fix build when BUILD_AZURE_KINECT is ON

isl-org · May 20, 2024 · c7c28ec · c7c28ec
1 parent ace94eb
commit c7c28ec
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Showing 6 changed files with 59 additions and 5 deletions.
diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
@@ -1554,7 +1554,9 @@ if(OPEN3D_USE_ONEAPI_PACKAGES)
         TARGETS TBB::tbb
     )
     list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_SYSTEM Open3D::3rdparty_tbb)
-
+    target_compile_definitions(3rdparty_tbb INTERFACE OPEN3D_USE_ONEAPI_PACKAGES=1)
+    target_compile_definitions(3rdparty_tbb INTERFACE _PSTL_UDR_PRESENT=0)
+    target_compile_definitions(3rdparty_tbb INTERFACE _PSTL_UDS_PRESENT=0)
     # 2. oneDPL
     # /opt/intel/oneapi/dpl/latest/lib/cmake/oneDPL
     open3d_find_package_3rdparty_library(3rdparty_onedpl

diff --git a/cpp/open3d/io/sensor/azure_kinect/K4aPlugin.h b/cpp/open3d/io/sensor/azure_kinect/K4aPlugin.h
@@ -295,3 +295,38 @@ k4a_result_t k4a_transformation_depth_image_to_point_cloud(
 }  // namespace k4a_plugin
 }  // namespace io
 }  // namespace open3d
+
+#include <fmt/format.h>
+
+namespace fmt {
+
+template <>
+struct formatter<k4a_wait_result_t> {
+    template <typename FormatContext>
+    auto format(const k4a_wait_result_t &c, FormatContext &ctx) const
+            -> decltype(ctx.out()) {
+        const char *text = nullptr;
+        switch (c) {
+            case K4A_WAIT_RESULT_SUCCEEDED:
+                text = "K4A_WAIT_RESULT_SUCCEEDED";
+                break;
+            case K4A_WAIT_RESULT_FAILED:
+                text = "K4A_WAIT_RESULT_FAILED";
+                break;
+            case K4A_WAIT_RESULT_TIMEOUT:
+                text = "K4A_WAIT_RESULT_TIMEOUT";
+                break;
+            default:
+                text = "Unknown k4a_wait_result_t";
+                break;
+        }
+        return format_to(ctx.out(), text);
+    }
+
+    template <typename ParseContext>
+    constexpr auto parse(ParseContext &ctx) -> decltype(ctx.begin()) {
+        return ctx.begin();
+    }
+};
+
+}  // namespace fmt
diff --git a/cpp/open3d/ml/pytorch/CMakeLists.txt b/cpp/open3d/ml/pytorch/CMakeLists.txt
@@ -140,9 +140,18 @@ target_link_libraries(open3d_torch_ops PRIVATE
     Open3D::3rdparty_eigen3
     Open3D::3rdparty_fmt
     Open3D::3rdparty_nanoflann
-    Open3D::3rdparty_parallelstl
     Open3D::3rdparty_tbb
 )
+if (TARGET Open3D::3rdparty_parallelstl)
+    target_link_libraries(open3d_torch_ops PRIVATE
+        Open3D::3rdparty_parallelstl
+    )
+endif()
+if (TARGET Open3D::3rdparty_onedpl)
+    target_link_libraries(open3d_torch_ops PRIVATE
+        Open3D::3rdparty_onedpl
+    )
+endif()
 
 if (BUILD_CUDA_MODULE)
     target_link_libraries(open3d_torch_ops PRIVATE

diff --git a/cpp/open3d/utility/ParallelScan.h b/cpp/open3d/utility/ParallelScan.h
@@ -13,6 +13,14 @@
 // clang-format off
 #if TBB_INTERFACE_VERSION >= 10000
     #ifdef OPEN3D_USE_ONEAPI_PACKAGES
+        #ifdef _PSTL_UDR_PRESENT
+            #undef _PSTL_UDR_PRESENT
+        #endif
+        #define _PSTL_UDR_PRESENT 0
+        #ifdef _PSTL_UDS_PRESENT
+            #undef _PSTL_UDS_PRESENT
+        #endif
+        #define _PSTL_UDS_PRESENT 0
         #include <oneapi/dpl/execution>
         #include <oneapi/dpl/numeric>
     #else

diff --git a/cpp/open3d/visualization/rendering/RendererHandle.h b/cpp/open3d/visualization/rendering/RendererHandle.h
@@ -98,7 +98,7 @@ struct REHandle : public REHandle_abstract {
             id = REHandle_abstract::kBadId + 1;
         }
 
-        return std::move(REHandle(id));
+        return REHandle(id);
     }
 
     static REHandle Concretize(const REHandle_abstract& abstract) {

diff --git a/cpp/open3d/visualization/rendering/filament/FilamentResourceManager.cpp b/cpp/open3d/visualization/rendering/filament/FilamentResourceManager.cpp
@@ -77,8 +77,8 @@ using ResourcesContainer =
 template <class ResourceType>
 std::shared_ptr<ResourceType> MakeShared(ResourceType* pointer,
                                          filament::Engine& engine) {
-    return std::move(std::shared_ptr<ResourceType>(
-            pointer, [&engine](ResourceType* p) { engine.destroy(p); }));
+    return std::shared_ptr<ResourceType>(
+            pointer, [&engine](ResourceType* p) { engine.destroy(p); });
 }
 
 template <class ResourceType>