ros-noetic-mrpt2.patch

diff --git a/3rdparty/nanogui/CMakeLists.txt b/3rdparty/nanogui/CMakeLists.txt
index 5918d38..e36804d 100644
--- a/3rdparty/nanogui/CMakeLists.txt
+++ b/3rdparty/nanogui/CMakeLists.txt
@@ -377,7 +377,8 @@ elseif (APPLE)
     find_library(iokit_library IOKit)
     target_link_libraries(${PROJECT_NAME} PRIVATE ${cocoa_library} ${opengl_library} ${corevideo_library} ${iokit_library})
 elseif(CMAKE_SYSTEM MATCHES "Linux" OR CMAKE_SYSTEM_NAME MATCHES "BSD")
-    target_link_libraries(${PROJECT_NAME} PRIVATE GL Xxf86vm Xrandr X11 pthread) # Xinerama Xcursor Xi
+    find_package(X11)
+    target_link_libraries(${PROJECT_NAME} PRIVATE GL pthread ${X11_LIBRARIES}) # Xinerama Xcursor Xi
     if (NOT CMAKE_SYSTEM_NAME MATCHES "OpenBSD")
         target_link_libraries(${PROJECT_NAME} PRIVATE rt)
     endif()
diff --git a/apps/benchmarking-image-features/src/mainwindow.h b/apps/benchmarking-image-features/src/mainwindow.h
index 898de8f..7e27ae7 100644
--- a/apps/benchmarking-image-features/src/mainwindow.h
+++ b/apps/benchmarking-image-features/src/mainwindow.h
@@ -215,7 +215,7 @@ class MainWindow : public QMainWindow
 	//! monocular single dataset
 	int tracking_image_counter;  //!< counter for moving forward in the dataset
 
-	Tracker tracker_obj;  //<! tracker oject which calls the tracking method to
+	MRPTTracker tracker_obj;  //<! tracker oject which calls the tracking method to
 	// perform tracking
 
 	/// tracker parameter variables
diff --git a/apps/benchmarking-image-features/src/tracker.cpp b/apps/benchmarking-image-features/src/tracker.cpp
index 9870e88..b8944e0 100644
--- a/apps/benchmarking-image-features/src/tracker.cpp
+++ b/apps/benchmarking-image-features/src/tracker.cpp
@@ -23,7 +23,7 @@ using namespace mrpt::img;
 /************************************************************************************************
  *					    Tracker Constructor *
  ************************************************************************************************/
-Tracker::Tracker()
+MRPTTracker::MRPTTracker()
 {
 	hasResolution = false;
 	step_num = 0;
@@ -42,7 +42,7 @@ Tracker::Tracker()
 /************************************************************************************************
  *					    Track Them All tracker *
  ************************************************************************************************/
-cv::Mat Tracker::trackThemAll(
+cv::Mat MRPTTracker::trackThemAll(
 	vector<string> files_fullpath_tracking, int tracking_image_counter,
 	int remove_lost_feats, int add_new_feats, int max_feats, int patch_size,
 	int window_width, int window_height)
diff --git a/apps/benchmarking-image-features/src/tracker.h b/apps/benchmarking-image-features/src/tracker.h
index 36fe1bb..4ffb876 100644
--- a/apps/benchmarking-image-features/src/tracker.h
+++ b/apps/benchmarking-image-features/src/tracker.h
@@ -51,10 +51,10 @@ using namespace mrpt::vision;
 using namespace mrpt::math;
 using namespace mrpt::img;
 using namespace mrpt;
-using namespace cv;
+//using namespace cv;
 using namespace std;
 
-class Tracker
+class MRPTTracker
 {
    public:
 	bool hasResolution;
@@ -81,7 +81,7 @@ class Tracker
 	/**
 	 * Tracker constructor to initialize the varibales for the tracker
 	 */
-	Tracker();
+	MRPTTracker();
 
 	/**
 	 * trackThemAll this function tracks the features based on the parameters
diff --git a/cmakemodules/script_jsoncpp.cmake b/cmakemodules/script_jsoncpp.cmake
index ce10b5b..98dbac3 100644
--- a/cmakemodules/script_jsoncpp.cmake
+++ b/cmakemodules/script_jsoncpp.cmake
@@ -6,8 +6,9 @@ option(DISABLE_JSONCPP "Forces NOT using JSONCPP, even if it could be found by C
 mark_as_advanced(DISABLE_JSONCPP)
 
 if(NOT DISABLE_JSONCPP)
-	find_package(jsoncpp QUIET)
-	if(jsoncpp_FOUND)
+	# find_package(jsoncpp QUIET)
+	pkg_check_modules(JSONCPP jsoncpp)
+	if(JSONCPP_FOUND)
 		# cmake imported target: "jsoncpp_lib"
 		set(CMAKE_MRPT_HAS_JSONCPP 1)
 		set(CMAKE_MRPT_HAS_JSONCPP_SYSTEM 1)
diff --git a/cmakemodules/script_openni2.cmake b/cmakemodules/script_openni2.cmake
index a0fe762..619d865 100644
--- a/cmakemodules/script_openni2.cmake
+++ b/cmakemodules/script_openni2.cmake
@@ -4,7 +4,7 @@
 # =========================================================
 set(CMAKE_MRPT_HAS_OPENNI2 0)
 
-option(DISABLE_OPENNI2 "Disable the OpenNI2 library, even if automatically found" "OFF")
+option(DISABLE_OPENNI2 "Disable the OpenNI2 library, even if automatically found" "ON")
 mark_as_advanced(DISABLE_OPENNI2)
 
 if (DISABLE_OPENNI2) # Allow the user to force not using this lib
diff --git a/cmakemodules/script_show_final_summary.cmake b/cmakemodules/script_show_final_summary.cmake
index ca6cdc0..7beaa08 100644
--- a/cmakemodules/script_show_final_summary.cmake
+++ b/cmakemodules/script_show_final_summary.cmake
@@ -130,7 +130,7 @@ SHOW_CONFIG_LINE_SYSTEM("Assimp (3D models)                  " CMAKE_MRPT_HAS_AS
 SHOW_CONFIG_LINE_SYSTEM("ffmpeg libs (Video streaming)       " CMAKE_MRPT_HAS_FFMPEG "[avcodec ${LIBAVCODEC_VERSION}, avutil ${LIBAVUTIL_VERSION}, avformat ${LIBAVFORMAT_VERSION}]")
 SHOW_CONFIG_LINE_SYSTEM("fyaml (YAML/JSON parsing)           " CMAKE_MRPT_HAS_LIBFYAML)
 SHOW_CONFIG_LINE_SYSTEM("gtest (Google unit testing library) " CMAKE_MRPT_HAS_GTEST )
-SHOW_CONFIG_LINE_SYSTEM("jsoncpp (JSON format serialization) " CMAKE_MRPT_HAS_JSONCPP "[Version: ${jsoncpp_VERSION}]")
+SHOW_CONFIG_LINE_SYSTEM("jsoncpp (JSON format serialization) " CMAKE_MRPT_HAS_JSONCPP "[Version: ${JSONCPP_VERSION}]")
 SHOW_CONFIG_LINE_SYSTEM("libjpeg (jpeg)                      " CMAKE_MRPT_HAS_JPEG)
 SHOW_CONFIG_LINE_SYSTEM("liblas (ASPRS LAS LiDAR format)     " CMAKE_MRPT_HAS_LIBLAS)
 SHOW_CONFIG_LINE       ("mexplus                             " CMAKE_MRPT_HAS_MATLAB)
diff --git a/cmakemodules/script_wxwidgets.cmake b/cmakemodules/script_wxwidgets.cmake
index 9cbd648..87ede40 100644
--- a/cmakemodules/script_wxwidgets.cmake
+++ b/cmakemodules/script_wxwidgets.cmake
@@ -9,7 +9,7 @@ set(wxWidgets_MRPT_COMPONENTS_TO_SEARCH "base;core;gl;adv;aui;html" CACHE STRING
 set(CMAKE_MRPT_HAS_WXWIDGETS 0)
 set(wxWidgets_LIBRARIES "")
 
-set(DISABLE_WXWIDGETS OFF CACHE BOOL "Forces compilation WITHOUT wxWidgets")
+set(DISABLE_WXWIDGETS ON CACHE BOOL "Forces compilation WITHOUT wxWidgets")
 mark_as_advanced(DISABLE_WXWIDGETS)
 if(DISABLE_WXWIDGETS)
 	return()
diff --git a/cmakemodules/script_xsens.cmake b/cmakemodules/script_xsens.cmake
index 1ca7406..ef6f8a0 100644
--- a/cmakemodules/script_xsens.cmake
+++ b/cmakemodules/script_xsens.cmake
@@ -46,7 +46,7 @@ if (BUILD_XSENS)
 		# In Linux: libusb-1.0
 		if(PKG_LIBUSB10_FOUND)
 			# Perfect, we have libusb-1.0
-			set(XSENS4_LIBS ${XSENS4_LIBS} ${PKG_LIBUDEV_LIBRARIES})
+			set(XSENS4_LIBS ${XSENS4_LIBS} ${PKG_LIBUSB10_LIBRARIES})
 		else(PKG_LIBUSB10_FOUND)
 			message(SEND_ERROR "BUILD_XSENS requires libusb-1.0. Install it or disable BUILD_XSENS")
 		endif(PKG_LIBUSB10_FOUND)
diff --git a/libs/comms/CMakeLists.txt b/libs/comms/CMakeLists.txt
index 8e24def..9ea433e 100644
--- a/libs/comms/CMakeLists.txt
+++ b/libs/comms/CMakeLists.txt
@@ -18,5 +18,5 @@ endif()
 target_link_libraries(comms PRIVATE Threads::Threads)
 
 if(CMAKE_MRPT_HAS_FTDI_SYSTEM)
-    target_link_libraries(comms PRIVATE imp_ftdi)
+    target_link_libraries(comms PUBLIC imp_ftdi ${PKG_LIBUDEV_LIBRARIES} ${PKG_LIBUSB10_LIBRARIES})
 endif()
diff --git a/libs/core/CMakeLists.txt b/libs/core/CMakeLists.txt
index 47c6feb..a2ef97f 100644
--- a/libs/core/CMakeLists.txt
+++ b/libs/core/CMakeLists.txt
@@ -16,6 +16,10 @@ if(BUILD_mrpt-core)
 
 	target_link_libraries(core PRIVATE Threads::Threads) # for WorkerThreads
 
+	if(UNIX AND NOT APPLE)
+		target_link_libraries(core PRIVATE rt)
+	endif()
+
 	# Enforce C++17 in all dependent projects:
 	mrpt_lib_target_requires_cpp17(core)
 
diff --git a/libs/gui/CMakeLists.txt b/libs/gui/CMakeLists.txt
index e551b17..c35a545 100644
--- a/libs/gui/CMakeLists.txt
+++ b/libs/gui/CMakeLists.txt
@@ -65,4 +65,7 @@ if(BUILD_mrpt-gui)
 		target_link_libraries(gui PUBLIC mrpt::nanogui)
 	endif()
 
+	find_package(X11)
+	target_link_libraries(gui PRIVATE ${X11_LIBRARIES})
+
 endif()
diff --git a/libs/hwdrivers/CMakeLists.txt b/libs/hwdrivers/CMakeLists.txt
index c45fc79..d7d7c6c 100644
--- a/libs/hwdrivers/CMakeLists.txt
+++ b/libs/hwdrivers/CMakeLists.txt
@@ -97,13 +97,17 @@ endif()
 
 # XSens MT4 required libs:
 if (BUILD_XSENS)
-	target_link_libraries(hwdrivers PRIVATE ${XSENS4_LIBS})
+	target_link_libraries(hwdrivers PUBLIC ${XSENS4_LIBS})
 endif ()
 
 if(UNIX)
     target_link_libraries(hwdrivers PRIVATE dl)
 endif()
 
+if(UNIX AND NOT APPLE)
+    target_link_libraries(hwdrivers PRIVATE rt)
+endif()
+
 if(CMAKE_MRPT_HAS_OPENNI2)
 	target_link_libraries(hwdrivers PRIVATE ${MRPT_OPENNI2_LIBRARIES})
 endif()
diff --git a/libs/img/CMakeLists.txt b/libs/img/CMakeLists.txt
index 919b683..c4882b1 100644
--- a/libs/img/CMakeLists.txt
+++ b/libs/img/CMakeLists.txt
@@ -21,13 +21,13 @@ if(BUILD_mrpt-img)
 	endif()
 
 	if(CMAKE_MRPT_HAS_OPENCV)
-		target_link_libraries(img PRIVATE imp_opencv)
+		target_link_libraries(img PUBLIC imp_opencv)
 	endif()
 	if(CMAKE_MRPT_HAS_JPEG)
 		if(NOT CMAKE_MRPT_HAS_JPEG_SYSTEM)
 			add_dependencies(img JPEG)
 		endif()
-		target_link_libraries(img PRIVATE ${JPEG_LIBRARIES})
+		target_link_libraries(img PUBLIC ${JPEG_LIBRARIES})
 	endif()
 
 endif()
diff --git a/libs/maps/CMakeLists.txt b/libs/maps/CMakeLists.txt
index 55139c9..ed539f1 100644
--- a/libs/maps/CMakeLists.txt
+++ b/libs/maps/CMakeLists.txt
@@ -30,7 +30,7 @@ define_mrpt_lib(
 
 if(BUILD_mrpt-maps)
 	if(CMAKE_MRPT_HAS_LIBLAS)
-		target_link_libraries(maps PRIVATE ${LAS_LIBS})
+		target_link_libraries(maps PUBLIC ${LAS_LIBS})
 	endif()
 
 	if (CMAKE_MRPT_HAS_OCTOMAP)
@@ -40,10 +40,10 @@ if(BUILD_mrpt-maps)
 		if(TARGET "EP_octomap")
 			add_dependencies(maps EP_octomap)
 		endif()
-		target_link_libraries(maps PRIVATE ${OCTOMAP_LIBRARIES})
+		target_link_libraries(maps PUBLIC ${OCTOMAP_LIBRARIES})
 	endif()
 
-	target_link_libraries(maps PRIVATE ${MRPT_OPENGL_LIBS})
+	target_link_libraries(maps PUBLIC ${MRPT_OPENGL_LIBS})
 
 
 	# Windows only: the mxplus lib internally requires linking with opencv (sigh...)
diff --git a/libs/math/CMakeLists.txt b/libs/math/CMakeLists.txt
index 5c9cfbb..9213adb 100644
--- a/libs/math/CMakeLists.txt
+++ b/libs/math/CMakeLists.txt
@@ -83,7 +83,7 @@ if(BUILD_mrpt-math)
 	endif()
 
 	if (NOT "${SuiteSparse_LIBRARIES}" STREQUAL "")
-		target_link_libraries(math PRIVATE ${SuiteSparse_LIBRARIES})
+		target_link_libraries(math PUBLIC ${SuiteSparse_LIBRARIES})
 	endif ()
 	if (NOT "${SuiteSparse_LIBRARIES}" STREQUAL "")
 		target_include_directories(math PUBLIC ${SuiteSparse_INCLUDE_DIRS})
diff --git a/libs/opengl/CMakeLists.txt b/libs/opengl/CMakeLists.txt
index 9a9ac68..4321632 100644
--- a/libs/opengl/CMakeLists.txt
+++ b/libs/opengl/CMakeLists.txt
@@ -44,11 +44,11 @@ if(BUILD_mrpt-opengl)
 	endif()
 
 	# Link against gl, glu, glut:
-	target_link_libraries(opengl PRIVATE
+	target_link_libraries(opengl PUBLIC
 		${MRPT_OPENGL_LIBS}
 		)
 	if (TARGET mrpt_glew) # Basically, for Windows
-		target_link_libraries(opengl PRIVATE mrpt_glew)
+		target_link_libraries(opengl PUBLIC mrpt_glew)
 	endif()
 
 	# Link against assimp:
@@ -56,6 +56,6 @@ if(BUILD_mrpt-opengl)
 		if(TARGET "EP_assimp")
 			add_dependencies(opengl EP_assimp)
 		endif()
-		target_link_libraries(opengl PRIVATE ${ASSIMP_LIBRARIES})
+		target_link_libraries(opengl PUBLIC ${ASSIMP_LIBRARIES})
 	endif ()
 endif()
diff --git a/libs/serialization/CMakeLists.txt b/libs/serialization/CMakeLists.txt
index 9b711d4..5f85caf 100644
--- a/libs/serialization/CMakeLists.txt
+++ b/libs/serialization/CMakeLists.txt
@@ -1,16 +1,8 @@
 # Extra dependencies required by unit tests in this module:
 # Include jsoncpp only if present (optional)
-if (CMAKE_MRPT_HAS_JSONCPP)
-	if(TARGET "jsoncpp_lib")
-		set(tst_json_dep "jsoncpp_lib")
-	else()
-		set(tst_json_dep "jsoncpp_lib_static")
-	endif()
-else()
-	set(tst_json_dep "")
-endif()
+# find_package(JsonCpp REQUIRED)
 # define those deps:
-set_property(GLOBAL PROPERTY mrpt_serialization_UNIT_TEST_EXTRA_DEPS mrpt-io mrpt-poses ${tst_json_dep})
+set_property(GLOBAL PROPERTY mrpt_serialization_UNIT_TEST_EXTRA_DEPS mrpt-io mrpt-poses ${JSONCPP_LIBRARIES})
 
 #---------------------------------------------
 # Macro declared in "DeclareMRPTLib.cmake":
@@ -23,5 +15,5 @@ define_mrpt_lib(
 	)
 
 if(BUILD_mrpt-serialization)
-	target_link_libraries(serialization PRIVATE ${tst_json_dep})
+	target_link_libraries(serialization PUBLIC ${JSONCPP_LIBRARIES})
 endif( )
diff --git a/libs/serialization/include/mrpt/serialization/CSchemeArchive.h b/libs/serialization/include/mrpt/serialization/CSchemeArchive.h
index 744c14c..03ecf55 100644
--- a/libs/serialization/include/mrpt/serialization/CSchemeArchive.h
+++ b/libs/serialization/include/mrpt/serialization/CSchemeArchive.h
@@ -70,12 +70,6 @@ class CSchemeArchive : public mrpt::serialization::CSchemeArchiveBase_impl
 		m_val = val;
 		return *m_parent;
 	}
-	mrpt::serialization::CSchemeArchiveBase& operator=(
-		const std::nullptr_t val) override
-	{
-		m_val = val;
-		return *m_parent;
-	}
 	mrpt::serialization::CSchemeArchiveBase& operator=(
 		const std::string val) override
 	{
diff --git a/libs/serialization/include/mrpt/serialization/CSchemeArchiveBase.h b/libs/serialization/include/mrpt/serialization/CSchemeArchiveBase.h
index dfaaf22..5ee7bc2 100644
--- a/libs/serialization/include/mrpt/serialization/CSchemeArchiveBase.h
+++ b/libs/serialization/include/mrpt/serialization/CSchemeArchiveBase.h
@@ -32,7 +32,6 @@ class CSchemeArchiveBase_impl
 	virtual CSchemeArchiveBase& operator=(const uint64_t) = 0;
 	virtual CSchemeArchiveBase& operator=(const float) = 0;
 	virtual CSchemeArchiveBase& operator=(const double) = 0;
-	virtual CSchemeArchiveBase& operator=(const std::nullptr_t) = 0;
 	virtual CSchemeArchiveBase& operator=(const std::string) = 0;
 	virtual CSchemeArchiveBase& operator=(bool) = 0;
 
diff --git a/libs/system/CMakeLists.txt b/libs/system/CMakeLists.txt
index 37c858c..cb29260 100644
--- a/libs/system/CMakeLists.txt
+++ b/libs/system/CMakeLists.txt
@@ -18,12 +18,15 @@ target_link_libraries(system PRIVATE Threads::Threads)
 if(BUILD_mrpt-system)
 	if(WIN32)
 		target_link_libraries(system PRIVATE Dbghelp) # For mrpt::system::getCallStackBackTrace()
-	else()
-		target_link_libraries(system PRIVATE ${CMAKE_DL_LIBS}) # For mrpt::system::getCallStackBackTrace()
+	# else()
+	# 	target_link_libraries(system PRIVATE ${CMAKE_DL_LIBS}) # For mrpt::system::getCallStackBackTrace()
 	endif()
 	
 	# -ldl required by the plugin load mechanism loadPluginModule()
 	if(UNIX)
 		target_link_libraries(system PRIVATE dl)
 	endif()
+	if(UNIX AND NOT APPLE)
+		target_link_libraries(system PRIVATE rt)
+	endif()
 endif()
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index e7dd05b..75f5afb 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -11,6 +11,7 @@ include_directories(include)
 include_directories(
   ${Boost_INCLUDE_DIRS}
   ${PYTHON_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
 )
 # Find Numpy include directory
 execute_process(
@@ -60,7 +61,7 @@ add_definitions(-DROS_EXTENSIONS)
 
 target_link_libraries(pymrpt
   ${Boost_LIBRARIES}
-  ${Opencv_LIBRARIES}
+  ${OpenCV_LIBRARIES}
   Python3::Python
 )