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Some swri packages
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@Tobias-Fischer
Tobias-Fischer committed Apr 6, 2021
1 parent 7fb8336 commit 9299bb8
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2 changes: 2 additions & 0 deletions conda-forge.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -713,3 +713,5 @@ ignition-gazebo3:
conda-forge: [libignition-gazebo4]
libgdal-dev:
conda-forge: [libgdal]
libxxf86vm:
conda-forge: [REQUIRE_OPENGL]
4 changes: 3 additions & 1 deletion patch/dependencies.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,4 +17,6 @@ ros_ign_gazebo:
apriltag:
add: ["REQUIRE_OPENGL"]
lvr2:
add: [libgdal-dev]
add: [libgdal-dev]
rtabmap:
add: ["REQUIRE_OPENGL"]
244 changes: 244 additions & 0 deletions patch/ros-noetic-swri-geometry-util.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,244 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4bc10fc84..88240ee1f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,6 +34,7 @@ catkin_package(
tf
DEPENDS
OpenCV
+ GEOS
)

include_directories(include)
diff --git a/FindGEOS.cmake b/FindGEOS.cmake
index 8e8b65900..f256ed1b4 100644
--- a/FindGEOS.cmake
+++ b/FindGEOS.cmake
@@ -10,25 +10,88 @@
# If it's found it sets GEOS_FOUND to TRUE
# and following variables are set:
# GEOS_INCLUDE_DIR
-# GEOS_INCLUDE_DIRS
# GEOS_LIBRARY
-# GEOS_LIBRARIES
-
-IF (NOT DEFINED GEOS_INCLUDE_DIR OR NOT DEFINED GEOS_LIBRARY OR NOT DEFINED GEOS_LIBRARIES OR NOT DEFINED GEOS_CONFIG)
- UNSET(GEOS_INCLUDE_DIR CACHE)
- UNSET(GEOS_INCLUDE_DIRS CACHE)
- UNSET(GEOS_LIBRARY CACHE)
- UNSET(GEOS_LIBRARIES CACHE)
- UNSET(GEOS_CONFIG CACHE)
-
- SET(GEOS_CONFIG_PREFER_PATH "$ENV{GEOS_HOME}/bin" CACHE STRING "preferred path to GEOS (geos-config)")
- FIND_PROGRAM(GEOS_CONFIG geos-config
- ${GEOS_CONFIG_PREFER_PATH}
- /usr/local/bin/
- /usr/bin/
- )
-
- IF (DEFINED GEOS_CONFIG)
+#
+
+FUNCTION (GET_VERSION_PLIST PLISTFILE OUTVAR)
+ SET (PVERSION "")
+ IF (EXISTS ${PLISTFILE})
+ FILE (READ "${PLISTFILE}" info_plist)
+ STRING (REGEX REPLACE "\n" "" info_plist "${info_plist}")
+ STRING (REGEX MATCH "<key>CFBundleShortVersionString</key>[ \t]*<string>([0-9\\.]*)</string>" PLISTVERSION "${info_plist}")
+ STRING (REGEX REPLACE "<key>CFBundleShortVersionString</key>[ \t]*<string>([0-9\\.]*)</string>" "\\1" PVERSION "${PLISTVERSION}")
+ ENDIF (EXISTS ${PLISTFILE})
+ SET (${OUTVAR} ${PVERSION} PARENT_SCOPE)
+ENDFUNCTION (GET_VERSION_PLIST)
+
+IF(WIN32)
+
+ IF (MINGW)
+ FIND_PATH(GEOS_INCLUDE_DIR geos_c.h "$ENV{LIB_DIR}/include" /usr/local/include /usr/include c:/msys/local/include)
+ FIND_LIBRARY(GEOS_LIBRARY NAMES geos_c PATHS "$ENV{LIB_DIR}/lib" /usr/local/lib /usr/lib c:/msys/local/lib)
+ ENDIF (MINGW)
+
+ IF (MSVC)
+ FIND_PATH(GEOS_INCLUDE_DIR geos_c.h $ENV{LIB_DIR}/include $ENV{INCLUDE})
+ FIND_LIBRARY(GEOS_LIBRARY NAMES geos_c_i geos_c PATHS
+ "$ENV{LIB_DIR}/lib"
+ $ENV{LIB}
+ )
+ ENDIF (MSVC)
+
+ELSEIF(APPLE AND QGIS_MAC_DEPS_DIR)
+
+ FIND_PATH(GEOS_INCLUDE_DIR geos_c.h "$ENV{LIB_DIR}/include" )
+ FIND_LIBRARY(GEOS_LIBRARY NAMES geos_c PATHS "$ENV{LIB_DIR}/lib" )
+
+ELSE(WIN32)
+
+ IF(UNIX)
+ # try to use framework on mac
+ # want clean framework path, not unix compatibility path
+ IF (APPLE)
+ IF (CMAKE_FIND_FRAMEWORK MATCHES "FIRST"
+ OR CMAKE_FRAMEWORK_PATH MATCHES "ONLY"
+ OR NOT CMAKE_FIND_FRAMEWORK)
+ SET (CMAKE_FIND_FRAMEWORK_save ${CMAKE_FIND_FRAMEWORK} CACHE STRING "" FORCE)
+ SET (CMAKE_FIND_FRAMEWORK "ONLY" CACHE STRING "" FORCE)
+ FIND_LIBRARY(GEOS_LIBRARY GEOS)
+ IF (GEOS_LIBRARY)
+ # they're all the same in a framework
+ SET (GEOS_INCLUDE_DIR ${GEOS_LIBRARY}/Headers CACHE PATH "Path to a file.")
+ # set GEOS_CONFIG to make later test happy, not used here, may not exist
+ SET (GEOS_CONFIG ${GEOS_LIBRARY}/unix/bin/geos-config CACHE FILEPATH "Path to a program.")
+ # version in info.plist
+ GET_VERSION_PLIST (${GEOS_LIBRARY}/Resources/Info.plist GEOS_VERSION)
+ IF (NOT GEOS_VERSION)
+ MESSAGE (FATAL_ERROR "Could not determine GEOS version from framework.")
+ ENDIF (NOT GEOS_VERSION)
+ STRING(REGEX REPLACE "([0-9]+)\\.([0-9]+)\\.([0-9]+)" "\\1" GEOS_VERSION_MAJOR "${GEOS_VERSION}")
+ STRING(REGEX REPLACE "([0-9]+)\\.([0-9]+)\\.([0-9]+)" "\\2" GEOS_VERSION_MINOR "${GEOS_VERSION}")
+ IF (GEOS_VERSION_MAJOR LESS 3)
+ MESSAGE (FATAL_ERROR "GEOS version is too old (${GEOS_VERSION}). Use 3.0.0 or higher.")
+ ENDIF (GEOS_VERSION_MAJOR LESS 3)
+ ENDIF (GEOS_LIBRARY)
+ SET (CMAKE_FIND_FRAMEWORK ${CMAKE_FIND_FRAMEWORK_save} CACHE STRING "" FORCE)
+ ENDIF ()
+ ENDIF (APPLE)
+
+ IF(CYGWIN)
+ FIND_LIBRARY(GEOS_LIBRARY NAMES geos_c PATHS /usr/lib /usr/local/lib)
+ ENDIF(CYGWIN)
+
+ IF (NOT GEOS_INCLUDE_DIR OR NOT GEOS_LIBRARY OR NOT GEOS_CONFIG)
+ # didn't find OS X framework, and was not set by user
+ SET(GEOS_CONFIG_PREFER_PATH "$ENV{GEOS_HOME}/bin" CACHE STRING "preferred path to GEOS (geos-config)")
+ FIND_PROGRAM(GEOS_CONFIG geos-config
+ ${GEOS_CONFIG_PREFER_PATH}
+ $ENV{LIB_DIR}/bin
+ /usr/local/bin/
+ /usr/bin/
+ )
+ #MESSAGE("DBG GEOS_CONFIG ${GEOS_CONFIG}")
+
+ IF (GEOS_CONFIG)

EXEC_PROGRAM(${GEOS_CONFIG}
ARGS --version
@@ -36,9 +99,9 @@ IF (NOT DEFINED GEOS_INCLUDE_DIR OR NOT DEFINED GEOS_LIBRARY OR NOT DEFINED GEOS
STRING(REGEX REPLACE "([0-9]+)\\.([0-9]+)\\.([0-9]+)" "\\1" GEOS_VERSION_MAJOR "${GEOS_VERSION}")
STRING(REGEX REPLACE "([0-9]+)\\.([0-9]+)\\.([0-9]+)" "\\2" GEOS_VERSION_MINOR "${GEOS_VERSION}")

- IF (GEOS_VERSION_MAJOR LESS 3 OR (GEOS_VERSION_MAJOR EQUAL 3 AND GEOS_VERSION_MINOR LESS 1) )
- MESSAGE (FATAL_ERROR "GEOS version is too old (${GEOS_VERSION}). Use 3.1.0 or higher.")
- ENDIF (GEOS_VERSION_MAJOR LESS 3 OR (GEOS_VERSION_MAJOR EQUAL 3 AND GEOS_VERSION_MINOR LESS 1) )
+ IF (GEOS_VERSION_MAJOR LESS 3 OR (GEOS_VERSION_MAJOR EQUAL 3 AND GEOS_VERSION_MINOR LESS 3) )
+ MESSAGE (FATAL_ERROR "GEOS version is too old (${GEOS_VERSION}). Use 3.3.0 or higher.")
+ ENDIF (GEOS_VERSION_MAJOR LESS 3 OR (GEOS_VERSION_MAJOR EQUAL 3 AND GEOS_VERSION_MINOR LESS 3) )

# set INCLUDE_DIR to prefix+include
EXEC_PROGRAM(${GEOS_CONFIG}
@@ -46,11 +109,10 @@ IF (NOT DEFINED GEOS_INCLUDE_DIR OR NOT DEFINED GEOS_LIBRARY OR NOT DEFINED GEOS
OUTPUT_VARIABLE GEOS_PREFIX)

FIND_PATH(GEOS_INCLUDE_DIR
- geos/geom.h
- PATHS
- ${GEOS_PREFIX}/include
- /usr/local/include
- /usr/include
+ geos_c.h
+ ${GEOS_PREFIX}/include
+ /usr/local/include
+ /usr/include
)

## extract link dirs for rpath
@@ -64,53 +126,73 @@ IF (NOT DEFINED GEOS_INCLUDE_DIR OR NOT DEFINED GEOS_LIBRARY OR NOT DEFINED GEOS
STRING(REGEX MATCHALL "[-][L]([^ ;])+"
GEOS_LINK_DIRECTORIES_WITH_PREFIX
"${GEOS_CONFIG_LIBS}" )
-
+ #MESSAGE("DBG GEOS_LINK_DIRECTORIES_WITH_PREFIX=${GEOS_LINK_DIRECTORIES_WITH_PREFIX}")

## remove prefix -L because we need the pure directory for LINK_DIRECTORIES

IF (GEOS_LINK_DIRECTORIES_WITH_PREFIX)
- STRING(REGEX REPLACE "^-L(.*)" "\\1" GEOS_LINK_DIRECTORIES ${GEOS_LINK_DIRECTORIES_WITH_PREFIX} )
+ STRING(REGEX REPLACE "[-][L]" "" GEOS_LINK_DIRECTORIES ${GEOS_LINK_DIRECTORIES_WITH_PREFIX} )
ENDIF (GEOS_LINK_DIRECTORIES_WITH_PREFIX)

-
+ ### XXX - mloskot: geos-config --libs does not return -lgeos_c, so set it manually
+ ## split off the name
## use regular expression to match wildcard equivalent "-l*<endchar>"
## with <endchar> is a space or a semicolon
- STRING(REGEX MATCHALL "(^| )-l([^ ;])+"
- GEOS_LIB_NAME_WITH_PREFIX
- "${GEOS_CONFIG_LIBS}" )
+ #STRING(REGEX MATCHALL "[-][l]([^ ;])+"
+ # GEOS_LIB_NAME_WITH_PREFIX
+ # "${GEOS_CONFIG_LIBS}" )
+ #MESSAGE("DBG GEOS_CONFIG_LIBS=${GEOS_CONFIG_LIBS}")
+ #MESSAGE("DBG GEOS_LIB_NAME_WITH_PREFIX=${GEOS_LIB_NAME_WITH_PREFIX}")
+ SET(GEOS_LIB_NAME_WITH_PREFIX -lgeos_c CACHE STRING INTERNAL)

## remove prefix -l because we need the pure name
+
IF (GEOS_LIB_NAME_WITH_PREFIX)
- STRING(REGEX REPLACE "(^ )-l(.*)" "\\2" GEOS_LIBRARY ${GEOS_LIB_NAME_WITH_PREFIX} )
+ STRING(REGEX REPLACE "[-][l]" "" GEOS_LIB_NAME ${GEOS_LIB_NAME_WITH_PREFIX} )
ENDIF (GEOS_LIB_NAME_WITH_PREFIX)
-
- ELSE(DEFINED GEOS_CONFIG)
+ #MESSAGE("DBG GEOS_LIB_NAME=${GEOS_LIB_NAME}")
+
+ IF (APPLE)
+ IF (NOT GEOS_LIBRARY)
+ # work around empty GEOS_LIBRARY left by framework check
+ # while still preserving user setting if given
+ # ***FIXME*** need to improve framework check so below not needed
+ SET(GEOS_LIBRARY ${GEOS_LINK_DIRECTORIES}/lib${GEOS_LIB_NAME}.dylib CACHE STRING INTERNAL FORCE)
+ ENDIF (NOT GEOS_LIBRARY)
+ ELSE (APPLE)
+ FIND_LIBRARY(GEOS_LIBRARY NAMES ${GEOS_LIB_NAME} PATHS ${GEOS_LIB_DIRECTORIES}/lib)
+ ENDIF (APPLE)
+ #MESSAGE("DBG GEOS_LIBRARY=${GEOS_LIBRARY}")
+
+ ELSE(GEOS_CONFIG)
MESSAGE("FindGEOS.cmake: geos-config not found. Please set it manually. GEOS_CONFIG=${GEOS_CONFIG}")
- ENDIF(DEFINED GEOS_CONFIG)
-ENDIF(NOT DEFINED GEOS_INCLUDE_DIR OR NOT DEFINED GEOS_LIBRARY OR NOT DEFINED GEOS_LIBRARIES OR NOT DEFINED GEOS_CONFIG)
+ ENDIF(GEOS_CONFIG)
+ ENDIF(NOT GEOS_INCLUDE_DIR OR NOT GEOS_LIBRARY OR NOT GEOS_CONFIG)
+ ENDIF(UNIX)
+ENDIF(WIN32)

-IF(DEFINED GEOS_INCLUDE_DIR AND NOT DEFINED GEOS_VERSION)
+IF(GEOS_INCLUDE_DIR AND NOT GEOS_VERSION)
FILE(READ ${GEOS_INCLUDE_DIR}/geos_c.h VERSIONFILE)
- STRING(REGEX MATCH "#define GEOS_VERSION \"[0-9]+\\.[0-9]+\\.[0-9]+(dev)?\"" GEOS_VERSION ${VERSIONFILE})
+ STRING(REGEX MATCH "#define GEOS_VERSION \"[0-9]+\\.[0-9]+\\.[0-9]+" GEOS_VERSION ${VERSIONFILE})
STRING(REGEX MATCH "[0-9]+\\.[0-9]\\.[0-9]+" GEOS_VERSION ${GEOS_VERSION})
-ENDIF(DEFINED GEOS_INCLUDE_DIR AND NOT DEFINED GEOS_VERSION)
+ENDIF(GEOS_INCLUDE_DIR AND NOT GEOS_VERSION)

IF (GEOS_INCLUDE_DIR AND GEOS_LIBRARY)
SET(GEOS_FOUND TRUE)
- SET(GEOS_LIBRARIES ${GEOS_LIBRARY})
- SET(GEOS_INCLUDE_DIRS ${GEOS_INCLUDE_DIR})
ENDIF (GEOS_INCLUDE_DIR AND GEOS_LIBRARY)

IF (GEOS_FOUND)

IF (NOT GEOS_FIND_QUIETLY)
- MESSAGE(STATUS "Found GEOS: ${GEOS_LIBRARY} (version: ${GEOS_VERSION}, includes: ${GEOS_INCLUDE_DIRS})")
+ SET(GEOS_LIBRARIES ${GEOS_LIBRARY})
+ MESSAGE(STATUS "Found GEOS: ${GEOS_LIBRARIES} (${GEOS_VERSION})")
ENDIF (NOT GEOS_FIND_QUIETLY)

ELSE (GEOS_FOUND)

MESSAGE(GEOS_INCLUDE_DIR=${GEOS_INCLUDE_DIR})
MESSAGE(GEOS_LIBRARY=${GEOS_LIBRARY})
- MESSAGE(FATAL_ERROR "Could not find GEOS. Perhaps try:\n$ sudo apt-get install libgeos++-dev\n")
+ MESSAGE(FATAL_ERROR "Could not find GEOS")

ENDIF (GEOS_FOUND)
+
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