Allow pcl to be built against a system-wide installed metslib #299
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This patch allows PCL to build against a system installed metslib where available. It uses pkgconfig to try to discover metslib.pc, and when both are available HAVE_METSLIB is set to ON and the include paths are modified to use metslib's location as discovered by pkgconfig. When pkgconfig and/or metslib is not found, cmake will continue to use the bundled version of metslib as before.
While making modifications for metslib, I noticed that there was some mixed use of tabs and spaces for intentation. I normalized them all to 4 spaces per tab and made the indentation of all of the "set" blocks consistent.
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+1 from me. @arbeitor what do you think? |
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looks good for me too |
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I would propose to remove the build in version than, so we don't have a diverging fork. |
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not sure about removing the bundled version... might cause some problems and an additional dependency. However, i think the patch is good as it will allow people knowing what they are doing to use a different metlibs library. @jpgr87 , did you run into problems compiling pcl_recognition with your system version? |
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Actually, looking back it looks like there was one issue. I was building against metslib 0.5.3, which is a little bit newer than the one being bundled for pcl_recognition, and there were some api changes (the removal of simulated_annealing::setApplyAndEvaluate(bool)) as per https://projects.coin-or.org/metslib/wiki/MigrationGuide. I think if possible it might be worthwhile to update the metslib version in pcl_recognition to the latest upstream version, deal with any api changes, and set a minimum version requirement of 0.5 for when an external metslib is found. |
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@arbeitor can you push your patches upstream? Thanks! Once this is done, I don't see a point in maintaining our own copy and adding an extra dependency should be easy. |
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the simulated_annealing::setApplyAndEvaluate was never in the official metslib api, that is something i added for efficiency reasons (to evaluate the solution i had to first apply the move). I will have a look into this to see what needs to be changed in pcl_recognition so that it compiles against system metslib. |
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Since this is not breaking the current functionality, I'll merge it. |
Allow pcl to be built against a system-wide installed metslib
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I think the include_directories directive in cmake should go in a global scope. I'm getting this error: |
This patch allows pcl to be built against either a system-installed metslib installation, or the version bundled with the pcl source. It discovers metslib with pkg-config where available. See commit comments for more details.