Bump PCL to 1.8+, compile on Bionic

Author: PeterBowman

CMakeLists.txt

@@ -45,19 +45,13 @@ find_package(COLOR_DEBUG REQUIRED)
 # Soft dependencies.
 
 find_package(OpenCV QUIET)
-find_package(PCL 1.6 QUIET)
+find_package(PCL 1.8 QUIET)
 find_package(TensorflowCC 1.12 QUIET)
 find_package(GTestSources 1.6.0 QUIET)
 find_package(SWIG QUIET)
 find_package(Doxygen QUIET)
 
-# Xenial + PCL 1.7 bug
-# https://github.com/PointCloudLibrary/pcl/issues/2406
-if(DEFINED PCL_LIBRARIES)
-    list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
-endif()
-
-# Focal + PCL 1.10 + OpenNI workaround (idea: use CMake components to find_package(PCL)?)
+# Focal + PCL 1.10 + OpenNI workaround (idea: use CMake components to find_package(PCL)?).
 if(PCL_VERSION VERSION_EQUAL 1.10)
     include_directories(/usr/include/ni)
     link_libraries(/usr/lib/libOpenNI.so)

libraries/YarpCloudUtils/CMakeLists.txt

@@ -2,6 +2,15 @@ option(ENABLE_YarpCloudUtils "Enable/disable YarpCloudUtils" ON)
 
 if(ENABLE_YarpCloudUtils)
 
+    if(PCL_VERSION VERSION_LESS 1.9)
+        include_directories(${PCL_INCLUDE_DIRS})
+        link_directories(${PCL_LIBRARY_DIRS})
+
+        # workaround for PCL 1.8 (Ubuntu 18.04), exclude empty/blank strings as compile defs
+        list(FILTER PCL_DEFINITIONS EXCLUDE REGEX "^ +$")
+        add_definitions(${PCL_DEFINITIONS})
+    endif()
+
     add_library(YarpCloudUtils SHARED YarpCloudUtils.hpp
                                       YarpCloudUtils-ply-export.cpp
                                       YarpCloudUtils-ply-import.cpp

libraries/YarpCloudUtils/YarpCloudUtils-pcl-impl.hpp

@@ -42,7 +42,9 @@
 #include <pcl/surface/grid_projection.h>
 #include <pcl/surface/marching_cubes_hoppe.h>
 #include <pcl/surface/marching_cubes_rbf.h>
+#if PCL_VERSION_COMPARE(>=, 1, 9, 0)
 #include <pcl/surface/mls.h>
+#endif
 #include <pcl/surface/organized_fast_mesh.h>
 #include <pcl/surface/poisson.h>
 #include <pcl/surface/simplification_remove_unused_vertices.h>
@@ -296,7 +298,9 @@ void doLocalMaximum(const typename pcl::PointCloud<T>::ConstPtr & in, const type
 template <typename T>
 void doMarchingCubesHoppe(const typename pcl::PointCloud<T>::ConstPtr & in, const pcl::PolygonMesh::Ptr & out, const yarp::os::Searchable & options)
 {
+#if PCL_VERSION_COMPARE(>=, 1, 9, 0)
     auto distanceIgnore = options.check("distanceIgnore", yarp::os::Value(-1.0f)).asFloat32();
+#endif
     auto gridResolution = options.check("gridResolution", yarp::os::Value(32)).asInt32();
     auto gridResolutionX = options.check("gridResolutionX", yarp::os::Value(gridResolution)).asInt32();
     auto gridResolutionY = options.check("gridResolutionY", yarp::os::Value(gridResolution)).asInt32();
@@ -308,7 +312,9 @@ void doMarchingCubesHoppe(const typename pcl::PointCloud<T>::ConstPtr & in, cons
     tree->setInputCloud(in);
 
     pcl::MarchingCubesHoppe<T> hoppe;
+#if PCL_VERSION_COMPARE(>=, 1, 9, 0)
     hoppe.setDistanceIgnore(distanceIgnore);
+#endif
     hoppe.setGridResolution(gridResolutionX, gridResolutionY, gridResolutionZ);
     hoppe.setInputCloud(in);
     hoppe.setIsoLevel(isoLevel);
@@ -451,6 +457,7 @@ void doMeshSubdivisionVTK(const pcl::PolygonMesh::ConstPtr & in, const pcl::Poly
     checkOutput(out, "MeshSubdivisionVTK");
 }
 
+#if PCL_VERSION_COMPARE(>=, 1, 9, 0)
 template <typename T1, typename T2 = T1>
 void doMovingLeastSquares(const typename pcl::PointCloud<T1>::ConstPtr & in, const typename pcl::PointCloud<T2>::Ptr & out, const yarp::os::Searchable & options)
 {
@@ -537,6 +544,7 @@ void doMovingLeastSquares(const typename pcl::PointCloud<T1>::ConstPtr & in, con
 
     checkOutput<T2>(out, "MovingLeastSquares");
 }
+#endif
 
 template <typename T1, typename T2>
 void doNormalEstimation(const typename pcl::PointCloud<T1>::ConstPtr & in, const typename pcl::PointCloud<T2>::Ptr & out, const yarp::os::Searchable & options)

libraries/YarpCloudUtils/YarpCloudUtils-pcl.cpp

@@ -133,12 +133,14 @@ namespace
         case "MeshSubdivisionVTK"_hash:
             doMeshSubdivisionVTK(prev.getMesh(), curr.setMesh(), options);
             break;
+#if PCL_VERSION_COMPARE(>=, 1, 9, 0)
         case "MovingLeastSquares"_hash:
             if (options.check("computeNormals"), yarp::os::Value(false).asBool())
                 doMovingLeastSquares<any_xyz_t, normal_t>(prev.getCloud<any_xyz_t>(), curr.setCloud<normal_t>(), options);
             else
                 doMovingLeastSquares<any_xyz_t>(prev.getCloud<any_xyz_t>(), curr.setCloud<any_xyz_t>(), options);
             break;
+#endif
         case "NormalEstimation"_hash:
             pcl::copyPointCloud(*prev.getCloud<any_xyz_t>(), *curr.setCloud<normal_t>());
             doNormalEstimation<any_xyz_t, normal_t>(prev.getCloud<any_xyz_t>(), curr.useCloud<normal_t>(), options);

programs/pointAtObjectServer/CMakeLists.txt

@@ -7,9 +7,14 @@ cmake_dependent_option(ENABLE_pointAtObjectServer "Enable/disable pointAtObjectS
 
 if(ENABLE_pointAtObjectServer)
 
-    include_directories(${PCL_INCLUDE_DIRS})
+    if(PCL_VERSION VERSION_LESS 1.9)
+        include_directories(${PCL_INCLUDE_DIRS})
+        link_directories(${PCL_LIBRARY_DIRS})
 
-    link_directories(${PCL_LIBRARY_DIRS})
+        # workaround for PCL 1.8 (Ubuntu 18.04), exclude empty/blank strings as compile defs
+        list(FILTER PCL_DEFINITIONS EXCLUDE REGEX "^ +$")
+        add_definitions(${PCL_DEFINITIONS})
+    endif()
 
     add_executable(pointAtObjectServer main.cpp
                                        PointAtObjectServer.hpp
@@ -21,10 +26,6 @@ if(ENABLE_pointAtObjectServer)
                                        vtkTimerCallback.hpp
                                        vtkTimerCallback.cpp)
 
-    # workaround for PCL 1.8 (Ubuntu 18.04), exclude empty/blank strings as compile defs
-    list(FILTER PCL_DEFINITIONS EXCLUDE REGEX "^ +$")
-    target_compile_definitions(pointAtObjectServer PUBLIC ${PCL_DEFINITIONS})
-
     target_link_libraries(pointAtObjectServer YARP::YARP_os
                                               YARP::YARP_init
                                               YARP::YARP_sig