Merge branch 'devel' for 1.7.2 release

OctoMap · Mar 26, 2016 · 54c3137 · 54c3137
2 parents 03da11e + bb8570e
commit 54c3137
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Showing 18 changed files with 69 additions and 48 deletions.
diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
@@ -6,7 +6,7 @@ ENABLE_TESTING()
 # version (e.g. for packaging)
 set(DYNAMICEDT3D_MAJOR_VERSION 1)
 set(DYNAMICEDT3D_MINOR_VERSION 7)
-set(DYNAMICEDT3D_PATCH_VERSION 1)
+set(DYNAMICEDT3D_PATCH_VERSION 2)
 set(DYNAMICEDT3D_VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
 set(DYNAMICEDT3D_SOVERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION})
 
@@ -84,11 +84,11 @@ set(DYNAMICEDT3D_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
 # Windows, spec. MSVC requires the .lib suffix for imported libs
 IF(WIN32)
   set(DYNAMICEDT3D_LIBRARY
-    "${DYNAMICEDT3D_LIB_DIR}/${CMAKE_IMPORT_LIBRARY_PREFIX}dynamicedt3d${CMAKE_IMPORT_LIBRARY_SUFFIX}"
+    "${CMAKE_IMPORT_LIBRARY_PREFIX}dynamicedt3d${CMAKE_IMPORT_LIBRARY_SUFFIX}"
   )
 ELSE()
   set(DYNAMICEDT3D_LIBRARY
-    "${DYNAMICEDT3D_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}dynamicedt3d${CMAKE_SHARED_LIBRARY_SUFFIX}"
+    "${CMAKE_SHARED_LIBRARY_PREFIX}dynamicedt3d${CMAKE_SHARED_LIBRARY_SUFFIX}"
   )
 ENDIF()
 # not used right now (export depends?)

diff --git a/dynamicEDT3D/dynamicEDT3DConfig.cmake.in b/dynamicEDT3D/dynamicEDT3DConfig.cmake.in
@@ -20,4 +20,4 @@ set(DYNAMICEDT3D_LIBRARY_DIRS "@DYNAMICEDT3D_LIB_DIR@")
 # Our library dependencies (contains definitions for IMPORTED targets)
 # include("@FOOBAR_CMAKE_DIR@/FooBarLibraryDepends.cmake")
 
-set(DYNAMICEDT3D_LIBRARIES "@DYNAMICEDT3D_LIBRARY@")
+set(DYNAMICEDT3D_LIBRARIES "@DYNAMICEDT3D_LIB_DIR@/@DYNAMICEDT3D_LIBRARY@")
diff --git a/dynamicEDT3D/package.xml b/dynamicEDT3D/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>dynamic_edt_3d</name>
-  <version>1.7.1</version>
+  <version>1.7.2</version>
   <description> The dynamicEDT3D library implements an inrementally updatable Euclidean distance transform (EDT) in 3D. It comes with a wrapper to use the OctoMap 3D representation and hooks into the change detection of the OctoMap library to propagate changes to the EDT.</description>
 
   <author email="sprunkc@informatik.uni-freiburg.de">Christoph Sprunk</author>

diff --git a/octomap/CHANGELOG.txt b/octomap/CHANGELOG.txt
@@ -1,3 +1,10 @@
+v1.7.2: 2016-03-26
+==================
+- BBX iterators fixed for empty trees (point3d version)
+- Removed qglviewer.h from some public octovis headers
+- Fixed QGLViewer library names for Ubuntu wily and xenial
+- Fixed install path in CMakeConfigs
+
 v1.7.1: 2016-01-31
 ==================
 - Fixed #82: Enable uninstall target for complete project

diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
@@ -6,7 +6,7 @@ ENABLE_TESTING()
 # version (e.g. for packaging)
 set(OCTOMAP_MAJOR_VERSION 1)
 set(OCTOMAP_MINOR_VERSION 7)
-set(OCTOMAP_PATCH_VERSION 1)
+set(OCTOMAP_PATCH_VERSION 2)
 set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
 set(OCTOMAP_SOVERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION})
 if(COMMAND cmake_policy)
@@ -87,17 +87,17 @@ set(OCTOMAP_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
 # Windows, spec. MSVC requires the .lib suffix for imported libs
 IF(WIN32)
   set(OCTOMAP_LIBRARY
-    "${OCTOMAP_LIB_DIR}/${CMAKE_IMPORT_LIBRARY_PREFIX}octomap${CMAKE_IMPORT_LIBRARY_SUFFIX}"
+    "${CMAKE_IMPORT_LIBRARY_PREFIX}octomap${CMAKE_IMPORT_LIBRARY_SUFFIX}"
   )
   set(OCTOMATH_LIBRARY
-    "${OCTOMAP_LIB_DIR}/${CMAKE_IMPORT_LIBRARY_PREFIX}octomath${CMAKE_IMPORT_LIBRARY_SUFFIX}"
+    "${CMAKE_IMPORT_LIBRARY_PREFIX}octomath${CMAKE_IMPORT_LIBRARY_SUFFIX}"
   )
 ELSE()
   set(OCTOMAP_LIBRARY
-    "${OCTOMAP_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}octomap${CMAKE_SHARED_LIBRARY_SUFFIX}"
+    "${CMAKE_SHARED_LIBRARY_PREFIX}octomap${CMAKE_SHARED_LIBRARY_SUFFIX}"
   )
   set(OCTOMATH_LIBRARY
-    "${OCTOMAP_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}octomath${CMAKE_SHARED_LIBRARY_SUFFIX}"
+    "${CMAKE_SHARED_LIBRARY_PREFIX}octomath${CMAKE_SHARED_LIBRARY_SUFFIX}"
   )
 ENDIF()
 
@@ -114,6 +114,7 @@ configure_file(octomap-config-version.cmake.in
 set(OCTOMAP_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
 set(OCTOMAP_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
 #set(OCTOMAP_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
+
 configure_file(octomap-config.cmake.in
   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake" @ONLY)
 configure_file(octomap-config-version.cmake.in

diff --git a/octomap/include/octomap/OcTreeIterator.hxx b/octomap/include/octomap/OcTreeIterator.hxx
@@ -64,7 +64,8 @@
           s.depth = 0;
           s.key[0] = s.key[1] = s.key[2] = tree->tree_max_val;
           stack.push(s);
-        } else{ // construct the same as "end", tree must already be NULL
+        } else{ // construct the same as "end"
+          tree = NULL;
           this->maxDepth = 0;
         }
       }
@@ -349,16 +350,18 @@
       leaf_bbx_iterator(OcTreeBaseImpl<NodeType,INTERFACE> const* tree, const point3d& min, const point3d& max, unsigned char depth=0)
         : iterator_base(tree, depth)
       {
-
-        if (!this->tree->coordToKeyChecked(min, minKey) || !this->tree->coordToKeyChecked(max, maxKey)){
-          // coordinates invalid, set to end iterator
-          tree = NULL;
-          this->maxDepth = 0;
-        } else{  // else: keys are generated and stored
-
-          // advance from root to next valid leaf in bbx:
-          this->stack.push(this->stack.top());
-          this->operator ++();
+        if (this->stack.size() > 0){
+          assert(tree);
+          if (!this->tree->coordToKeyChecked(min, minKey) || !this->tree->coordToKeyChecked(max, maxKey)){
+            // coordinates invalid, set to end iterator
+            tree = NULL;
+            this->maxDepth = 0;
+          } else{  // else: keys are generated and stored
+
+            // advance from root to next valid leaf in bbx:
+            this->stack.push(this->stack.top());
+            this->operator ++();
+          }
         }
 
       }

diff --git a/octomap/include/octomap/OcTreeKey.h b/octomap/include/octomap/OcTreeKey.h
@@ -77,7 +77,7 @@ namespace octomap {
     bool operator== (const OcTreeKey &other) const { 
       return ((k[0] == other[0]) && (k[1] == other[1]) && (k[2] == other[2]));
     }
-    bool operator!= (const OcTreeKey &other) const {
+    bool operator!= (const OcTreeKey& other) const {
       return( (k[0] != other[0]) || (k[1] != other[1]) || (k[2] != other[2]) );
     }
     OcTreeKey& operator=(const OcTreeKey& other){
@@ -131,7 +131,7 @@ namespace octomap {
     void reset() {
       end_of_ray = begin();
     }
-    void addKey(OcTreeKey& k) {
+    void addKey(const OcTreeKey& k) {
       assert(end_of_ray != ray.end());
       *end_of_ray = k;
       end_of_ray++;
@@ -167,7 +167,7 @@ namespace octomap {
    * @param[in] parent_key current (parent) key
    * @param[out] child_key  computed child key
    */
-  inline void computeChildKey (const unsigned int& pos, const unsigned short int& center_offset_key,
+  inline void computeChildKey (unsigned int pos, unsigned short int center_offset_key,
                                           const OcTreeKey& parent_key, OcTreeKey& child_key) {
     // x-axis
     if (pos & 1) child_key[0] = parent_key[0] + center_offset_key;

diff --git a/octomap/octomap-config.cmake.in b/octomap/octomap-config.cmake.in
@@ -29,6 +29,6 @@ set(OCTOMAP_LIBRARY_DIRS "@OCTOMAP_LIB_DIR@")
 
 # Set library names
 set(OCTOMAP_LIBRARIES 
-  "@OCTOMAP_LIBRARY@"
-  "@OCTOMATH_LIBRARY@"
+  "@OCTOMAP_LIB_DIR@/@OCTOMAP_LIBRARY@"
+  "@OCTOMAP_LIB_DIR@/@OCTOMATH_LIBRARY@"
 )
diff --git a/octomap/package.xml b/octomap/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>octomap</name>
-  <version>1.7.1</version>
+  <version>1.7.2</version>
   <description>The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
   http://octomap.github.io for details.</description>
 

diff --git a/octomap/src/testing/test_iterators.cpp b/octomap/src/testing/test_iterators.cpp
@@ -256,6 +256,21 @@ int main(int argc, char** argv) {
     iteratedNodes++;
   }
   EXPECT_EQ(iteratedNodes, 0);
+
+  octomap::point3d ptMinBBX(-0.1, -0.1, -0.1);
+  octomap::point3d ptMaxBBX(0.1, 0.1, 0.1);
+  for(OcTree::leaf_bbx_iterator l_it = emptyTree.begin_leafs_bbx(ptMinBBX, ptMaxBBX, maxDepth), l_end=emptyTree.end_leafs_bbx(); l_it!= l_end; ++l_it){
+    iteratedNodes++;
+  }
+  EXPECT_EQ(iteratedNodes, 0);
+
+  octomap::OcTreeKey minBBX(10, 10, 16);
+  octomap::OcTreeKey maxBBX(10, 10, 18);
+  for(OcTree::leaf_bbx_iterator l_it = emptyTree.begin_leafs_bbx(minBBX, maxBBX, maxDepth), l_end=emptyTree.end_leafs_bbx(); l_it!= l_end; ++l_it){
+    iteratedNodes++;
+  }
+  EXPECT_EQ(iteratedNodes, 0);
+
 
 
 

diff --git a/octovis/CMakeLists.txt b/octovis/CMakeLists.txt
@@ -4,7 +4,7 @@ PROJECT( octovis )
 # # version (e.g. for packaging)
 set(OCTOVIS_MAJOR_VERSION 1)
 set(OCTOVIS_MINOR_VERSION 7)
-set(OCTOVIS_PATCH_VERSION 1)
+set(OCTOVIS_PATCH_VERSION 2)
 set(OCTOVIS_VERSION ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION}.${OCTOVIS_PATCH_VERSION})
 set(OCTOVIS_SOVERSION ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION})
 # get rid of a useless warning:
@@ -90,11 +90,11 @@ IF(BUILD_VIEWER)
   # Windows, spec. MSVC requires the .lib suffix for imported libs
   IF(WIN32)
     set(OCTOVIS_LIBRARY
-      "${OCTOVIS_LIB_DIR}/${CMAKE_IMPORT_LIBRARY_PREFIX}octovis${CMAKE_IMPORT_LIBRARY_SUFFIX}"
+      "${CMAKE_IMPORT_LIBRARY_PREFIX}octovis${CMAKE_IMPORT_LIBRARY_SUFFIX}"
     )
   ELSE()
     set(OCTOVIS_LIBRARY
-      "${OCTOVIS_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}octovis${CMAKE_SHARED_LIBRARY_SUFFIX}"
+      "${CMAKE_SHARED_LIBRARY_PREFIX}octovis${CMAKE_SHARED_LIBRARY_SUFFIX}"
     )
   ENDIF()
 

diff --git a/octovis/CMakeModules/FindQGLViewer.cmake b/octovis/CMakeModules/FindQGLViewer.cmake
@@ -23,7 +23,7 @@ FIND_PATH( QGLViewer_INCLUDE_DIR qglviewer.h
     ${QGLVIEWER_BASE_DIR}
 )
 
-FIND_LIBRARY( QGLViewer_LIBRARY_DIR_UBUNTU qglviewer-qt4 )
+FIND_LIBRARY( QGLViewer_LIBRARY_DIR_UBUNTU NAMES qglviewer-qt4 QGLViewer-qt4)
 FIND_LIBRARY( QGLViewer_LIBRARY_DIR_WINDOWS QGLViewer2 ${QGLVIEWER_BASE_DIR})
 FIND_LIBRARY( QGLViewer_LIBRARY_DIR_OTHER QGLViewer ${QGLVIEWER_BASE_DIR})
 
@@ -33,22 +33,16 @@ IF( QGLViewer_INCLUDE_DIR )
 
   MESSAGE(STATUS "QGLViewer includes found in ${QGLViewer_INCLUDE_DIR}")
   IF (QGLViewer_LIBRARY_DIR_UBUNTU)
-    MESSAGE(STATUS "qglviewer-qt4 found in ${QGLViewer_LIBRARY_DIR_UBUNTU}")
-    # strip filename from path
-    GET_FILENAME_COMPONENT( QGLViewer_LIBRARY_DIR ${QGLViewer_LIBRARY_DIR_UBUNTU} PATH CACHE )
-    SET( QGLViewer_LIBRARIES qglviewer-qt4)
+    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)
-    # strip filename from path
-    GET_FILENAME_COMPONENT( QGLViewer_LIBRARY_DIR ${QGLViewer_LIBRARY_DIR_WINDOWS} PATH CACHE )
-    SET( QGLViewer_LIBRARIES QGLViewer2)
+    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 )
-    MESSAGE(STATUS "QGLViewer2.lib found in ${QGLViewer_LIBRARY_DIR}")
   ELSEIF(QGLViewer_LIBRARY_DIR_OTHER)
-    MESSAGE(STATUS "QGLViewer found: ${QGLViewer_LIBRARY_DIR_OTHER}")
-    # strip filename from path
-    GET_FILENAME_COMPONENT( QGLViewer_LIBRARY_DIR ${QGLViewer_LIBRARY_DIR_OTHER} PATH CACHE )
-    SET( QGLViewer_LIBRARIES QGLViewer)
+    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.")
@@ -110,7 +104,7 @@ IF (NOT QGLViewer_FOUND)
   #FIND_LIBRARY(QGLViewer_LIBRARY_DIR_OTHER QGLViewer ${QGLVIEWER_BASE_DIR})
   FIND_PATH(QGLLIB libQGLViewer.so ${QGLVIEWER_BASE_DIR})
   IF (NOT QGLLIB)
-    MESSAGE(STATUS "\nfailed to build libQGLViewer")
+    MESSAGE(WARNING "Could not find libQGLViewer.so, failed to build?")
     SET( QGLViewer_FOUND 0 CACHE BOOL "Do we have QGLViewer?" FORCE )
   ELSE()
     MESSAGE(STATUS "Successfully built library in:\n${QGLLIB}")

diff --git a/octovis/include/octovis/CameraFollowMode.h b/octovis/include/octovis/CameraFollowMode.h
@@ -26,6 +26,7 @@
 #define CAMERAFOLLOWMODE_H_
 
 #include "SceneObject.h"
+#include <QObject>
 
 class CameraFollowMode : public QObject {
   Q_OBJECT

diff --git a/octovis/include/octovis/SceneObject.h b/octovis/include/octovis/SceneObject.h
@@ -37,7 +37,6 @@
   #include <GL/glu.h>
 #endif
 
-#include <qglviewer.h>
 #include <octomap/octomap.h>
 
 namespace octomap {

diff --git a/octovis/include/octovis/ViewerSettingsPanel.h b/octovis/include/octovis/ViewerSettingsPanel.h
@@ -26,7 +26,7 @@
 #define VIEWERSETTINGSPANEL_H
 
 #include <math.h>
-#include <qglviewer.h>
+#include <QWidget>
 #include "ui_ViewerSettingsPanel.h"
 
 #define _TREE_MAX_DEPTH 16

diff --git a/octovis/octovis-config.cmake.in b/octovis/octovis-config.cmake.in
@@ -13,5 +13,5 @@ set(OCTOVIS_LIBRARY_DIRS "@QGLViewer_LIBRARY_DIR@" "@OCTOVIS_LIB_DIR@")
 set(OCTOVIS_LIBRARIES
   "@QGLViewer_LIBRARIES@"
   "@QT_LIBRARIES@"
-  "@OCTOVIS_LIBRARY@"
+  "@OCTOVIS_LIB_DIR@/@OCTOVIS_LIBRARY@"
 )
diff --git a/octovis/package.xml b/octovis/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>octovis</name>
-  <version>1.7.1</version>
+  <version>1.7.2</version>
   <description>octovis is visualization tool for the OctoMap library based on Qt and libQGLViewer. See
   http://octomap.github.io for details.</description>
 

diff --git a/octovis/src/OcTreeDrawer.cpp b/octovis/src/OcTreeDrawer.cpp
@@ -23,6 +23,7 @@
  */
 
 #include <octovis/OcTreeDrawer.h>
+#include <qglviewer.h>
 
 #define OTD_RAD2DEG 57.2957795
-Original file line number
+Diff line change
@@ Expand Up / @@ -23,6 +23,7 @@ @@
      */
     #include <octovis/OcTreeDrawer.h>
+    #include <qglviewer.h>
     #define OTD_RAD2DEG 57.2957795
@@ Expand Down @@