From f86d6ca6c56d90e983a8074d4a8d6ac22cdee8cf Mon Sep 17 00:00:00 2001
From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
Date: Tue, 24 Jan 2017 17:27:28 +0200
Subject: [PATCH 1/2] moveit_ros_perception: make OpenGL parts optional

But build everything by default.

Upstream-Status: Inappropriate [WONTFIX for stable indigo-devel branch]

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
---
 CMakeLists.txt | 35 ++++++++++++++++++++---------------
 1 file changed, 20 insertions(+), 15 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e984b17..fd91cc6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(moveit_ros_perception)
 
+option(BUILD_OPENGL "Build the parts that depends on OpenGL" ON)
+
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
@@ -9,12 +11,16 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake")
 
 find_package(Boost REQUIRED thread signals)
 
-find_package(OpenGL REQUIRED)
-find_package(GLEW REQUIRED)
-find_package(GLUT REQUIRED)
-if (OPENGL_FOUND)
-  set(gl_LIBS ${gl_LIBS} ${OPENGL_LIBRARIES})
-endif(OPENGL_FOUND)
+if (BUILD_OPENGL)
+  find_package(OpenGL REQUIRED)
+  find_package(GLEW REQUIRED)
+  find_package(GLUT REQUIRED)
+  if (OPENGL_FOUND)
+    set(gl_LIBS ${gl_LIBS} ${OPENGL_LIBRARIES})
+  endif(OPENGL_FOUND)
+  set(perception_GL_INCLUDE_DIRS "mesh_filter/include" "depth_image_octomap_updater/include")
+  set(SYSTEM_GL_INCLUDE_DIRS ${GLEW_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
+endif(BUILD_OPENGL)
 
 find_package(catkin REQUIRED COMPONENTS
   moveit_core
@@ -39,13 +45,12 @@ find_package(OpenCV)
 
 catkin_package(
   INCLUDE_DIRS
-    mesh_filter/include
     lazy_free_space_updater/include
-    depth_image_octomap_updater/include
     point_containment_filter/include
     occupancy_map_monitor/include
     pointcloud_octomap_updater/include
     semantic_world/include
+    ${perception_GL_INCLUDE_DIRS}
     ${OCTOMAP_INCLUDE_DIRS}
   LIBRARIES
     moveit_lazy_free_space_updater
@@ -59,21 +64,19 @@ catkin_package(
     image_transport
     moveit_msgs)
 
-include_directories(mesh_filter/include
-                    lazy_free_space_updater/include
-                    depth_image_octomap_updater/include
+include_directories(lazy_free_space_updater/include
                     point_containment_filter/include
                     occupancy_map_monitor/include
                     pointcloud_octomap_updater/include
                     semantic_world/include
+                    ${perception_GL_INCLUDE_DIRS}
                     ${OpenCV_INCLUDE_DIRS}
                     ${Boost_INCLUDE_DIRS}
                     ${catkin_INCLUDE_DIRS}
                     )
 include_directories(SYSTEM
                     ${EIGEN_INCLUDE_DIRS}
-                    ${GLEW_INCLUDE_DIR}
-                    ${GLUT_INCLUDE_DIR}
+                    ${SYSTEM_GL_INCLUDE_DIR}
                     )
 
 link_directories(${Boost_LIBRARY_DIRS})
@@ -83,8 +86,10 @@ add_subdirectory(lazy_free_space_updater)
 add_subdirectory(point_containment_filter)
 add_subdirectory(occupancy_map_monitor)
 add_subdirectory(pointcloud_octomap_updater)
-add_subdirectory(mesh_filter)
-add_subdirectory(depth_image_octomap_updater)
+if (BUILD_OPENGL)
+  add_subdirectory(mesh_filter)
+  add_subdirectory(depth_image_octomap_updater)
+endif(BUILD_OPENGL)
 
 add_subdirectory(semantic_world)
 
-- 
2.7.4