107 lines
3.4 KiB
Diff
107 lines
3.4 KiB
Diff
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
|
|
|