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Workaround for debian stretch build #140

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merged 3 commits into from
Apr 26, 2018
Merged

Workaround for debian stretch build #140

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3d0930e
Workaround for debian stretch build
at-wat Apr 26, 2018
5392e01
Fix signed/unsigned compare in the test
at-wat Apr 26, 2018
e3eeb48
Fix for ubuntu trusty
at-wat Apr 26, 2018
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27 changes: 22 additions & 5 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@ find_package(catkin REQUIRED
tf
visualization_msgs
)
find_package(PCL 1.7 REQUIRED)

add_service_files(
FILES ResizeParticle.srv
Expand All @@ -40,8 +39,29 @@ catkin_package(
tf
visualization_msgs
)
find_package(Boost REQUIRED COMPONENTS chrono REQUIRED)

find_package(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED
COMPONENTS
core
filters
kdtree
)
# Boost must be find_packaged after pcl on Ubuntu Trusty
find_package(Boost REQUIRED COMPONENTS chrono)

# Workaround for debian stretch build (https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=894656)
list(REMOVE_ITEM PCL_LIBRARIES
"vtkGUISupportQt"
"vtkGUISupportQtOpenGL"
"vtkGUISupportQtSQL"
"vtkGUISupportQtWebkit"
"vtkViewsQt"
"vtkRenderingQt"
)

# Workaround for the bug in PCL(<1.8.1) https://github.com/PointCloudLibrary/pcl/issues/1406
remove_definitions(-DDISABLE_LIBUSB-1.0)

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
Expand All @@ -61,9 +81,6 @@ include_directories(${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE
link_directories(${Boost_LIBRARY_DIRS} ${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

# Workaround for the bug in PCL(<1.8.1) https://github.com/PointCloudLibrary/pcl/issues/1406
remove_definitions(-DDISABLE_LIBUSB-1.0)

add_executable(mcl_3dl src/mcl_3dl.cpp)
target_link_libraries(mcl_3dl ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(mcl_3dl mcl_3dl_generate_messages)
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12 changes: 6 additions & 6 deletions test/src/test_chunked_kdtree.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,37 +53,37 @@ TEST(ChunkedKdtreeTest, testRadiusSearch)
kdtree.radiusSearch(
pcl::PointXYZ(0.5, 0.5, 0.5),
0.3, id, dist, 1);
ASSERT_EQ(id.size(), 1);
ASSERT_EQ(id.size(), 1u);
ASSERT_EQ(id[0], 0);

kdtree.radiusSearch(
pcl::PointXYZ(0.5, 0.4, 0.5),
0.3, id, dist, 1);
ASSERT_EQ(id.size(), 1);
ASSERT_EQ(id.size(), 1u);
ASSERT_EQ(id[0], 0);

kdtree.radiusSearch(
pcl::PointXYZ(1.05, 0.0, 0.0),
0.3, id, dist, 1);
ASSERT_EQ(id.size(), 1);
ASSERT_EQ(id.size(), 1u);
ASSERT_EQ(id[0], 1);

kdtree.radiusSearch(
pcl::PointXYZ(1.1, 0.0, 0.0),
0.3, id, dist, 1);
ASSERT_EQ(id.size(), 1);
ASSERT_EQ(id.size(), 1u);
ASSERT_EQ(id[0], 2);

kdtree.radiusSearch(
pcl::PointXYZ(0.0, -0.05, 0.0),
0.3, id, dist, 1);
ASSERT_EQ(id.size(), 1);
ASSERT_EQ(id.size(), 1u);
ASSERT_EQ(id[0], 3);

kdtree.radiusSearch(
pcl::PointXYZ(0.0, -0.15, 0.0),
0.3, id, dist, 1);
ASSERT_EQ(id.size(), 1);
ASSERT_EQ(id.size(), 1u);
ASSERT_EQ(id[0], 4);
}

Expand Down