octomap: new package

An efficient probabilistic 3D mapping framework based on octrees.

Patching the build-system is required because the current upstream CMake
modules installed hard-code the headers and libraries, which badly
breaks the cross-compilation.

Note that these patches are in the path to get merged upstream [1].

[1] OctoMap/octomap#57

Signed-off-by: Samuel Martin <[email protected]>

package/Config.in

@@ -707,6 +707,7 @@ menu "Maths and sciences"
 	source "package/gsl/Config.in"
 	source "package/mpc/Config.in"
 	source "package/mpfr/Config.in"
+	source "package/octomap/Config.in"
 	source "package/qhull/Config.in"
 endmenu
 

package/octomap/Config.in

@@ -0,0 +1,16 @@
+config BR2_PACKAGE_OCTOMAP
+	bool "octomap"
+	depends on BR2_INSTALL_LIBSTDCPP
+	help
+	  The OctoMap library implements a 3D occupancy grid mapping
+	  approach, providing data structures and mapping algorithms in
+	  C++ particularly suited for robotics.
+
+	  http://octomap.github.io/
+
+config BR2_PACKAGE_OCTOMAP_INSTALL_PROGRAMS
+	bool "Install octomap programs in the target"
+	depends on BR2_PACKAGE_OCTOMAP
+
+comment "octomap needs a toolchain w/ C++"
+	depends on !BR2_INSTALL_LIBSTDCPP

package/octomap/octomap-0001-dynamicEDT3D-install-CMake-module-under-share-dynami.patch

@@ -0,0 +1,32 @@
+From 6e28f75e7dd4c9136060158f38c6c8d8ec1bca7d Mon Sep 17 00:00:00 2001
+From: Samuel Martin <[email protected]>
+Date: Mon, 5 May 2014 14:02:18 +0200
+Subject: [PATCH 1/3] dynamicEDT3D: install CMake module under
+ share/dynamicEDT3D/
+
+dynamicEDT3D was the only subproject installing its CMake module files
+under lib/cmake/.
+This patch cleans this up, making dynamicEDT3D installation consistent with
+the octomap and octovis ones.
+
+Signed-off-by: Samuel Martin <[email protected]>
+---
+ dynamicEDT3D/CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
+index ac24b80..4e7d96a 100644
+--- a/dynamicEDT3D/CMakeLists.txt
++++ b/dynamicEDT3D/CMakeLists.txt
+@@ -94,7 +94,7 @@ configure_file(dynamicEDT3DConfig-version.cmake.in
+ install(FILES
+   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
+   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake" 
+-  DESTINATION lib/cmake/dynamicEDT3D/)
++  DESTINATION share/dynamicEDT3D/)
+
+ # Write pkgconfig-file:
+ include(InstallPkgConfigFile)
+-- 
+1.9.2
+

package/octomap/octomap-0002-dynamicEDT3D-rename-CMake-module-file-names.patch

@@ -0,0 +1,79 @@
+From 0a2f1b258032acf84938f2128788d80d90680167 Mon Sep 17 00:00:00 2001
+From: Samuel Martin <[email protected]>
+Date: Mon, 5 May 2014 14:19:04 +0200
+Subject: [PATCH 2/3] dynamicEDT3D: rename CMake module file names
+
+dynamicEDT3D was the only subproject naming its CMake module files
+<project name>Config.cmake.
+This patch cleans this up, using the <project name>-config.cmake pattern;
+so make dynamicEDT3D consistent with what is done for octomap and octovis.
+
+Signed-off-by: Samuel Martin <[email protected]>
+---
+ dynamicEDT3D/CMakeLists.txt                        | 22 +++++++++++-----------
+ ...ake.in => dynamicEDT3D-config-version.cmake.in} |  0
+ ...onfig.cmake.in => dynamicEDT3D-config.cmake.in} |  0
+ 3 files changed, 11 insertions(+), 11 deletions(-)
+ rename dynamicEDT3D/{dynamicEDT3DConfig-version.cmake.in => dynamicEDT3D-config-version.cmake.in} (100%)
+ rename dynamicEDT3D/{dynamicEDT3DConfig.cmake.in => dynamicEDT3D-config.cmake.in} (100%)
+
+diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
+index 4e7d96a..f9e77cf 100644
+--- a/dynamicEDT3D/CMakeLists.txt
++++ b/dynamicEDT3D/CMakeLists.txt
+@@ -67,33 +67,33 @@ install(FILES ${dynamicEDT3D_HDRS}	DESTINATION include/dynamicEDT3D)
+ # (this registers the build-tree with a global CMake-registry)
+ export(PACKAGE dynamicEDT3D)
+
+-# Create a dynamicEDT3DConfig.cmake file for the use from the build tree
++# Create a dynamicEDT3D-config.cmake file for the use from the build tree
+ set(DYNAMICEDT3D_INCLUDE_DIRS "${INCLUDE_DIRS}")
+ set(DYNAMICEDT3D_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
+ # not used right now (export depends?)
+ #set(DYNEDT3D_CMAKE_DIR "${PROJECT_BINARY_DIR}")
+-configure_file(dynamicEDT3DConfig.cmake.in
+-  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig.cmake" @ONLY)
+-configure_file(dynamicEDT3DConfig-version.cmake.in
+-  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig-version.cmake" @ONLY)
++configure_file(dynamicEDT3D-config.cmake.in
++  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3D-config.cmake" @ONLY)
++configure_file(dynamicEDT3D-config-version.cmake.in
++  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3D-config-version.cmake" @ONLY)
+
+ # Install the export set for use with the install-tree
+ #install(EXPORT FooBarLibraryDepends DESTINATION
+ #  "${INSTALL_DATA_DIR}/FooBar/CMake"
+ #  COMPONENT dev)
+
+-# Create a dynamicEDT3DConfig.cmake file for the use from the install tree
++# Create a dynamicEDT3D-config.cmake file for the use from the install tree
+ # and install it
+ set(DYNAMICEDT3D_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
+ set(DYNAMICEDT3D_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
+ #set(DYNAMICEDT3D_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
+-configure_file(dynamicEDT3DConfig.cmake.in
+-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake" @ONLY)
+-configure_file(dynamicEDT3DConfig-version.cmake.in
+-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake" @ONLY)
++configure_file(dynamicEDT3D-config.cmake.in
++  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3D-config.cmake" @ONLY)
++configure_file(dynamicEDT3D-config-version.cmake.in
++  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3D-config-version.cmake" @ONLY)
+ install(FILES
+   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
+-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake" 
++  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake"
+   DESTINATION share/dynamicEDT3D/)
+
+ # Write pkgconfig-file:
+diff --git a/dynamicEDT3D/dynamicEDT3DConfig-version.cmake.in b/dynamicEDT3D/dynamicEDT3D-config-version.cmake.in
+similarity index 100%
+rename from dynamicEDT3D/dynamicEDT3DConfig-version.cmake.in
+rename to dynamicEDT3D/dynamicEDT3D-config-version.cmake.in
+diff --git a/dynamicEDT3D/dynamicEDT3DConfig.cmake.in b/dynamicEDT3D/dynamicEDT3D-config.cmake.in
+similarity index 100%
+rename from dynamicEDT3D/dynamicEDT3DConfig.cmake.in
+rename to dynamicEDT3D/dynamicEDT3D-config.cmake.in
+-- 
+1.9.2
+

package/octomap/octomap-0003-cmake-offer-CMake-modules-with-no-hard-coded-path.patch

@@ -0,0 +1,209 @@
+From 52a285d0279d9704d7506bc65c76e858ddbb93ab Mon Sep 17 00:00:00 2001
+From: Samuel Martin <[email protected]>
+Date: Tue, 18 Mar 2014 21:51:20 +0100
+Subject: [PATCH 3/3] cmake: offer CMake modules with no hard-coded path
+
+Hardcoding absolute install paths in the CMake module files totally
+breaks the cross-compilation: it makes impossible to be used in a
+sysroot because the hardcoded paths are the ones of the target, whereas
+they should point to the sysroot location. This tootally breaks the
+CMake FIND_ROOT_PATH mechanism designed to handle cross-compilation.
+
+This patch introduces a new CMake variable: NO_ABSOLUTE_PATH_IN_MODULE,
+which, when set on the cmake command-line, will enable the installation
+of the CMake module files using the CMake primitives find_library and
+find_path to set the libraries and headers' locations, instead of
+hard-coding them.
+
+Thus, this patch adds non-templated CMake module files for octomap,
+dynamicEDT3D and octovis for the non hard-coded path version of the
+modules.
+
+In any way, only the installed CMake module files are changed. The
+templated ones are still needed for combined package build.
+
+The non hard-coded path version of the modules are only installed when
+NO_ABSOLUTE_PATH_IN_MODULE is set; by default the existing behavior
+remains unchanged to keep honoring the behavior described in [1].
+
+[1] https://github.com/OctoMap/octomap/pull/57#issuecomment-38161187
+
+Signed-off-by: Samuel Martin <[email protected]>
+---
+ dynamicEDT3D/CMakeLists.txt            |  9 ++++++--
+ dynamicEDT3D/dynamicEDT3D-config.cmake | 19 ++++++++++++++++
+ octomap/CMakeLists.txt                 |  7 +++++-
+ octomap/octomap-config.cmake           | 41 ++++++++++++++++++++++++++++++++++
+ octovis/CMakeLists.txt                 |  7 +++++-
+ octovis/octovis-config.cmake           | 24 ++++++++++++++++++++
+ 6 files changed, 103 insertions(+), 4 deletions(-)
+ create mode 100644 dynamicEDT3D/dynamicEDT3D-config.cmake
+ create mode 100644 octomap/octomap-config.cmake
+ create mode 100644 octovis/octovis-config.cmake
+
+diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
+index f9e77cf..2f5ca21 100644
+--- a/dynamicEDT3D/CMakeLists.txt
++++ b/dynamicEDT3D/CMakeLists.txt
+@@ -91,9 +91,14 @@ configure_file(dynamicEDT3D-config.cmake.in
+   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3D-config.cmake" @ONLY)
+ configure_file(dynamicEDT3D-config-version.cmake.in
+   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3D-config-version.cmake" @ONLY)
++IF(DEFINED NO_ABSOLUTE_PATH_IN_MODULE AND NO_ABSOLUTE_PATH_IN_MODULE)
++  set(DYNAMICEDT3D_MODULE_FILE "dynamicEDT3D-config.cmake")
++ELSE()
++  set(DYNAMICEDT3D_MODULE_FILE "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3D-config.cmake" )
++ENDIF()
+ install(FILES
+-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
+-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake"
++  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3D-config-version.cmake"
++  "${DYNAMICEDT3D_MODULE_FILE}"
+   DESTINATION share/dynamicEDT3D/)
+
+ # Write pkgconfig-file:
+diff --git a/dynamicEDT3D/dynamicEDT3D-config.cmake b/dynamicEDT3D/dynamicEDT3D-config.cmake
+new file mode 100644
+index 0000000..c21a9ae
+--- /dev/null
++++ b/dynamicEDT3D/dynamicEDT3D-config.cmake
+@@ -0,0 +1,19 @@
++# - Config file for the OctoMap package
++# (example from http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file)
++# It defines the following variables
++#  OCTOMAP_INCLUDE_DIRS - include directories for OctoMap
++#  OCTOMAP_LIBRARIES    - libraries to link against
++
++set(DYNAMICEDT3D_INCLUDE_DIRS)
++set(DYNAMICEDT3D_INCLUDE DYNAMICEDT3D_INCLUDE-NOTFOUND)
++find_path(DYNAMICEDT3D_INCLUDE dynamicEDT3D/dynamicEDT3D.h)
++if(DYNAMICEDT3D_INCLUDE)
++  list(APPEND DYNAMICEDT3D_INCLUDE_DIRS ${DYNAMICEDT3D_INCLUDE})
++endif()
++
++set(DYNAMICEDT3D_LIBRARIES)
++set(DYNAMICEDT3D_LIB DYNAMICEDT3D_LIB-NOTFOUND)
++find_library(DYNAMICEDT3D_LIB dynamicedt3d)
++if(DYNAMICEDT3D_LIB)
++  list(APPEND DYNAMICEDT3D_LIBRARIES ${DYNAMICEDT3D_LIB})
++endif()
+diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
+index 9c9f674..71099a3 100644
+--- a/octomap/CMakeLists.txt
++++ b/octomap/CMakeLists.txt
+@@ -98,9 +98,14 @@ configure_file(octomap-config.cmake.in
+   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake" @ONLY)
+ configure_file(octomap-config-version.cmake.in
+   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" @ONLY)
++IF(DEFINED NO_ABSOLUTE_PATH_IN_MODULE AND NO_ABSOLUTE_PATH_IN_MODULE)
++  set(OCTOMAP_MODULE_FILE "octomap-config.cmake")
++ELSE()
++  set(OCTOMAP_MODULE_FILE "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake" )
++ENDIF()
+ install(FILES
+-  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake"
+   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" 
++  "${OCTOMAP_MODULE_FILE}"
+   DESTINATION share/octomap/)
+
+ # Write pkgconfig-file:
+diff --git a/octomap/octomap-config.cmake b/octomap/octomap-config.cmake
+new file mode 100644
+index 0000000..5572b89
+--- /dev/null
++++ b/octomap/octomap-config.cmake
+@@ -0,0 +1,41 @@
++# ===================================================================================
++#  The OctoMap CMake configuration file
++#
++#             ** File generated automatically, do not modify **
++#
++#  Usage from an external project:
++#    In your CMakeLists.txt, add these lines:
++#
++#    FIND_PACKAGE(octomap REQUIRED )
++#    TARGET_LINK_LIBRARIES(MY_TARGET_NAME ${OCTOMAP_LIBRARIES})
++#
++#    This file will define the following variables:
++#      - OCTOMAP_LIBRARIES      : The list of libraries to links against.
++#      - OCTOMAP_LIBRARY_DIRS   : The directory where lib files are. Calling
++#                                 LINK_DIRECTORIES with this path is NOT needed.
++#      - OCTOMAP_INCLUDE_DIRS   : The OpenCV include directories.
++#
++# Based on the example CMake Tutorial
++# http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file
++# and OpenCVConfig.cmake.in from OpenCV
++# ===================================================================================
++
++set(OCTOMAP_INCLUDE_DIRS)
++set(OCTOMAP_INCLUDE OCTOMAP_INCLUDE-NOTFOUND)
++find_path(OCTOMAP_INCLUDE octomap/octomap.h)
++if(OCTOMAP_INCLUDE)
++  list(APPEND OCTOMAP_INCLUDE_DIRS ${OCTOMAP_INCLUDE})
++endif()
++
++set(OCTOMAP_LIBRARIES)
++set(OCTOMAP_LIB OCTOMAP_LIB-NOTFOUND)
++find_library(OCTOMAP_LIB octomap)
++if(OCTOMAP_LIB)
++  list(APPEND OCTOMAP_LIBRARIES ${OCTOMAP_LIB})
++endif()
++
++set(OCTOMATH_LIB OCTOMATH_LIB-NOTFOUND)
++find_library(OCTOMATH_LIB octomath)
++if(OCTOMATH_LIB)
++  list(APPEND OCTOMAP_LIBRARIES ${OCTOMATH_LIB})
++endif()
+diff --git a/octovis/CMakeLists.txt b/octovis/CMakeLists.txt
+index edfca27..c62b6bc 100644
+--- a/octovis/CMakeLists.txt
++++ b/octovis/CMakeLists.txt
+@@ -95,9 +95,14 @@ IF(BUILD_VIEWER)
+     "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake" @ONLY)
+   configure_file(octovis-config-version.cmake.in
+     "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake" @ONLY)
++  IF(DEFINED NO_ABSOLUTE_PATH_IN_MODULE AND NO_ABSOLUTE_PATH_IN_MODULE)
++    set(OCTOVIS_MODULE_FILE "octovis-config.cmake")
++  ELSE()
++    set(OCTOVIS_MODULE_FILE "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake" )
++  ENDIF()
+   install(FILES
+-    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake"
+     "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake" 
++    "${OCTOVIS_MODULE_FILE}"
+     DESTINATION share/octovis/)
+
+
+diff --git a/octovis/octovis-config.cmake b/octovis/octovis-config.cmake
+new file mode 100644
+index 0000000..99d9798
+--- /dev/null
++++ b/octovis/octovis-config.cmake
+@@ -0,0 +1,24 @@
++# - Config file for the OctoMap package
++# (example from http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file)
++# It defines the following variables
++#  OCTOVIS_INCLUDE_DIRS - include directories for OctoMap viewer
++#  OCTOVIS_LIBRARIES    - libraries to link against
++
++find_package(OCTOMAP)
++
++set(QGLViewer_LIB QGLViewer_LIB-NOTFOUND)
++find_library(QGLViewer_LIB QGLViewer)
++if(NOT QGLViewer_LIB)
++  message(FATAL "Could not find QGLViewer")
++endif()
++
++find_package(Qt4 COMPONENTS QTCORE QTGUI QTOPENGL)
++
++set(OCTOVIS_INCLUDE_DIRS)
++set(OCTOVIS_LIBRARIES)
++
++list(APPEND OCTOVIS_INCLUDE_DIRS ${OCTOMAP_INCLUDE}
++  ${QT_QTCORE_INCLUDE_DIR} ${QT_QTGUI_INCLUDE_DIR} ${QT_QTOPENGL_INCLUDE_DIR})
++
++list(APPEND OCTOVIS_LIBRARIES ${OCTOMAP_LIB} ${QGLViewer_LIB}
++  ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY} ${QT_QTOPENGL_LIBRARY})
+-- 
+1.9.2
+

package/octomap/octomap.mk

@@ -0,0 +1,31 @@
+################################################################################
+#
+# octomap
+#
+################################################################################
+
+OCTOMAP_VERSION = v1.6.4
+# Octomap is licensed under BSD-3c, except octovis which is under GPLv2.
+# Since octovis is not built, do not mention its license in the legal infra.
+OCTOMAP_LICENSE = BSD-3c
+OCTOMAP_LICENSE_FILES = octomap/LICENSE.txt
+OCTOMAP_SITE = $(call github,OctoMap,octomap,$(OCTOMAP_VERSION))
+OCTOMAP_INSTALL_STAGING = YES
+OCTOMAP_SUBDIR = octomap
+
+# disable the documentation
+OCTOMAP_CONF_OPT += \
+	-DDOXYGEN_EXECUTABLE=DOXYGEN_EXECUTABLE-NOTFOUND \
+	-DNO_ABSOLUTE_PATH_IN_MODULE=ON
+
+ifeq ($(BR2_PACKAGE_OCTOMAP_INSTALL_PROGRAMS),)
+define OCTOMAP_TARGET_INSTALL_REMOVE_PROGRAMS
+	-rm -f $(addprefix $(TARGET_DIR)/usr/bin/,\
+		graph2tree log2graph binvox2bt bt2vrml edit_octree \
+		convert_octree eval_octree_accuracy compare_octrees)
+endef
+
+OCTOMAP_POST_INSTALL_TARGET_HOOKS += OCTOMAP_TARGET_INSTALL_REMOVE_PROGRAMS
+endif
+
+$(eval $(cmake-package))