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Documentation

Single compilation units

Even before reading [1], we noticed a great speed up in compile time for all PCL libraries if instead of compiling N object files and linking them together, we compile only one, and include all the sources of the N files in this main source. If you peek at an older version of PCL, you might notice things along the lines of:

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 // Include the implementations instead of compiling them separately to speed up compile time
 #include "extract_indices.cpp"
 #include "passthrough.cpp"
 #include "project_inliers.cpp"
 #include "statistical_outlier_removal.cpp"
 #include "voxel_grid.cpp"

and in CMakeLists.txt:

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 rosbuild_add_library (pcl_ros_filters
                       src/pcl_ros/filters/filter.cpp
                       # Compilation is much faster if we include all the following CPP files in filters.cpp
                       #src/pcl_ros/filters/passthrough.cpp
                       #src/pcl_ros/filters/project_inliers.cpp
                       #src/pcl_ros/filters/extract_indices.cpp
                       #src/pcl_ros/filters/statistical_outlier_removal.cpp
                       #src/pcl_ros/filters/voxel_grid.cpp
                      )

For more information on how/why this works, see [1].

[1](1, 2) http://gamesfromwithin.com/physical-structure-and-c-part-2-build-times
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