OctoMap · jnumm · Jan 23, 2020 · Jan 23, 2020 · Jan 23, 2020 · Jan 10, 2020
diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
@@ -147,7 +147,7 @@ install(FILES
 include(InstallPkgConfigFile)
 install_pkg_config_file(dynamicEDT3D
     CFLAGS
-    LIBS -ldynamicEDT3D
+    LIBS -ldynamicedt3d
     REQUIRES
     VERSION ${DYNAMICEDT3D_VERSION})
 

diff --git a/octovis/CMakeLists.txt b/octovis/CMakeLists.txt
@@ -60,107 +60,84 @@ set(INSTALL_TARGETS_DEFAULT_ARGS
   ARCHIVE DESTINATION lib
 )
 
-# Builds the "octovis" viewer based on OpenGL and 
-# libQGLViewer, if dependencies available
-SET( BUILD_VIEWER 0)
-
 option(OCTOVIS_QT5 "Link Octovis against Qt5?" ON)
 
 # Look for required libraries:
-FIND_PACKAGE(OpenGL)
+FIND_PACKAGE(OpenGL REQUIRED)
 if(NOT OCTOVIS_QT5)
-  FIND_PACKAGE(Qt4)
+  FIND_PACKAGE(Qt4 REQUIRED)
 endif(NOT OCTOVIS_QT5)
 
-IF (OpenGL-NOTFOUND OR Qt4-NOTFOUND) 
-	MESSAGE ( "OpenGL and QT4 are required for octovis but could not be found.")	
-ELSE()
-	FIND_PACKAGE(QGLViewer)
-	IF(QGLViewer_FOUND)
-	  SET( BUILD_VIEWER 1)
-	ELSE()
-	  MESSAGE ( "\n")
-  	MESSAGE ( "libQGLViewer could not be found or generated.")
-	ENDIF()
-ENDIF()
+FIND_PACKAGE(QGLViewer REQUIRED)
 
+MESSAGE(STATUS "\n")
+MESSAGE(STATUS "viewer octovis will be built")
 
-IF(BUILD_VIEWER)
-  MESSAGE(STATUS "\n")
-  MESSAGE(STATUS "viewer octovis will be built")
-
-  set(INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
-  INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
-
-  INCLUDE( CMakeLists_src.txt )
-
-  # Create an octovis-config.cmake file for the use from the build tree
-  set(OCTOVIS_INCLUDE_DIRS "${INCLUDE_DIRS}")
-  set(OCTOVIS_LIB_DIR     "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
-  # Set library names as absolute paths
-  # Windows, spec. MSVC requires the .lib suffix for imported libs
-  IF(WIN32)
-    set(OCTOVIS_LIBRARY
-      "${CMAKE_IMPORT_LIBRARY_PREFIX}octovis${CMAKE_IMPORT_LIBRARY_SUFFIX}"
-    )
-  ELSE()
-    set(OCTOVIS_LIBRARY
-      "${CMAKE_SHARED_LIBRARY_PREFIX}octovis${CMAKE_SHARED_LIBRARY_SUFFIX}"
-    )
-  ENDIF()
-
-  include(CMakePackageConfigHelpers)
-
-  CONFIGURE_PACKAGE_CONFIG_FILE(
-    octovis-config.cmake.in
-    "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config.cmake"
-    PATH_VARS OCTOVIS_INCLUDE_DIRS OCTOVIS_LIB_DIR
-    INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/octovis)
-
-  WRITE_BASIC_PACKAGE_VERSION_FILE(
-    "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config-version.cmake"
-    VERSION ${OCTOVIS_VERSION}
-    COMPATIBILITY AnyNewerVersion)
-
-  # not used right now (export depends?)
-  #set(OCTOMAP_CMAKE_DIR "${PROJECT_BINARY_DIR}")
-
-  # Create a octovis-config.cmake file for the use from the install tree
-  # and install it
-  set(OCTOVIS_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
-  set(OCTOVIS_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
-  #set(OCTOMAP_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
-
-  set(OCTOVIS_INCLUDE_TARGETS
-    "include(\${CMAKE_CURRENT_LIST_DIR}/octovis-targets.cmake)")
-
-  CONFIGURE_PACKAGE_CONFIG_FILE(
-    octovis-config.cmake.in
-    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake"
-    PATH_VARS OCTOVIS_INCLUDE_DIRS OCTOVIS_LIB_DIR
-    INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/octovis)
-
-  WRITE_BASIC_PACKAGE_VERSION_FILE(
-    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake"
-    VERSION ${OCTOVIS_VERSION}
-    COMPATIBILITY AnyNewerVersion)
-
-  install(FILES
-    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake"
-    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake" 
-    DESTINATION share/octovis/)
-
-  # #installation:
-  # # store all header files to install:
-  file(GLOB octovis_HDRS  *.h *.hxx *.hpp)
-  install(FILES ${octovis_HDRS} DESTINATION include/octovis)
-
-  # Install catkin package.xml
-  install(FILES package.xml DESTINATION share/octovis)
+set(INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+INCLUDE( CMakeLists_src.txt )
 
+# Create an octovis-config.cmake file for the use from the build tree
+set(OCTOVIS_INCLUDE_DIRS "${INCLUDE_DIRS}")
+set(OCTOVIS_LIB_DIR     "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
+# Set library names as absolute paths
+# Windows, spec. MSVC requires the .lib suffix for imported libs
+IF(WIN32)
+  set(OCTOVIS_LIBRARY
+    "${CMAKE_IMPORT_LIBRARY_PREFIX}octovis${CMAKE_IMPORT_LIBRARY_SUFFIX}"
+  )
 ELSE()
-    MESSAGE ( "Unfortunately, the viewer (octovis) can not be built because some requirements are missing.")
-	MESSAGE ( "This will not affect the compilation of the stand-alone library and tools (octomap)")
-    MESSAGE ( "See README.txt or http://octomap.sf.net for further information.\n")
+  set(OCTOVIS_LIBRARY
+    "${CMAKE_SHARED_LIBRARY_PREFIX}octovis${CMAKE_SHARED_LIBRARY_SUFFIX}"
+  )
 ENDIF()
 
+include(CMakePackageConfigHelpers)
+
+CONFIGURE_PACKAGE_CONFIG_FILE(
+  octovis-config.cmake.in
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config.cmake"
+  PATH_VARS OCTOVIS_INCLUDE_DIRS OCTOVIS_LIB_DIR
+  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/octovis)
+
+WRITE_BASIC_PACKAGE_VERSION_FILE(
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config-version.cmake"
+  VERSION ${OCTOVIS_VERSION}
+  COMPATIBILITY AnyNewerVersion)
+
+# not used right now (export depends?)
+#set(OCTOMAP_CMAKE_DIR "${PROJECT_BINARY_DIR}")
+
+# Create a octovis-config.cmake file for the use from the install tree
+# and install it
+set(OCTOVIS_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
+set(OCTOVIS_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
+#set(OCTOMAP_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
+
+set(OCTOVIS_INCLUDE_TARGETS
+  "include(\${CMAKE_CURRENT_LIST_DIR}/octovis-targets.cmake)")
+
+CONFIGURE_PACKAGE_CONFIG_FILE(
+  octovis-config.cmake.in
+  "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake"
+  PATH_VARS OCTOVIS_INCLUDE_DIRS OCTOVIS_LIB_DIR
+  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/octovis)
+
+WRITE_BASIC_PACKAGE_VERSION_FILE(
+  "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake"
+  VERSION ${OCTOVIS_VERSION}
+  COMPATIBILITY AnyNewerVersion)
+
+install(FILES
+  "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake"
+  "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake"
+  DESTINATION share/octovis/)
+
+# #installation:
+# # store all header files to install:
+file(GLOB octovis_HDRS  *.h *.hxx *.hpp)
+install(FILES ${octovis_HDRS} DESTINATION include/octovis)
+
+# Install catkin package.xml
+install(FILES package.xml DESTINATION share/octovis)
diff --git a/octovis/CMakeLists_src.txt b/octovis/CMakeLists_src.txt
@@ -57,9 +57,7 @@ else(OCTOVIS_QT5)
   QT4_ADD_RESOURCES(viewer_RES src/icons.qrc)
 endif(OCTOVIS_QT5)
 
-#found QGLViewer lib dir
-link_directories(${QGLViewer_LIBRARY_DIR})
-
+#found QGLViewer include dir
 INCLUDE_DIRECTORIES(
   ${QGLViewer_INCLUDE_DIR}
 )

diff --git a/octovis/CMakeModules/FindQGLViewer.cmake b/octovis/CMakeModules/FindQGLViewer.cmake
@@ -1,126 +1,21 @@
 # Find QGLViewer library
-# Looks for a system-wide version of libQGLViewer (qglviewer-qt4 or 5 in Ubuntu).
-# If none is found, it builds and uses the local copy in "extern"
-#
-# Many thanks to L. Ott for assistance!
+# Looks for a system-wide version of libQGLViewer.
 #
 # QGLViewer_INCLUDE_DIR      where to find the include files
-# QGLViewer_LIBRARY_DIR      where to find the libraries
 # QGLViewer_LIBRARIES        list of libraries to link
 # QGLViewer_FOUND            true if QGLViewer was found
 
-SET( QGLViewer_FOUND 0 CACHE BOOL "Do we have QGLViewer?" )
-
-FIND_PATH( QGLVIEWER_BASE_DIR qglviewer.h
-  ${CMAKE_SOURCE_DIR}/src/extern/QGLViewer
-  ${CMAKE_SOURCE_DIR}/octovis/src/extern/QGLViewer
-)
-
-FIND_PATH( QGLViewer_INCLUDE_DIR qglviewer.h
-    /usr/include/qglviewer-qt4
-    /usr/include/QGLViewer
-    /opt/local/include/QGLViewer
-    ${QGLVIEWER_BASE_DIR}
-)
-
-IF( QT4_FOUND )
-    FIND_LIBRARY( QGLViewer_LIBRARY_DIR_UBUNTU NAMES qglviewer-qt4 QGLViewer-qt4)
-ELSE()
-    FIND_LIBRARY( QGLViewer_LIBRARY_DIR_UBUNTU NAMES qglviewer-qt5 QGLViewer-qt5)
-ENDIF()
-FIND_LIBRARY( QGLViewer_LIBRARY_DIR_WINDOWS QGLViewer2 ${QGLVIEWER_BASE_DIR})
-FIND_LIBRARY( QGLViewer_LIBRARY_DIR_OTHER QGLViewer ${QGLVIEWER_BASE_DIR})
-
-SET( BUILD_LIB_FROM_SOURCE 0)
-
-IF( QGLViewer_INCLUDE_DIR )
-
-  MESSAGE(STATUS "QGLViewer includes found in ${QGLViewer_INCLUDE_DIR}")
-  IF (QGLViewer_LIBRARY_DIR_UBUNTU)
-    MESSAGE(STATUS "QGLViewer library found in ${QGLViewer_LIBRARY_DIR_UBUNTU}")
-    SET( QGLViewer_LIBRARIES ${QGLViewer_LIBRARY_DIR_UBUNTU})
-    SET( QGLViewer_FOUND 1 CACHE BOOL "Do we have QGLViewer?" FORCE )
-  ELSEIF(QGLViewer_LIBRARY_DIR_WINDOWS)
-    MESSAGE(STATUS "QGLViewer2 found in ${QGLViewer_LIBRARY_DIR_WINDOWS}")
-    SET( QGLViewer_LIBRARIES ${QGLViewer_LIBRARY_DIR_WINDOWS})
-    SET( QGLViewer_FOUND 1 CACHE BOOL "Do we have QGLViewer?" FORCE )
-  ELSEIF(QGLViewer_LIBRARY_DIR_OTHER)
-    MESSAGE(STATUS "QGLViewer found in ${QGLViewer_LIBRARY_DIR_OTHER}")
-    SET( QGLViewer_LIBRARIES ${QGLViewer_LIBRARY_DIR_OTHER})
-    SET( QGLViewer_FOUND 1 CACHE BOOL "Do we have QGLViewer?" FORCE )
-  ELSE()
-    MESSAGE(STATUS "QGLViewer library not found.")
-    SET( BUILD_LIB_FROM_SOURCE 1)
-    SET( QGLViewer_FOUND 0 CACHE BOOL "Do we have QGLViewer?" FORCE )
-  ENDIF()    
-
-ELSE()
-  SET( BUILD_LIB_FROM_SOURCE 1)
-ENDIF()
-
-# build own libQGLViewer
-IF(BUILD_LIB_FROM_SOURCE)
-
-  IF (WIN32)
-    MESSAGE("Cannot generate QGLViewer2 from source automatically.")
-    MESSAGE("Please build libQGLViewer from source, instructions to do so")
-    MESSAGE("can be found in octovis/README.txt")
-    MESSAGE("Please rerun CMAKE when you are ready.")
-
-  ELSE (WIN32)
-    IF(QGLVIEWER_BASE_DIR)
-      MESSAGE(STATUS "Trying to build libQGLViewer from source in ${QGLVIEWER_BASE_DIR}")
-
-      FIND_PROGRAM(QMAKE-QT4 qmake-qt4)
-      IF (QMAKE-QT4)
-	MESSAGE(STATUS "\t generating Makefile using qmake-qt4") 
-	EXECUTE_PROCESS(
-	  WORKING_DIRECTORY ${QGLVIEWER_BASE_DIR}
-	  COMMAND qmake-qt4
-	  OUTPUT_QUIET
-	  )
-      ELSE(QMAKE-QT4)
-	MESSAGE(STATUS "\t generating Makefile using qmake") 
-	EXECUTE_PROCESS(
-	  WORKING_DIRECTORY ${QGLVIEWER_BASE_DIR}
-	  COMMAND qmake-qt4
-	  OUTPUT_QUIET
-	  )
-      ENDIF(QMAKE-QT4)
-
-      MESSAGE(STATUS "\t building library (this may take some time...)")
-      EXECUTE_PROCESS(
-	WORKING_DIRECTORY ${QGLVIEWER_BASE_DIR}
-	COMMAND make
-	OUTPUT_QUIET
-	)
-    ENDIF(QGLVIEWER_BASE_DIR)
-  ENDIF(WIN32)
-
-ELSE(BUILD_LIB_FROM_SOURCE)
-  IF (NOT QGLViewer_FOUND)
-    MESSAGE(STATUS "QGLViewer sources NOT found. Exiting.")
-  ENDIF ()
-ENDIF(BUILD_LIB_FROM_SOURCE)
+find_path(QGLViewer_INCLUDE_DIR
+  NAMES qglviewer.h
+  PATH_SUFFIXES QGLViewer)
 
-# verify that QGLViewer lib was build if we didnt find it elsewhere
-IF (NOT QGLViewer_FOUND)
-  #FIND_LIBRARY(QGLViewer_LIBRARY_DIR_OTHER QGLViewer ${QGLVIEWER_BASE_DIR})
-  FIND_PATH(QGLLIB libQGLViewer.so ${QGLVIEWER_BASE_DIR})
-  IF (NOT QGLLIB)
-    MESSAGE(WARNING "Could not find libQGLViewer.so, failed to build?")
-    SET( QGLViewer_FOUND 0 CACHE BOOL "Do we have QGLViewer?" FORCE )
-  ELSE()
-    MESSAGE(STATUS "Successfully built library in:\n${QGLLIB}")
-    SET( QGLViewer_INCLUDE_DIR ${QGLVIEWER_BASE_DIR} CACHE PATH "QGLViewer Include directory" FORCE)
-    SET( QGLViewer_LIBRARY_DIR ${QGLVIEWER_BASE_DIR} CACHE PATH "QGLViewer Library directory" FORCE)
-    #  TODO: also include "m pthread  QGLViewerGen QGLViewerUtility"?
-    SET( QGLViewer_LIBRARIES QGLViewer)
-    SET( QGLViewer_FOUND 1 CACHE BOOL "Do we have QGLViewer?" FORCE )
-  ENDIF()
-ENDIF()
+find_library(QGLViewer_LIBRARIES
+  NAMES QGLViewer QGLViewer2 QGLViewer-qt5 QGLViewer-qt4)
 
-# You need to use qmake of QT4. You are using QT3 if you get:
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(
+  QGLViewer
+  DEFAULT_MSG
+  QGLViewer_LIBRARIES QGLViewer_INCLUDE_DIR)
 
-#CMakeFiles/octovis.dir/ViewerWidget.cpp.o: In function `octomap::ViewerWidget::ViewerWidget(QWidget*)':
-#ViewerWidget.cpp:(.text+0x1715): undefined reference to `QGLViewer::QGLViewer(QWidget*, QGLWidget const*, QFlags<Qt::WindowType>)'
+mark_as_advanced(QGLViewer_INCLUDE_DIR QGLViewer_LIBRARIES)
diff --git a/octovis/README.md b/octovis/README.md
@@ -12,9 +12,16 @@ Octovis is based on [QGLViewer](http://www.libqglviewer.com/), distributed under
 (octovis/src/extern/QGLViewer/GPL_EXCEPTION).
 
 
-LINUX
+BUILD
 -----
 
+To compile the library you need:
+
+* OpenGL
+* cmake (http://www.cmake.org)
+* Qt development environment
+* QGLViewer
+
 You can build octovis independently of octomap by following
 the these steps:
 
@@ -28,17 +35,10 @@ the these steps:
 You can manually set the location of the octomap library with the
 `octomap_DIR` variable in CMake.
 
-Note: If you get an error such as
-
-> CMake Error at /usr/share/cmake-2.8/Modules/FindQt4.cmake:1148 (MESSAGE):
->  Qt qmake not found!
-
-but you have Qt4 installed, this probably means that both Qt3 and Qt4
-are installed. In Ubuntu this can be resolved by executing:
-
-    sudo update-alternatives --config qmake
-
-and choosing Qt4.
+If you compiled QGLViewer on your own and CMake cannot find it,
+you can use the variable `QGLViewer_INCLUDE_DIR` to specify
+the header file location and `QGLViewer_LIBRARIES` to set
+the library file to link against (e.g. libQGLViewer.so or QGLViewer.lib).
 
 
 WINDOWS
@@ -48,12 +48,6 @@ The octomap viewer **octovis** can be compiled and used under
 Windows although this has not been tested in-depth. Feedback 
 is welcome ("it works" is nice too :-))
 
-To compile the library you need:
-
-* OpenGL
-* cmake (http://www.cmake.org)
-* QT development environment (see below)
-
 
 ### MinGW ###
 

diff --git a/octovis/octovis-config.cmake.in b/octovis/octovis-config.cmake.in
@@ -15,7 +15,7 @@ set(OCTOVIS_PATCH_VERSION "@OCTOVIS_PATCH_VERSION@")
 set(OCTOVIS_VERSION "@OCTOVIS_VERSION@")
 
 set_and_check(OCTOVIS_INCLUDE_DIRS "@PACKAGE_OCTOVIS_INCLUDE_DIRS@" "@QGLViewer_INCLUDE_DIR@")
-set_and_check(OCTOVIS_LIBRARY_DIRS "@PACKAGE_OCTOVIS_LIB_DIR@" "@QGLViewer_LIBRARY_DIR@")
+set_and_check(OCTOVIS_LIBRARY_DIRS "@PACKAGE_OCTOVIS_LIB_DIR@")
 
 # Set library names as absolute paths:
 set(OCTOVIS_LIBRARIES