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352c108a6b
vcpkg/ports/pcl/gh-5947-kinfu.patch
Kai Pastor fbc542fd5c
[pcl] Fix build issues, refresh patches (#37785) 
Ported from  #37651.
Fix include dir in pc files.
Fix #37655.
2024-03-28 13:21:54 -07:00

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diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4a1ba09..69f667b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -423,6 +423,12 @@ if(WITH_OPENGL)
include("${PCL_SOURCE_DIR}/cmake/pcl_find_gl.cmake")
endif()
+# GLEW
+option(WITH_GLEW "Support for GLEW" TRUE)
+if(WITH_GLEW)
+ find_package(GLEW QUIET)
+endif()
+
# Boost (required)
include("${PCL_SOURCE_DIR}/cmake/pcl_find_boost.cmake")
if (NOT APPLE AND NOT WIN32 AND CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
diff --git a/cmake/pcl_options.cmake b/cmake/pcl_options.cmake
index e4ca977..7955f11 100644
--- a/cmake/pcl_options.cmake
+++ b/cmake/pcl_options.cmake
@@ -88,8 +88,6 @@ mark_as_advanced(CMAKE_MSVC_CODE_LINK_OPTIMIZATION)
# Project folders
set_property(GLOBAL PROPERTY USE_FOLDERS ON)
-option(BUILD_tools "Useful PCL-based command line tools" ON)
-
option(WITH_DOCS "Build doxygen documentation" OFF)
# set index size
diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
index fe0ad8f..518a98d 100644
--- a/common/CMakeLists.txt
+++ b/common/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME common)
set(SUBSYS_DESC "Point cloud common library")
set(SUBSYS_DEPS)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS eigen3 boost)
diff --git a/cuda/CMakeLists.txt b/cuda/CMakeLists.txt
index c327f95..ed1c888 100644
--- a/cuda/CMakeLists.txt
+++ b/cuda/CMakeLists.txt
@@ -2,7 +2,7 @@ set(SUBSYS_NAME cuda)
set(SUBSYS_DESC "Point cloud CUDA libraries")
set(SUBSYS_DEPS)
-option(BUILD_CUDA "Build the CUDA-related subsystems" ${DEFAULT})
+option(BUILD_CUDA "Build the CUDA-related subsystems" OFF)
if(NOT (BUILD_CUDA AND CUDA_FOUND))
return()
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index d89aa99..62c02de 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -2,9 +2,7 @@ set(SUBSYS_NAME examples)
set(SUBSYS_DESC "PCL examples")
set(SUBSYS_DEPS common io features search kdtree octree filters keypoints segmentation sample_consensus outofcore stereo geometry surface)
-set(DEFAULT FALSE)
-set(REASON "Code examples are disabled by default.")
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
+PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} OFF)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
if(NOT build)
diff --git a/features/CMakeLists.txt b/features/CMakeLists.txt
index b5f902a..cdf17fd 100644
--- a/features/CMakeLists.txt
+++ b/features/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME features)
set(SUBSYS_DESC "Point cloud features library")
set(SUBSYS_DEPS common search kdtree octree filters 2d)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
diff --git a/filters/CMakeLists.txt b/filters/CMakeLists.txt
index f454188..a485505 100644
--- a/filters/CMakeLists.txt
+++ b/filters/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME filters)
set(SUBSYS_DESC "Point cloud filters library")
set(SUBSYS_DEPS common sample_consensus search kdtree octree)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
diff --git a/geometry/CMakeLists.txt b/geometry/CMakeLists.txt
index cafc32e..0ec3e6f 100644
--- a/geometry/CMakeLists.txt
+++ b/geometry/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME geometry)
set(SUBSYS_DESC "Point cloud geometry library")
set(SUBSYS_DEPS common)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
diff --git a/gpu/CMakeLists.txt b/gpu/CMakeLists.txt
index 45daad5..a126cef 100644
--- a/gpu/CMakeLists.txt
+++ b/gpu/CMakeLists.txt
@@ -2,7 +2,7 @@ set(SUBSYS_NAME gpu)
set(SUBSYS_DESC "Point cloud GPU libraries")
set(SUBSYS_DEPS)
-option(BUILD_GPU "Build the GPU-related subsystems" ${DEFAULT})
+option(BUILD_GPU "Build the GPU-related subsystems" OFF)
if(NOT (BUILD_GPU AND CUDA_FOUND))
return()
diff --git a/gpu/kinfu/tools/CMakeLists.txt b/gpu/kinfu/tools/CMakeLists.txt
index e1593b3..2477f86 100644
--- a/gpu/kinfu/tools/CMakeLists.txt
+++ b/gpu/kinfu/tools/CMakeLists.txt
@@ -2,7 +2,7 @@ set(SUBSUBSYS_NAME tools)
set(SUBSUBSYS_DESC "Kinfu tools")
set(SUBSUBSYS_DEPS gpu_kinfu visualization)
set(SUBSUBSYS_OPT_DEPS opencv)
-set(EXT_DEPS openni)
+set(EXT_DEPS glew openni)
set(DEFAULT TRUE)
set(REASON "")
diff --git a/gpu/kinfu_large_scale/CMakeLists.txt b/gpu/kinfu_large_scale/CMakeLists.txt
index 0488fcb..9fb9432 100644
--- a/gpu/kinfu_large_scale/CMakeLists.txt
+++ b/gpu/kinfu_large_scale/CMakeLists.txt
@@ -2,6 +2,8 @@ set(SUBSYS_NAME gpu_kinfu_large_scale)
set(SUBSYS_PATH gpu/kinfu_large_scale)
set(SUBSYS_DESC "Kinect Fusion implementation, with volume shifting")
set(SUBSYS_DEPS common io gpu_containers gpu_utils geometry search octree filters kdtree features surface)
+set(EXT_DEPS vtk) # Uses saveRgbPNGFile from png_io, which requires VTK to be present
+
if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "12.0")
set(DEFAULT FALSE)
set(REASON "Kinfu_large_scale uses textures which was removed in CUDA 12")
@@ -11,7 +13,7 @@ endif()
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
-PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}")
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
mark_as_advanced("BUILD_${SUBSYS_NAME}")
if(NOT build)
diff --git a/gpu/kinfu_large_scale/tools/CMakeLists.txt b/gpu/kinfu_large_scale/tools/CMakeLists.txt
index d8d6547..017a190 100644
--- a/gpu/kinfu_large_scale/tools/CMakeLists.txt
+++ b/gpu/kinfu_large_scale/tools/CMakeLists.txt
@@ -2,7 +2,7 @@ set(SUBSUBSYS_NAME tools)
set(SUBSUBSYS_DESC "Kinfu large scale tools")
set(SUBSUBSYS_DEPS gpu_kinfu_large_scale visualization)
set(SUBSUBSYS_OPT_DEPS )
-set(EXT_DEPS openni openni2)
+set(EXT_DEPS glew openni openni2)
set(DEFAULT TRUE)
set(REASON "")
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
index 7fc86b2..0e4ef22 100644
--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
@@ -3,7 +3,6 @@ set(SUBSYS_DESC "Point cloud IO library")
set(SUBSYS_DEPS common octree)
set(SUBSYS_EXT_DEPS boost eigen3)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
if(WIN32)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS openni openni2 ensenso davidSDK dssdk rssdk rssdk2 pcap png vtk OpenMP EXT_DEPS ${SUBSYS_EXT_DEPS})
diff --git a/kdtree/CMakeLists.txt b/kdtree/CMakeLists.txt
index d9c94bb..e015aa3 100644
--- a/kdtree/CMakeLists.txt
+++ b/kdtree/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME kdtree)
set(SUBSYS_DESC "Point cloud kd-tree library")
set(SUBSYS_DEPS common)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS flann)
diff --git a/keypoints/CMakeLists.txt b/keypoints/CMakeLists.txt
index 480e022..de9189a 100644
--- a/keypoints/CMakeLists.txt
+++ b/keypoints/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME keypoints)
set(SUBSYS_DESC "Point cloud keypoints library")
set(SUBSYS_DEPS common search kdtree octree features filters)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
diff --git a/ml/CMakeLists.txt b/ml/CMakeLists.txt
index 98209be..a67a583 100644
--- a/ml/CMakeLists.txt
+++ b/ml/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME ml)
set(SUBSYS_DESC "Point cloud machine learning library")
set(SUBSYS_DEPS common)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
diff --git a/octree/CMakeLists.txt b/octree/CMakeLists.txt
index b5c5843..5f5a431 100644
--- a/octree/CMakeLists.txt
+++ b/octree/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME octree)
set(SUBSYS_DESC "Point cloud octree library")
set(SUBSYS_DEPS common)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
diff --git a/people/CMakeLists.txt b/people/CMakeLists.txt
index dca32d6..73780f0 100644
--- a/people/CMakeLists.txt
+++ b/people/CMakeLists.txt
@@ -1,19 +1,10 @@
set(SUBSYS_NAME people)
set(SUBSYS_DESC "Point cloud people library")
set(SUBSYS_DEPS common kdtree search sample_consensus filters io visualization geometry segmentation octree)
+set(EXT_DEPS vtk)
-if(NOT VTK_FOUND)
- set(DEFAULT FALSE)
- set(REASON "VTK was not found.")
-else()
- set(DEFAULT TRUE)
- set(REASON)
- include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
-endif()
-
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
-PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
PCL_ADD_DOC("${SUBSYS_NAME}")
diff --git a/recognition/CMakeLists.txt b/recognition/CMakeLists.txt
index 84158dc..0cbd455 100644
--- a/recognition/CMakeLists.txt
+++ b/recognition/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME recognition)
set(SUBSYS_DESC "Point cloud recognition library")
set(SUBSYS_DEPS common io search kdtree octree features filters registration sample_consensus ml)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
diff --git a/sample_consensus/CMakeLists.txt b/sample_consensus/CMakeLists.txt
index 8552bee..6565215 100644
--- a/sample_consensus/CMakeLists.txt
+++ b/sample_consensus/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME sample_consensus)
set(SUBSYS_DESC "Point cloud sample consensus library")
set(SUBSYS_DEPS common search)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
diff --git a/search/CMakeLists.txt b/search/CMakeLists.txt
index 0b93e52..e0296cd 100644
--- a/search/CMakeLists.txt
+++ b/search/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME search)
set(SUBSYS_DESC "Point cloud generic search library")
set(SUBSYS_DEPS common kdtree octree)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS flann)
diff --git a/segmentation/CMakeLists.txt b/segmentation/CMakeLists.txt
index f6cdf29..cb31b7b 100644
--- a/segmentation/CMakeLists.txt
+++ b/segmentation/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME segmentation)
set(SUBSYS_DESC "Point cloud segmentation library")
set(SUBSYS_DEPS common geometry search sample_consensus kdtree octree features filters ml)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
diff --git a/simulation/CMakeLists.txt b/simulation/CMakeLists.txt
index 22bb820..1002f5d 100644
--- a/simulation/CMakeLists.txt
+++ b/simulation/CMakeLists.txt
@@ -2,11 +2,6 @@ set(SUBSYS_NAME simulation)
set(SUBSYS_DESC "Point Cloud Library Simulation")
set(SUBSYS_DEPS common io surface kdtree features search octree visualization filters geometry)
-set(build FALSE)
-find_package(OpenGL)
-
-find_package(GLEW)
-
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS opengl glew)
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index a4151e9..3362164 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -2,10 +2,8 @@ set(SUBSYS_NAME tools)
set(SUBSYS_DESC "Useful PCL-based command line tools")
set(SUBSYS_DEPS io)
set(SUBSYS_OPT_DEPS filters sample_consensus segmentation search kdtree features surface octree registration recognition geometry keypoints ml visualization vtk)
-set(DEFAULT ON)
-set(REASON "")
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
+PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${SUBSYS_OPT_DEPS})
if(NOT build)
diff --git a/tracking/CMakeLists.txt b/tracking/CMakeLists.txt
index 985e4ce..78109d9 100644
--- a/tracking/CMakeLists.txt
+++ b/tracking/CMakeLists.txt
@@ -2,7 +2,6 @@ set(SUBSYS_NAME tracking)
set(SUBSYS_DESC "Point cloud tracking library")
set(SUBSYS_DEPS common search kdtree filters octree)
-set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index 9c4e000..8cfd987 100644
--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
@@ -2,16 +2,7 @@ set(SUBSYS_NAME visualization)
set(SUBSYS_DESC "Point cloud visualization library")
set(SUBSYS_DEPS common io kdtree geometry search octree)
-if(NOT VTK_FOUND)
- set(DEFAULT FALSE)
- set(REASON "VTK was not found.")
-else()
- set(DEFAULT TRUE)
- set(REASON)
- include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
-endif()
-
-PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS vtk OPT_DEPS openni openni2 ensenso davidSDK dssdk rssdk)
if(ANDROID)
@@ -147,6 +138,12 @@ endif()
set(LIB_NAME "pcl_${SUBSYS_NAME}")
PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${common_incs} ${impl_incs} ${common_impl_incs} ${vtk_incs})
+target_include_directories(${LIB_NAME} PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>
+)
+
+
# apple workaround (continued)
if(APPLE)
target_link_libraries("${LIB_NAME}" "-framework Cocoa")
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