Merge pull request #299 from jpgr87/master

Allow pcl to be built against a system-wide installed metslib
PointCloudLibrary · Dec 14, 2013 · 2c872f5 · 2c872f5
2 parents 40e6127 + 579f202
commit 2c872f5
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Showing 3 changed files with 53 additions and 38 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -14,6 +14,9 @@ string(TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 ### ---[ Find universal dependencies
 set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/Modules/" ${CMAKE_MODULE_PATH})
 
+# ---[ Include pkgconfig
+include (FindPkgConfig)
+
 # ---[ Release/Debug specific flags
 if(CMAKE_BUILD_TYPE STREQUAL "Release" OR CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
   add_definitions("-DBOOST_DISABLE_ASSERTS -DEIGEN_NO_DEBUG")
@@ -267,6 +270,14 @@ if (PXCAPI_FOUND)
   include_directories(SYSTEM ${PXCAPI_INCLUDE_DIRS})
 endif()
 
+# metslib
+if (PKG_CONFIG_FOUND)
+  pkg_check_modules(METSLIB metslib)
+  if (METSLIB_FOUND)
+    set (HAVE_METSLIB ON)
+  endif()
+endif()
+
 # LibPNG
 find_package(PNG)
 if (PNG_FOUND)

diff --git a/recognition/CMakeLists.txt b/recognition/CMakeLists.txt
@@ -20,8 +20,8 @@ if(build)
         include/pcl/${SUBSYS_NAME}/boost.h
         include/pcl/${SUBSYS_NAME}/color_gradient_dot_modality.h
         include/pcl/${SUBSYS_NAME}/color_gradient_modality.h
-		    include/pcl/${SUBSYS_NAME}/color_modality.h
-		    include/pcl/${SUBSYS_NAME}/crh_alignment.h
+        include/pcl/${SUBSYS_NAME}/color_modality.h
+        include/pcl/${SUBSYS_NAME}/crh_alignment.h
         include/pcl/${SUBSYS_NAME}/linemod.h
         include/pcl/${SUBSYS_NAME}/dotmod.h
         include/pcl/${SUBSYS_NAME}/quantizable_modality.h
@@ -36,8 +36,8 @@ if(build)
         include/pcl/${SUBSYS_NAME}/surface_normal_modality.h
         include/pcl/${SUBSYS_NAME}/linemod/line_rgbd.h
       	include/pcl/${SUBSYS_NAME}/implicit_shape_model.h
-		include/pcl/${SUBSYS_NAME}/ransac_based/auxiliary.h
-		include/pcl/${SUBSYS_NAME}/ransac_based/hypothesis.h
+        include/pcl/${SUBSYS_NAME}/ransac_based/auxiliary.h
+        include/pcl/${SUBSYS_NAME}/ransac_based/hypothesis.h
         include/pcl/${SUBSYS_NAME}/ransac_based/model_library.h
         include/pcl/${SUBSYS_NAME}/ransac_based/rigid_transform_space.h
         include/pcl/${SUBSYS_NAME}/ransac_based/obj_rec_ransac.h
@@ -48,12 +48,11 @@ if(build)
         include/pcl/${SUBSYS_NAME}/ransac_based/simple_octree.h
         include/pcl/${SUBSYS_NAME}/ransac_based/voxel_structure.h
         include/pcl/${SUBSYS_NAME}/ransac_based/bvh.h
-
         )
 
-	set (ransac_based_incs 
-		include/pcl/${SUBSYS_NAME}/ransac_based/auxiliary.h
-		include/pcl/${SUBSYS_NAME}/ransac_based/hypothesis.h
+    set(ransac_based_incs 
+        include/pcl/${SUBSYS_NAME}/ransac_based/auxiliary.h
+        include/pcl/${SUBSYS_NAME}/ransac_based/hypothesis.h
         include/pcl/${SUBSYS_NAME}/ransac_based/model_library.h
         include/pcl/${SUBSYS_NAME}/ransac_based/rigid_transform_space.h
         include/pcl/${SUBSYS_NAME}/ransac_based/obj_rec_ransac.h
@@ -66,50 +65,46 @@ if(build)
         include/pcl/${SUBSYS_NAME}/ransac_based/bvh.h
 	)
 
-
     set(hv_incs
         include/pcl/${SUBSYS_NAME}/hv/occlusion_reasoning.h
         include/pcl/${SUBSYS_NAME}/hv/hypotheses_verification.h
         include/pcl/${SUBSYS_NAME}/hv/hv_papazov.h
         include/pcl/${SUBSYS_NAME}/hv/hv_go.h
         include/pcl/${SUBSYS_NAME}/hv/greedy_verification.h    
-      )
-      
+        )
+
     set(face_detection_incs
-      include/pcl/${SUBSYS_NAME}/face_detection/face_common.h
-      include/pcl/${SUBSYS_NAME}/face_detection/face_detector_data_provider.h
-      include/pcl/${SUBSYS_NAME}/face_detection/rf_face_detector_trainer.h
-      include/pcl/${SUBSYS_NAME}/face_detection/rf_face_utils.h    
-    )
-      
+        include/pcl/${SUBSYS_NAME}/face_detection/face_common.h
+        include/pcl/${SUBSYS_NAME}/face_detection/face_detector_data_provider.h
+        include/pcl/${SUBSYS_NAME}/face_detection/rf_face_detector_trainer.h
+        include/pcl/${SUBSYS_NAME}/face_detection/rf_face_utils.h    
+        ) 
+
     set(cg_incs
         include/pcl/${SUBSYS_NAME}/cg/correspondence_grouping.h
         include/pcl/${SUBSYS_NAME}/cg/hough_3d.h    
         include/pcl/${SUBSYS_NAME}/cg/geometric_consistency.h
         )
-
 
     set(impl_incs 
         include/pcl/${SUBSYS_NAME}/impl/linemod/line_rgbd.hpp
         include/pcl/${SUBSYS_NAME}/impl/ransac_based/simple_octree.hpp
         include/pcl/${SUBSYS_NAME}/impl/ransac_based/voxel_structure.hpp
-		include/pcl/${SUBSYS_NAME}/impl/implicit_shape_model.hpp
+        include/pcl/${SUBSYS_NAME}/impl/implicit_shape_model.hpp
         )
 
-
-	set(ransac_based_impl_incs
-		include/pcl/${SUBSYS_NAME}/impl/ransac_based/simple_octree.hpp
+    set(ransac_based_impl_incs
+        include/pcl/${SUBSYS_NAME}/impl/ransac_based/simple_octree.hpp
         include/pcl/${SUBSYS_NAME}/impl/ransac_based/voxel_structure.hpp
 	)
 
-
     set(hv_impl_incs
         include/pcl/${SUBSYS_NAME}/impl/hv/occlusion_reasoning.hpp
         include/pcl/${SUBSYS_NAME}/impl/hv/hv_papazov.hpp        
         include/pcl/${SUBSYS_NAME}/impl/hv/greedy_verification.hpp
         include/pcl/${SUBSYS_NAME}/impl/hv/hv_go.hpp
-    )
-    
+        )
+
     set(cg_impl_incs
         include/pcl/${SUBSYS_NAME}/impl/cg/correspondence_grouping.hpp
         include/pcl/${SUBSYS_NAME}/impl/cg/hough_3d.hpp
@@ -133,23 +128,32 @@ if(build)
         src/ransac_based/orr_octree_zprojection.cpp
         src/face_detection/face_detector_data_provider.cpp
         src/face_detection/rf_face_detector_trainer.cpp
-		    src/implicit_shape_model.cpp
+        src/implicit_shape_model.cpp
         )
 
-    set(metslib_incs
-        include/pcl/${SUBSYS_NAME}/3rdparty/metslib/abstract-search.hh
-        include/pcl/${SUBSYS_NAME}/3rdparty/metslib/local-search.hh
-        include/pcl/${SUBSYS_NAME}/3rdparty/metslib/mets.hh
-        include/pcl/${SUBSYS_NAME}/3rdparty/metslib/metslib_config.hh
-        include/pcl/${SUBSYS_NAME}/3rdparty/metslib/model.hh
-        include/pcl/${SUBSYS_NAME}/3rdparty/metslib/observer.hh
-        include/pcl/${SUBSYS_NAME}/3rdparty/metslib/simulated-annealing.hh
-        include/pcl/${SUBSYS_NAME}/3rdparty/metslib/tabu-search.hh
-        include/pcl/${SUBSYS_NAME}/3rdparty/metslib/termination-criteria.hh
-    )
+    if (HAVE_METSLIB)
+        set(metslib_incs "")
+    else(HAVE_METSLIB)
+        set(metslib_incs
+            include/pcl/${SUBSYS_NAME}/3rdparty/metslib/abstract-search.hh
+            include/pcl/${SUBSYS_NAME}/3rdparty/metslib/local-search.hh
+            include/pcl/${SUBSYS_NAME}/3rdparty/metslib/mets.hh
+            include/pcl/${SUBSYS_NAME}/3rdparty/metslib/metslib_config.hh
+            include/pcl/${SUBSYS_NAME}/3rdparty/metslib/model.hh
+            include/pcl/${SUBSYS_NAME}/3rdparty/metslib/observer.hh
+            include/pcl/${SUBSYS_NAME}/3rdparty/metslib/simulated-annealing.hh
+            include/pcl/${SUBSYS_NAME}/3rdparty/metslib/tabu-search.hh
+            include/pcl/${SUBSYS_NAME}/3rdparty/metslib/termination-criteria.hh
+            )
+    endif(HAVE_METSLIB)
 
     set(LIB_NAME pcl_${SUBSYS_NAME})
     include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+    if (HAVE_METSLIB)
+        include_directories(${METSLIB_INCLUDE_DIRS})
+    else(HAVE_METSLIB)
+        include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/pcl/recognition/3rdparty/)
+    endif(HAVE_METSLIB)
     PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs} ${face_detection_incs} ${ransac_based_incs} ${ransac_based_impl_incs} ${hv_incs} ${hv_impl_incs} ${cg_incs} ${cg_impl_incs} ${metslib_incs})
     target_link_libraries(${LIB_NAME} pcl_common pcl_kdtree pcl_octree pcl_search pcl_features pcl_registration pcl_sample_consensus pcl_filters pcl_ml pcl_io)
     PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")

diff --git a/recognition/include/pcl/recognition/hv/hv_go.h b/recognition/include/pcl/recognition/hv/hv_go.h
@@ -11,7 +11,7 @@
 #include <pcl/pcl_macros.h>
 #include <pcl/recognition/hv/hypotheses_verification.h>
 #include <pcl/common/common.h>
-#include "pcl/recognition/3rdparty/metslib/mets.hh"
+#include "metslib/mets.hh"
 #include <pcl/features/normal_3d.h>
 #include <boost/graph/graph_traits.hpp>
 #include <boost/graph/adjacency_list.hpp>