType::MATCHING_COST, factor->keys()[0], factor->keys()[1]));
     }

src/glim/viewer/memory_monitor.cpp

@@ -5,6 +5,7 @@
 #include <iostream>
 #include <glim/util/logging.hpp>
 #include <glim/util/extension_module.hpp>
+#include <gtsam_points/config.hpp>
 #include <gtsam_points/cuda/cuda_memory.hpp>
 
 namespace glim {
@@ -32,7 +33,7 @@ class MemoryMonitor : public ExtensionModule {
       }
       last_update_time = now;
 
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
       size_t gpu_free = 0;
       size_t gpu_total = 0;
       gtsam_points::cuda_mem_get_info(&gpu_free, &gpu_total);

src/glim/viewer/offline_viewer.cpp

@@ -1,5 +1,6 @@
 #include <glim/viewer/offline_viewer.hpp>
 
+#include <gtsam_points/config.hpp>
 #include <gtsam_points/optimizers/linearization_hook.hpp>
 #include <gtsam_points/cuda/nonlinear_factor_set_gpu_create.hpp>
 
@@ -22,7 +23,7 @@ void OfflineViewer::setup_ui() {
 
   progress_modal.reset(new guik::ProgressModal("offline_viewer_progress"));
 
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
   gtsam_points::LinearizationHook::register_hook([] { return gtsam_points::create_nonlinear_factor_set_gpu(); });
 #endif
 }

src/glim/viewer/standard_viewer.cpp

@@ -4,12 +4,13 @@
 
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam_points/config.hpp>
 #include <gtsam_points/factors/integrated_matching_cost_factor.hpp>
 #include <gtsam_points/optimizers/isam2_result_ext.hpp>
 #include <gtsam_points/optimizers/incremental_fixed_lag_smoother_with_fallback.hpp>
 #include <gtsam_points/optimizers/levenberg_marquardt_optimization_status.hpp>
 
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
 #include <gtsam_points/factors/integrated_vgicp_factor_gpu.hpp>
 #endif
 
@@ -283,7 +284,7 @@ void StandardViewer::set_callbacks() {
           continue;
         }
 
-#ifdef BUILD_GTSAM_POINTS_GPU
+#ifdef GTSAM_POINTS_USE_CUDA
         const auto gpu_factor = boost::dynamic_pointer_cast<gtsam_points::IntegratedVGICPFactorGPU>(factor);
         if (gpu_factor) {
           const auto l = [this, idx0](const gtsam::NonlinearFactor* factor) -> std::optional<FactorLine> {