viewer and experimental tools are compiling again

uos · Dec 9, 2024 · 2a78b79 · 2a78b79
1 parent 3942c1a
commit 2a78b79
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Showing 11 changed files with 180 additions and 85 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.14)
+cmake_minimum_required(VERSION 3.16)
 project(lvr2 VERSION 3.0.0)
 
 # OPTIONS
@@ -187,14 +187,15 @@ endif(WITH_CV_NONFREE)
 # Searching for FLANN
 #------------------------------------------------------------------------------
 find_package(FLANN REQUIRED)
-if(FLANN_FOUND)
-	message(STATUS "Found FLANN library: ${FLANN_INCLUDE_DIR}")
-	include_directories(${FLANN_INCLUDRE_DIR})
-endif(FLANN_FOUND)
+message(STATUS "Found FLANN library: ${FLANN_INCLUDE_DIR}")
+include_directories(${FLANN_INCLUDRE_DIR})
 
+#------------------------------------------------------------------------------
+# Searching for LZ4
+#------------------------------------------------------------------------------
 find_package(Lz4 REQUIRED)
-include_directories(  ${LZ4_INCLUDE_DIR} )
-message(STATUS "Found LZ4 library: ${LZ4_LIBRARY}")
+include_directories(${LZ4_INCLUDE_DIR})
+message(STATUS "Found LZ4 library: ${LZ4_INCLUDE_DIR}")
 
 #------------------------------------------------------------------------------
 # Searching for GSL
@@ -223,6 +224,56 @@ if(OPENCL_FOUND)
     endif(OpenCL_NEW_API)
 endif(OPENCL_FOUND)
 
+if(BUILD_VIEWER)
+  #------------------------------------------------------------------------------
+  # Searching for VTK
+  #------------------------------------------------------------------------------
+  set(VTK_QT_VERSION 5)
+  find_package(VTK REQUIRED)
+
+  if(DEFINED VTK_MAJOR_VERSION AND VTK_MAJOR_VERSION VERSION_EQUAL "8")
+    # patched QVTKOpenGL header because of name clash with signals.
+    add_subdirectory(ext/QVTKOpenGLWidget)
+    include_directories(BEFORE ${QVTK_PATCHED_INCLUDE_DIR} )
+    list(APPEND LVR2_INSTALL_INCLUDE_DIRS ${QVTK_PATCHED_INCLUDE_DIR})
+    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK8)
+  elseif(DEFINED VTK_MAJOR_VERSION AND VTK_MAJOR_VERSION VERSION_EQUAL "9")
+    add_subdirectory(ext/QVTKOpenGLWidget)
+    include_directories(BEFORE ${QVTK_PATCHED_INCLUDE_DIR} )
+    list(APPEND LVR2_INSTALL_INCLUDE_DIRS ${QVTK_PATCHED_INCLUDE_DIR})
+    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK9)
+  endif()
+  if(DEFINED VTK_MAJOR_VERSION AND VTK_MAJOR_VERSION VERSION_LESS "6")
+    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK5)
+  endif()
+
+  if(VTK_MAJOR_VERSION VERSION_EQUAL "7")
+      if(VTK_MINOR_VERSION VERSION_GREATER "0")
+          list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
+      endif()
+  endif()
+
+  if(VTK_MAJOR_VERSION VERSION_GREATER "7")
+    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
+  endif()
+
+  if(VTK_VERSION VERSION_GREATER "7")
+
+    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
+    set(VTK_COMPONENTS "${VTK_AVAILABLE_COMPONENTS}")
+    set(VTK_HAS_QT OFF)
+    foreach(VTK_COMPONENT ${VTK_COMPONENTS})
+      if("${VTK_COMPONENT}" STREQUAL "GUISupportQt")
+        set(VTK_HAS_QT ON)
+      endif()
+    endforeach()
+
+    message(STATUS "Found VTK (Version > 7)")
+    if(VTK_HAS_QT)
+      message(STATUS "Found VTK compoment QVTK")
+    endif()
+  endif()
+endif(BUILD_VIEWER)
 
 #------------------------------------------------------------------------------
 # Searching for NABO
@@ -726,8 +777,9 @@ if(BUILD_TOOLS_EXPERIMENTAL)
 
 endif(BUILD_TOOLS_EXPERIMENTAL)
 
-
-
+###############################################################################
+# LVR2 EXAMPLES
+###############################################################################
 if(BUILD_EXAMPLES)
     add_subdirectory(examples)
 endif()
@@ -736,53 +788,9 @@ endif()
 # LVR2 VIEWER + LVR2 ASCII VIEWER
 ###############################################################################
 if(BUILD_VIEWER)
-  #------------------------------------------------------------------------------
-  # Searching for VTK
-  #------------------------------------------------------------------------------
-  set(VTK_QT_VERSION 5)
-  find_package(VTK REQUIRED)
 
-  if(DEFINED VTK_MAJOR_VERSION AND VTK_MAJOR_VERSION VERSION_EQUAL "8")
-    # patched QVTKOpenGL header because of name clash with signals.
-    add_subdirectory(ext/QVTKOpenGLWidget)
-    include_directories(BEFORE ${QVTK_PATCHED_INCLUDE_DIR} )
-    list(APPEND LVR2_INSTALL_INCLUDE_DIRS ${QVTK_PATCHED_INCLUDE_DIR})
-    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK8)
-  elseif(DEFINED VTK_MAJOR_VERSION AND VTK_MAJOR_VERSION VERSION_EQUAL "9")
-    add_subdirectory(ext/QVTKOpenGLWidget)
-    include_directories(BEFORE ${QVTK_PATCHED_INCLUDE_DIR} )
-    list(APPEND LVR2_INSTALL_INCLUDE_DIRS ${QVTK_PATCHED_INCLUDE_DIR})
-    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK9)
-  endif()
-  if(DEFINED VTK_MAJOR_VERSION AND VTK_MAJOR_VERSION VERSION_LESS "6")
-    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK5)
-  endif()
-
-  if(VTK_MAJOR_VERSION VERSION_EQUAL "7")
-      if(VTK_MINOR_VERSION VERSION_GREATER "0")
-          list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
-      endif()
-  endif()
-
-  if(VTK_MAJOR_VERSION VERSION_GREATER "7")
-    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
-  endif()
-
-  if(VTK_VERSION VERSION_GREATER "7")
-
-    list(APPEND LVR2_DEFINITIONS -DLVR2_USE_VTK_GE_7_1)
-    set(VTK_COMPONENTS "${VTK_AVAILABLE_COMPONENTS}")
-    set(VTK_HAS_QT OFF)
-    foreach(VTK_COMPONENT ${VTK_COMPONENTS})
-      if("${VTK_COMPONENT}" STREQUAL "GUISupportQt")
-        set(VTK_HAS_QT ON)
-      endif()
-    endforeach()
-
-    message(STATUS "Found VTK (Version > 7)")
-    if(VTK_HAS_QT)
-      message(STATUS "Found VTK compoment QVTK")
-    endif()
+  if(DEFINED VTK_USE_FILE)
+    include(${VTK_USE_FILE})
   endif()
 
   find_package(Qt5 COMPONENTS Core Widgets Xml OpenGL)
@@ -856,6 +864,22 @@ install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/ext/HighFive/include/
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/ext/spdlog/include/
     DESTINATION "include")
 
+
+###############################################################################
+# Uninstall
+###############################################################################
+# https://gitlab.kitware.com/cmake/community/-/wikis/FAQ#can-i-do-make-uninstall-with-cmake
+if(NOT TARGET uninstall)
+  configure_file(
+    "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/lvr2-uninstall.cmake.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/lvr2-uninstall.cmake"
+    IMMEDIATE @ONLY)
+
+  add_custom_target(uninstall
+    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/lvr2-uninstall.cmake
+    COMMENT "Uninstall lvr2 libraries and all header files")
+endif()
+
 ###############################################################################
 # DOCUMENTATION
 ###############################################################################

diff --git a/CMakeModules/FindLz4.cmake b/CMakeModules/FindLz4.cmake
@@ -6,6 +6,60 @@
 #  LZ4_LIBRARY, path to liblz4.so
 #  LZ4_FOUND, whether lz4 has been found
 
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(lz4 REQUIRED IMPORTED_TARGET liblz4)
-set(LZ4_LIBRARY PkgConfig::lz4)
+set(LZ4_FOUND FALSE)
+
+message(STATUS "Try to find LZ4: find_path + find_library")
+find_path(LZ4_INCLUDE_DIR
+  NAMES lz4.h
+  DOC "lz4 include directory")
+
+find_library(LZ4_LIBRARY
+  NAMES lz4 liblz4
+  DOC "lz4 library")
+
+if(NOT LZ4_FOUND)
+message(STATUS "Try to find LZ4: FindPackageHandleStandardArgs")
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(LZ4
+  REQUIRED_VARS LZ4_LIBRARY LZ4_INCLUDE_DIR
+  VERSION_VAR LZ4_VERSION)
+endif(NOT LZ4_FOUND)
+
+if (LZ4_INCLUDE_DIR)
+  file(STRINGS "${LZ4_INCLUDE_DIR}/lz4.h" _lz4_version_lines
+    REGEX "#define[ \t]+LZ4_VERSION_(MAJOR|MINOR|RELEASE)")
+  string(REGEX REPLACE ".*LZ4_VERSION_MAJOR *\([0-9]*\).*" "\\1" _lz4_version_major "${_lz4_version_lines}")
+  string(REGEX REPLACE ".*LZ4_VERSION_MINOR *\([0-9]*\).*" "\\1" _lz4_version_minor "${_lz4_version_lines}")
+  string(REGEX REPLACE ".*LZ4_VERSION_RELEASE *\([0-9]*\).*" "\\1" _lz4_version_release "${_lz4_version_lines}")
+  set(LZ4_VERSION "${_lz4_version_major}.${_lz4_version_minor}.${_lz4_version_release}")
+  unset(_lz4_version_major)
+  unset(_lz4_version_minor)
+  unset(_lz4_version_release)
+  unset(_lz4_version_lines)
+endif()
+
+if(NOT LZ4_FOUND)
+  find_package(PkgConfig)
+  pkg_search_module(LZ4 lz4 liblz4)
+  if(TARGET PkgConfig::LZ4)
+    set(LZ4_INCLUDE_DIR ${LZ4_INCLUDEDIR})
+    set(LZ4_LIBRARY PkgConfig::LZ4)
+    set(LZ4_FOUND TRUE)
+  endif(TARGET PkgConfig::LZ4)
+endif(NOT LZ4_FOUND)
+
+if (LZ4_FOUND)
+  set(LZ4_INCLUDE_DIRS "${LZ4_INCLUDE_DIR}")
+  set(LZ4_LIBRARIES "${LZ4_LIBRARY}")
+
+  if (NOT TARGET LZ4::LZ4)
+    add_library(LZ4::LZ4 UNKNOWN IMPORTED)
+    set_target_properties(LZ4::LZ4 PROPERTIES
+      IMPORTED_LOCATION "${LZ4_LIBRARY}"
+      INTERFACE_INCLUDE_DIRECTORIES "${LZ4_INCLUDE_DIR}")
+  endif ()
+endif ()
+
+mark_as_advanced(LZ4_FOUND)
+mark_as_advanced(LZ4_INCLUDE_DIR)
+mark_as_advanced(LZ4_LIBRARY)
diff --git a/CMakeModules/lvr2-uninstall.cmake.in b/CMakeModules/lvr2-uninstall.cmake.in
@@ -0,0 +1,17 @@
+file(READ "@CMAKE_BINARY_DIR@/install_manifest.txt" files)
+string(REGEX REPLACE "\n" ";" files "${files}")
+foreach(file ${files})
+  message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
+  if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    exec_program(
+      "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
+      OUTPUT_VARIABLE rm_out
+      RETURN_VALUE rm_retval
+      )
+    if(NOT "${rm_retval}" STREQUAL 0)
+      message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
+    endif()
+  else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
+  endif()
+endforeach()
diff --git a/LVR2Config.cmake.in b/LVR2Config.cmake.in
@@ -84,6 +84,7 @@ list(APPEND LVR2_LIBRARIES ${HDF5_LIBRARIES} ${HDF5_HL_LIBRARIES})
 ##  OPTIONAL DEPS  ##
 #####################
 
+# VTK
 if(@VTK_FOUND@)
     find_package(VTK REQUIRED)
     list(APPEND LVR2_INCLUDE_DIRS ${VTK_INCLUDE_DIRS})

diff --git a/ext/laslib/src/bytestreamin_istream.hpp b/ext/laslib/src/bytestreamin_istream.hpp
@@ -145,7 +145,7 @@ inline BOOL ByteStreamInIstream::seek(const I64 position)
 
 inline BOOL ByteStreamInIstream::seekEnd(const I64 distance)
 {
-  stream.seekg(static_cast<streamoff>(-distance), ios::end);
+  stream.seekg(static_cast<streamoff>(-distance), std::ios::end);
   return stream.good();
 }
 

diff --git a/ext/laslib/src/bytestreamout_ostream.hpp b/ext/laslib/src/bytestreamout_ostream.hpp
@@ -138,7 +138,7 @@ inline BOOL ByteStreamOutOstream::seek(I64 position)
 
 inline BOOL ByteStreamOutOstream::seekEnd()
 {
-  stream.seekp(0, ios::end);
+  stream.seekp(0, std::ios::end);
   return stream.good();
 }
 

diff --git a/include/lvr2/reconstruction/LargeScaleReconstruction.tcc b/include/lvr2/reconstruction/LargeScaleReconstruction.tcc
@@ -1324,10 +1324,10 @@ namespace lvr2
             largeScale << "/tmp/lvr2_lsr_mpi_" << rank << "_" << chunk;
 
             std::ifstream fl(largeScale.str());
-            fl.seekg(0, ios::end);
+            fl.seekg(0, std::ios::end);
             int len = fl.tellg();
             char* result = new char[len];
-            fl.seekg(0, ios::beg);
+            fl.seekg(0, std::ios::beg);
             fl.read(result, len);
             fl.close();
 

diff --git a/src/liblvr2/registration/GraphSLAM.cpp b/src/liblvr2/registration/GraphSLAM.cpp
@@ -387,7 +387,7 @@ void GraphSLAM::fillEquation(const vector<SLAMScanPtr>& scans, const Graph& grap
     int x, y;
     for (auto& e : result)
     {
-        tie(x, y) = e.first;
+        std::tie(x, y) = e.first;
         Matrix6d& m = e.second;
         for (int dx = 0; dx < 6; dx++)
         {

diff --git a/src/tools/lvr2_ground_level_extractor/Main.cpp b/src/tools/lvr2_ground_level_extractor/Main.cpp
@@ -377,7 +377,7 @@ int main(int argc, char* argv[])
     {    
         // Right now, LVR2 doesn't support Large Coordinates and we can't use the Translation fully
         // In Functions where we use the Matrix we need to exclude the Translation 
-        tie(affineMatrix,affineTranslation) = computeAffineGeoRefMatrix(srcPoints,dstPoints,numberOfPoints); 
+        std::tie(affineMatrix,affineTranslation) = computeAffineGeoRefMatrix(srcPoints,dstPoints,numberOfPoints); 
         fullAffineMatrix = affineTranslation * affineMatrix;
 
         // Check, if Rotation is supported