107 lines
3.4 KiB
Diff
107 lines
3.4 KiB
Diff
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From f86d6ca6c56d90e983a8074d4a8d6ac22cdee8cf Mon Sep 17 00:00:00 2001
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From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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Date: Tue, 24 Jan 2017 17:27:28 +0200
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Subject: [PATCH 1/2] moveit_ros_perception: make OpenGL parts optional
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But build everything by default.
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Upstream-Status: Inappropriate [WONTFIX for stable indigo-devel branch]
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Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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---
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CMakeLists.txt | 35 ++++++++++++++++++++---------------
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1 file changed, 20 insertions(+), 15 deletions(-)
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index e984b17..fd91cc6 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -1,6 +1,8 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(moveit_ros_perception)
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+option(BUILD_OPENGL "Build the parts that depends on OpenGL" ON)
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+
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if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release)
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endif()
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@@ -9,12 +11,16 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake")
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find_package(Boost REQUIRED thread signals)
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-find_package(OpenGL REQUIRED)
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-find_package(GLEW REQUIRED)
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-find_package(GLUT REQUIRED)
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-if (OPENGL_FOUND)
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- set(gl_LIBS ${gl_LIBS} ${OPENGL_LIBRARIES})
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-endif(OPENGL_FOUND)
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+if (BUILD_OPENGL)
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+ find_package(OpenGL REQUIRED)
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+ find_package(GLEW REQUIRED)
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+ find_package(GLUT REQUIRED)
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+ if (OPENGL_FOUND)
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+ set(gl_LIBS ${gl_LIBS} ${OPENGL_LIBRARIES})
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+ endif(OPENGL_FOUND)
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+ set(perception_GL_INCLUDE_DIRS "mesh_filter/include" "depth_image_octomap_updater/include")
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+ set(SYSTEM_GL_INCLUDE_DIRS ${GLEW_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
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+endif(BUILD_OPENGL)
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find_package(catkin REQUIRED COMPONENTS
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moveit_core
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@@ -39,13 +45,12 @@ find_package(OpenCV)
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catkin_package(
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INCLUDE_DIRS
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- mesh_filter/include
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lazy_free_space_updater/include
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- depth_image_octomap_updater/include
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point_containment_filter/include
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occupancy_map_monitor/include
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pointcloud_octomap_updater/include
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semantic_world/include
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+ ${perception_GL_INCLUDE_DIRS}
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${OCTOMAP_INCLUDE_DIRS}
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LIBRARIES
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moveit_lazy_free_space_updater
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@@ -59,21 +64,19 @@ catkin_package(
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image_transport
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moveit_msgs)
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-include_directories(mesh_filter/include
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- lazy_free_space_updater/include
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- depth_image_octomap_updater/include
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+include_directories(lazy_free_space_updater/include
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point_containment_filter/include
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occupancy_map_monitor/include
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pointcloud_octomap_updater/include
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semantic_world/include
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+ ${perception_GL_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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)
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include_directories(SYSTEM
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${EIGEN_INCLUDE_DIRS}
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- ${GLEW_INCLUDE_DIR}
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- ${GLUT_INCLUDE_DIR}
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+ ${SYSTEM_GL_INCLUDE_DIR}
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)
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link_directories(${Boost_LIBRARY_DIRS})
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@@ -83,8 +86,10 @@ add_subdirectory(lazy_free_space_updater)
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add_subdirectory(point_containment_filter)
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add_subdirectory(occupancy_map_monitor)
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add_subdirectory(pointcloud_octomap_updater)
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-add_subdirectory(mesh_filter)
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-add_subdirectory(depth_image_octomap_updater)
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+if (BUILD_OPENGL)
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+ add_subdirectory(mesh_filter)
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+ add_subdirectory(depth_image_octomap_updater)
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+endif(BUILD_OPENGL)
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add_subdirectory(semantic_world)
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--
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2.7.4
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