From 59121ac7053f2fccf9134bab4e72346be26a75b8 Mon Sep 17 00:00:00 2001 From: Martin Jansa Date: Fri, 17 May 2019 14:12:56 +0000 Subject: [PATCH] pcl: upgrade to 1.9.1 * resolves issues with newer CMake -- Performing Test HAVE_MM_MALLOC CMake Error: TRY_RUN() invoked in cross-compiling mode, please set the following cache variables appropriately: HAVE_MM_MALLOC_EXITCODE (advanced) HAVE_MM_MALLOC_EXITCODE__TRYRUN_OUTPUT (advanced) For details see pcl/1.8.0-r0/build/TryRunResults.cmake -- Performing Test HAVE_MM_MALLOC - Success * should resolve the issues with memory usage during the build: https://github.com/PointCloudLibrary/pcl/issues/2284#issuecomment-437584571 but it still triggers OOMK with -j8 on 32GB RAM builder, use at least -j4 to improve the build time a bit * use git fetcher for sources, github archives can be regenerated from time to time with different checksums: https://github.com/bmwcarit/meta-ros/issues/609 * 0001-make-the-pcl-library-compile-with-gcc6.patch is needed only with thud and older, with warrior it builds OK without this patch as well Signed-off-by: Martin Jansa --- ...-Dereference-shared_ptr-fix-for-GCC8.patch | 46 ------------------- ...ke-the-pcl-library-compile-with-gcc6.patch | 35 +++++++------- .../pcl/{pcl_1.8.0.bb => pcl_git.bb} | 17 ++++--- 3 files changed, 24 insertions(+), 74 deletions(-) delete mode 100644 recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch rename recipes-extended/pcl/{pcl_1.8.0.bb => pcl_git.bb} (79%) diff --git a/recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch b/recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch deleted file mode 100644 index 78675f0..0000000 --- a/recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch +++ /dev/null @@ -1,46 +0,0 @@ -From a0b3ce9ca5c69a945695c1c83dab7937a3d99b83 Mon Sep 17 00:00:00 2001 -From: Jochen Sprickerhof -Date: Sat, 5 May 2018 23:58:13 +0200 -Subject: [PATCH] Dereference shared_ptr, fix for GCC8 - -Upstream-Status: Accepted [https://github.com/PointCloudLibrary/pcl/commit/a0b3ce9ca5c69a945695c1c83dab7937a3d99b83] - -This patch has been generated with: - `git format-patch -1 a0b3ce9ca5c69a945695c1c83dab7937a3d99b83` -in the pcl repository. - -Signed-off-by: Lukas Bulwahn ---- - segmentation/include/pcl/segmentation/ground_plane_comparator.h | 2 +- - segmentation/include/pcl/segmentation/plane_coefficient_comparator.h | 2 +- - 2 files changed, 2 insertions(+), 2 deletions(-) - -diff --git a/segmentation/include/pcl/segmentation/ground_plane_comparator.h b/segmentation/include/pcl/segmentation/ground_plane_comparator.h -index e39354d..f96f38b 100644 ---- a/segmentation/include/pcl/segmentation/ground_plane_comparator.h -+++ b/segmentation/include/pcl/segmentation/ground_plane_comparator.h -@@ -147,7 +147,7 @@ namespace pcl - const std::vector& - getPlaneCoeffD () const - { -- return (plane_coeff_d_); -+ return (*plane_coeff_d_); - } - - /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. -diff --git a/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h b/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h -index 9c94813..a21725a 100644 ---- a/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h -+++ b/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h -@@ -141,7 +141,7 @@ namespace pcl - const std::vector& - getPlaneCoeffD () const - { -- return (plane_coeff_d_); -+ return (*plane_coeff_d_); - } - - /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. --- -2.7.4 - diff --git a/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch b/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch index 01170af..cb1e38b 100644 --- a/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch +++ b/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch @@ -1,4 +1,4 @@ -From 19361abfa1bf21bc9be911f6ffa97f1c43174d8d Mon Sep 17 00:00:00 2001 +From 31f72094a309ef6845e5c6b0b989237b4b59973f Mon Sep 17 00:00:00 2001 From: Lukas Bulwahn Date: Tue, 27 Sep 2016 14:05:22 +0200 Subject: [PATCH] make the pcl library compile with gcc6 @@ -58,23 +58,23 @@ Signed-off-by: Lukas Bulwahn 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt -index e5fd763..c658df5 100644 +index 0b4c1a33d..95e1d31e8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -272,7 +272,7 @@ endif() +@@ -277,7 +277,7 @@ endif() # Eigen (required) find_package(Eigen REQUIRED) -include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS}) +include_directories(${EIGEN_INCLUDE_DIRS}) - add_definitions(-DEIGEN_USE_NEW_STDVECTOR - -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET) + # FLANN (required) + if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32)) diff --git a/cmake/Modules/FindOpenNI.cmake b/cmake/Modules/FindOpenNI.cmake -index 9f772a4..bd36f3e 100644 +index 2c7b26eea..1e62c359b 100644 --- a/cmake/Modules/FindOpenNI.cmake +++ b/cmake/Modules/FindOpenNI.cmake -@@ -30,7 +30,7 @@ if(NOT WIN32) +@@ -31,7 +31,7 @@ if(NOT WIN32) message(STATUS "OpenNI disabled because libusb-1.0 not found.") return() else() @@ -84,10 +84,10 @@ index 9f772a4..bd36f3e 100644 endif(NOT WIN32) diff --git a/cmake/Modules/FindOpenNI2.cmake b/cmake/Modules/FindOpenNI2.cmake -index 713099a..8226895 100644 +index 037a9a399..cc1855e0f 100644 --- a/cmake/Modules/FindOpenNI2.cmake +++ b/cmake/Modules/FindOpenNI2.cmake -@@ -30,7 +30,7 @@ if(NOT WIN32) +@@ -31,7 +31,7 @@ if(NOT WIN32) message(STATUS "OpenNI 2 disabled because libusb-1.0 not found.") return() else() @@ -97,10 +97,10 @@ index 713099a..8226895 100644 endif(NOT WIN32) diff --git a/cmake/pcl_find_boost.cmake b/cmake/pcl_find_boost.cmake -index a3abe1c..c57b87d 100644 +index 6489f3954..0c170116d 100644 --- a/cmake/pcl_find_boost.cmake +++ b/cmake/pcl_find_boost.cmake -@@ -48,6 +48,6 @@ if(Boost_FOUND) +@@ -49,6 +49,6 @@ if(Boost_FOUND) # Obtain diagnostic information about Boost's automatic linking outputted # during compilation time. add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS}) @@ -109,11 +109,11 @@ index a3abe1c..c57b87d 100644 link_directories(${Boost_LIBRARY_DIRS}) endif(Boost_FOUND) diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake -index 691ead0..f730743 100644 +index 30696346f..bede67ffa 100644 --- a/cmake/pcl_targets.cmake +++ b/cmake/pcl_targets.cmake -@@ -858,7 +858,7 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description) - message(WARNING "${_description}: not building because ${_name} not found") +@@ -864,7 +864,7 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description) + message(STATUS "${_description}: not building because ${_name} not found") else() set(HAVE_${_name_capitalized} TRUE) - include_directories(SYSTEM "${${_name_capitalized}_INCLUDE_DIRS}") @@ -122,10 +122,10 @@ index 691ead0..f730743 100644 endif() endmacro(PCL_ADD_GRABBER_DEPENDENCY) diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt -index 3b3e2d7..342cb62 100644 +index 6a1d55d96..543c279ef 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt -@@ -17,7 +17,7 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS +@@ -9,7 +9,7 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS if(build) find_package(Gtest REQUIRED) @@ -134,6 +134,3 @@ index 3b3e2d7..342cb62 100644 add_library(pcl_gtest STATIC ${GTEST_SRC_DIR}/src/gtest-all.cc) --- -2.5.5 - diff --git a/recipes-extended/pcl/pcl_1.8.0.bb b/recipes-extended/pcl/pcl_git.bb similarity index 79% rename from recipes-extended/pcl/pcl_1.8.0.bb rename to recipes-extended/pcl/pcl_git.bb index 2ad7260..0e2ace4 100644 --- a/recipes-extended/pcl/pcl_1.8.0.bb +++ b/recipes-extended/pcl/pcl_git.bb @@ -5,14 +5,13 @@ LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=5b8a2a1aa14e6de44b4273134946a34c" DEPENDS = "boost libflann libeigen qhull" -SRC_URI = "https://github.com/PointCloudLibrary/${PN}/archive/${P}.tar.gz" -SRC_URI[md5sum] = "8c1308be2c13106e237e4a4204a32cca" -SRC_URI[sha256sum] = "9e54b0c1b59a67a386b9b0f4acb2d764272ff9a0377b825c4ed5eedf46ebfcf4" +PV = "1.9.1+git${SRCPV}" +SRCREV = "72f41b60a539cd1da67d1329b57222290122a0bb" +SRC_URI = "git://github.com/PointCloudLibrary/pcl.git \ + file://0001-make-the-pcl-library-compile-with-gcc6.patch \ +" -SRC_URI += "file://0001-make-the-pcl-library-compile-with-gcc6.patch" -SRC_URI += "file://0001-Dereference-shared_ptr-fix-for-GCC8.patch" - -S = "${WORKDIR}/pcl-${P}" +S = "${WORKDIR}/git" EXTRA_OECMAKE += "\ -DCMAKE_SKIP_RPATH=ON \ @@ -39,9 +38,9 @@ CXXFLAGS += "${@bb.utils.contains("TARGET_CC_ARCH", "-mfpmath=sse", "", "-ffloat inherit cmake -FILES_${PN}-dev += "${datadir}/${PN}-1.8/*.cmake" +FILES_${PN}-dev += "${datadir}/${PN}-1.9/*.cmake ${datadir}/${PN}-1.9/Modules/*.cmake" # The build is really memory hungry (at least with gcc8), even with just -j 8 it triggers OOMK on system with 32GB ram # High memory needs mentioned in: https://github.com/PointCloudLibrary/pcl/issues/2284 # Setting just empty doesn't work, ninja will by default use number of cores available -PARALLEL_MAKE = "-j1" +PARALLEL_MAKE = "-j4"