Fix qhull not being found

recipe/4540.patch

@@ -0,0 +1,389 @@
+diff --git a/cmake/Modules/FindQhull.cmake b/cmake/Modules/FindQhull.cmake
+index 7f3cf90dc..93797c227 100644
+--- a/cmake/Modules/FindQhull.cmake
++++ b/cmake/Modules/FindQhull.cmake
+@@ -9,14 +9,14 @@
+ # If QHULL_USE_STATIC is specified then look for static libraries ONLY else
+ # look for shared ones
+
+-set(QHULL_MAJOR_VERSION 6)
++set(QHULL_MAJOR_VERSION 8)
+
+ if(QHULL_USE_STATIC)
+-  set(QHULL_RELEASE_NAME qhullstatic)
+-  set(QHULL_DEBUG_NAME qhullstatic_d)
++  set(QHULL_RELEASE_NAME qhullstatic_r)
++  set(QHULL_DEBUG_NAME qhullstatic_r_d)
+ else()
+-  set(QHULL_RELEASE_NAME qhull_p qhull${QHULL_MAJOR_VERSION} qhull)
+-  set(QHULL_DEBUG_NAME qhull_p_d qhull${QHULL_MAJOR_VERSION}_d qhull_d${QHULL_MAJOR_VERSION} qhull_d)
++  set(QHULL_RELEASE_NAME qhull_r qhull${QHULL_MAJOR_VERSION} qhull)
++  set(QHULL_DEBUG_NAME qhull_r_d qhull${QHULL_MAJOR_VERSION}_d qhull_d${QHULL_MAJOR_VERSION} qhull_d)
+ endif()
+
+ find_file(QHULL_HEADER
+diff --git a/surface/include/pcl/surface/convex_hull.h b/surface/include/pcl/surface/convex_hull.h
+index 2db2e92ac..7c0d40623 100644
+--- a/surface/include/pcl/surface/convex_hull.h
++++ b/surface/include/pcl/surface/convex_hull.h
+@@ -89,11 +89,11 @@ namespace pcl
+       using PointCloudConstPtr = typename PointCloud::ConstPtr;
+
+       /** \brief Empty constructor. */
+-      ConvexHull () : compute_area_ (false), total_area_ (0), total_volume_ (0), dimension_ (0), 
++      ConvexHull () : compute_area_ (false), total_area_ (0), total_volume_ (0), dimension_ (0),
+                       projection_angle_thresh_ (std::cos (0.174532925) ), qhull_flags ("qhull "),
+                       x_axis_ (1.0, 0.0, 0.0), y_axis_ (0.0, 1.0, 0.0), z_axis_ (0.0, 0.0, 1.0)
+       {
+-      };
++      }
+
+       /** \brief Empty destructor */
+       ~ConvexHull () {}
+diff --git a/surface/include/pcl/surface/impl/concave_hull.hpp b/surface/include/pcl/surface/impl/concave_hull.hpp
+index 02591d792..05d28851e 100644
+--- a/surface/include/pcl/surface/impl/concave_hull.hpp
++++ b/surface/include/pcl/surface/impl/concave_hull.hpp
+@@ -194,8 +194,13 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
+       points[i * dim_ + 2] = static_cast<coordT> (cloud_transformed[i].z);
+   }
+
++  qhT qh_qh;
++  qhT* qh = &qh_qh;
++  QHULL_LIB_CHECK
++  qh_zero(qh, errfile);
++
+   // Compute concave hull
+-  exitcode = qh_new_qhull (dim_, static_cast<int> (cloud_transformed.size ()), points, ismalloc, flags, outfile, errfile);
++  exitcode = qh_new_qhull (qh, dim_, static_cast<int> (cloud_transformed.size ()), points, ismalloc, flags, outfile, errfile);
+
+   if (exitcode != 0)
+   {
+@@ -227,16 +232,16 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
+     alpha_shape.width = alpha_shape.height = 0;
+     polygons.resize (0);
+
+-    qh_freeqhull (!qh_ALL);
++    qh_freeqhull (qh, !qh_ALL);
+     int curlong, totlong;
+-    qh_memfreeshort (&curlong, &totlong);
++    qh_memfreeshort (qh, &curlong, &totlong);
+
+     return;
+   }
+
+-  qh_setvoronoi_all ();
++  qh_setvoronoi_all (qh);
+
+-  int num_vertices = qh num_vertices;
++  int num_vertices = qh->num_vertices;
+   alpha_shape.points.resize (num_vertices);
+
+   vertexT *vertex;
+@@ -253,11 +258,11 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
+   ++max_vertex_id;
+   std::vector<int> qhid_to_pcidx (max_vertex_id);
+
+-  int num_facets = qh num_facets;
++  int num_facets = qh->num_facets;
+
+   if (dim_ == 3)
+   {
+-    setT *triangles_set = qh_settemp (4 * num_facets);
++    setT *triangles_set = qh_settemp (qh, 4 * num_facets);
+     if (voronoi_centers_)
+       voronoi_centers_->points.resize (num_facets);
+
+@@ -283,29 +288,29 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
+         if (r <= alpha_)
+         {
+           // all triangles in tetrahedron are good, add them all to the alpha shape (triangles_set)
+-          qh_makeridges (facet);
++          qh_makeridges (qh, facet);
+           facet->good = true;
+-          facet->visitid = qh visit_id;
++          facet->visitid = qh->visit_id;
+           ridgeT *ridge, **ridgep;
+           FOREACHridge_ (facet->ridges)
+           {
+             facetT *neighb = otherfacet_ (ridge, facet);
+-            if ((neighb->visitid != qh visit_id))
+-              qh_setappend (&triangles_set, ridge);
++            if ((neighb->visitid != qh->visit_id))
++              qh_setappend (qh, &triangles_set, ridge);
+           }
+         }
+         else
+         {
+           // consider individual triangles from the tetrahedron...
+           facet->good = false;
+-          facet->visitid = qh visit_id;
+-          qh_makeridges (facet);
++          facet->visitid = qh->visit_id;
++          qh_makeridges (qh, facet);
+           ridgeT *ridge, **ridgep;
+           FOREACHridge_ (facet->ridges)
+           {
+             facetT *neighb;
+             neighb = otherfacet_ (ridge, facet);
+-            if ((neighb->visitid != qh visit_id))
++            if ((neighb->visitid != qh->visit_id))
+             {
+               // check if individual triangle is good and add it to triangles_set
+
+@@ -322,7 +327,7 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
+
+               double r = pcl::getCircumcircleRadius (a, b, c);
+               if (r <= alpha_)
+-                qh_setappend (&triangles_set, ridge);
++                qh_setappend (qh, &triangles_set, ridge);
+             }
+           }
+         }
+@@ -354,7 +359,7 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
+       {
+         polygons[triangles].vertices.resize (3);
+         int vertex_n, vertex_i;
+-        FOREACHvertex_i_ ((*ridge).vertices)  //3 vertices per ridge!
++        FOREACHvertex_i_ (qh, (*ridge).vertices)  //3 vertices per ridge!
+         {
+           if (!added_vertices[vertex->id])
+           {
+@@ -383,7 +388,7 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
+   {
+     // Compute the alpha complex for the set of points
+     // Filters the delaunay triangles
+-    setT *edges_set = qh_settemp (3 * num_facets);
++    setT *edges_set = qh_settemp (qh, 3 * num_facets);
+     if (voronoi_centers_)
+       voronoi_centers_->points.resize (num_facets);
+
+@@ -403,12 +408,12 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
+         if (r <= alpha_)
+         {
+           pcl::Vertices facet_vertices;   //TODO: is not used!!
+-          qh_makeridges (facet);
++          qh_makeridges (qh, facet);
+           facet->good = true;
+
+           ridgeT *ridge, **ridgep;
+           FOREACHridge_ (facet->ridges)
+-          qh_setappend (&edges_set, ridge);
++          qh_setappend (qh, &edges_set, ridge);
+
+           if (voronoi_centers_)
+           {
+@@ -438,7 +443,7 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
+         std::vector<int> pcd_indices;
+         pcd_indices.resize (2);
+
+-        FOREACHvertex_i_ ((*ridge).vertices)  //in 2-dim, 2 vertices per ridge!
++        FOREACHvertex_i_ (qh, (*ridge).vertices)  //in 2-dim, 2 vertices per ridge!
+         {
+           if (!added_vertices[vertex->id])
+           {
+@@ -540,9 +545,9 @@ pcl::ConcaveHull<PointInT>::performReconstruction (PointCloud &alpha_shape, std:
+       voronoi_centers_->points.resize (dd);
+   }
+
+-  qh_freeqhull (!qh_ALL);
++  qh_freeqhull (qh, !qh_ALL);
+   int curlong, totlong;
+-  qh_memfreeshort (&curlong, &totlong);
++  qh_memfreeshort (qh, &curlong, &totlong);
+
+   Eigen::Affine3d transInverse = transform1.inverse ();
+   pcl::transformPointCloud (alpha_shape, alpha_shape, transInverse);
+diff --git a/surface/include/pcl/surface/impl/convex_hull.hpp b/surface/include/pcl/surface/impl/convex_hull.hpp
+index ef8330ac7..f7b8af988 100644
+--- a/surface/include/pcl/surface/impl/convex_hull.hpp
++++ b/surface/include/pcl/surface/impl/convex_hull.hpp
+@@ -180,18 +180,23 @@ pcl::ConvexHull<PointInT>::performReconstruction2D (PointCloud &hull, std::vecto
+     // This should only happen if we had invalid input
+     PCL_ERROR ("[pcl::%s::performReconstruction2D] Invalid input!\n", getClassName ().c_str ());
+   }
++
++  qhT qh_qh;
++  qhT* qh = &qh_qh;
++  QHULL_LIB_CHECK
++  qh_zero(qh, errfile);
+
+   // Compute convex hull
+-  int exitcode = qh_new_qhull (dimension, static_cast<int> (indices_->size ()), points, ismalloc, const_cast<char*> (flags), outfile, errfile);
++  int exitcode = qh_new_qhull (qh, dimension, static_cast<int> (indices_->size ()), points, ismalloc, const_cast<char*> (flags), outfile, errfile);
+ #ifdef HAVE_QHULL_2011
+   if (compute_area_)
+   {
+-    qh_prepare_output();
++    qh_prepare_output(qh);
+   }
+ #endif
+
+   // 0 if no error from qhull or it doesn't find any vertices
+-  if (exitcode != 0 || qh num_vertices == 0)
++  if (exitcode != 0 || qh->num_vertices == 0)
+   {
+     PCL_ERROR ("[pcl::%s::performReconstrution2D] ERROR: qhull was unable to compute a convex hull for the given point cloud (%lu)!\n", getClassName ().c_str (), indices_->size ());
+
+@@ -199,9 +204,9 @@ pcl::ConvexHull<PointInT>::performReconstruction2D (PointCloud &hull, std::vecto
+     hull.width = hull.height = 0;
+     polygons.resize (0);
+
+-    qh_freeqhull (!qh_ALL);
++    qh_freeqhull (qh, !qh_ALL);
+     int curlong, totlong;
+-    qh_memfreeshort (&curlong, &totlong);
++    qh_memfreeshort (qh, &curlong, &totlong);
+
+     return;
+   }
+@@ -209,11 +214,11 @@ pcl::ConvexHull<PointInT>::performReconstruction2D (PointCloud &hull, std::vecto
+   // Qhull returns the area in volume for 2D
+   if (compute_area_)
+   {
+-    total_area_ = qh totvol;
++    total_area_ = qh->totvol;
+     total_volume_ = 0.0;
+   }
+
+-  int num_vertices = qh num_vertices;
++  int num_vertices = qh->num_vertices;
+   hull.points.resize (num_vertices);
+   memset (&hull.points[0], hull.size (), sizeof (PointInT));
+
+@@ -226,8 +231,8 @@ pcl::ConvexHull<PointInT>::performReconstruction2D (PointCloud &hull, std::vecto
+
+   FORALLvertices
+   {
+-    hull[i] = (*input_)[(*indices_)[qh_pointid (vertex->point)]];
+-    idx_points[i].first = qh_pointid (vertex->point);
++    hull[i] = (*input_)[(*indices_)[qh_pointid (qh, vertex->point)]];
++    idx_points[i].first = qh_pointid (qh, vertex->point);
+     ++i;
+   }
+
+@@ -274,9 +279,9 @@ pcl::ConvexHull<PointInT>::performReconstruction2D (PointCloud &hull, std::vecto
+     polygons[0].vertices[j] = static_cast<unsigned int> (j);
+   }
+
+-  qh_freeqhull (!qh_ALL);
++  qh_freeqhull (qh, !qh_ALL);
+   int curlong, totlong;
+-  qh_memfreeshort (&curlong, &totlong);
++  qh_memfreeshort (qh, &curlong, &totlong);
+
+   hull.width = hull.size ();
+   hull.height = 1;
+@@ -320,12 +325,19 @@ pcl::ConvexHull<PointInT>::performReconstruction3D (
+     points[j + 2] = static_cast<coordT> ((*input_)[(*indices_)[i]].z);
+   }
+
++  static FILE* null = fopen("/dev/null", "w");
++
++  qhT qh_qh;
++  qhT* qh = &qh_qh;
++  QHULL_LIB_CHECK
++  qh_zero(qh, null);
++
+   // Compute convex hull
+-  int exitcode = qh_new_qhull (dimension, static_cast<int> (indices_->size ()), points, ismalloc, const_cast<char*> (flags), outfile, errfile);
++  int exitcode = qh_new_qhull (qh, dimension, static_cast<int> (indices_->size ()), points, ismalloc, const_cast<char*> (flags), outfile, errfile);
+ #ifdef HAVE_QHULL_2011
+   if (compute_area_)
+   {
+-    qh_prepare_output();
++    qh_prepare_output(qh);
+   }
+ #endif
+
+@@ -341,18 +353,18 @@ pcl::ConvexHull<PointInT>::performReconstruction3D (
+     hull.width = hull.height = 0;
+     polygons.resize (0);
+
+-    qh_freeqhull (!qh_ALL);
++    qh_freeqhull (qh, !qh_ALL);
+     int curlong, totlong;
+-    qh_memfreeshort (&curlong, &totlong);
++    qh_memfreeshort (qh, &curlong, &totlong);
+
+     return;
+   }
+
+-  qh_triangulate ();
++  qh_triangulate (qh);
+
+-  int num_facets = qh num_facets;
++  int num_facets = qh->num_facets;
+
+-  int num_vertices = qh num_vertices;
++  int num_vertices = qh->num_vertices;
+   hull.points.resize (num_vertices);
+
+   vertexT * vertex;
+@@ -375,7 +387,7 @@ pcl::ConvexHull<PointInT>::performReconstruction3D (
+   FORALLvertices
+   {
+     // Add vertices to hull point_cloud and store index
+-    hull_indices_.indices.push_back ((*indices_)[qh_pointid (vertex->point)]);
++    hull_indices_.indices.push_back ((*indices_)[qh_pointid (qh, vertex->point)]);
+     hull[i] = (*input_)[hull_indices_.indices.back ()];
+
+     qhid_to_pcidx[vertex->id] = i; // map the vertex id of qhull to the point cloud index
+@@ -384,8 +396,8 @@ pcl::ConvexHull<PointInT>::performReconstruction3D (
+
+   if (compute_area_)
+   {
+-    total_area_  = qh totarea;
+-    total_volume_ = qh totvol;
++    total_area_  = qh->totarea;
++    total_volume_ = qh->totvol;
+   }
+
+   if (fill_polygon_data)
+@@ -400,16 +412,16 @@ pcl::ConvexHull<PointInT>::performReconstruction3D (
+
+       // Needed by FOREACHvertex_i_
+       int vertex_n, vertex_i;
+-      FOREACHvertex_i_ ((*facet).vertices)
++      FOREACHvertex_i_ (qh, (*facet).vertices)
+       //facet_vertices.vertices.push_back (qhid_to_pcidx[vertex->id]);
+       polygons[dd].vertices[vertex_i] = qhid_to_pcidx[vertex->id];
+       ++dd;
+     }
+   }
+   // Deallocates memory (also the points)
+-  qh_freeqhull (!qh_ALL);
++  qh_freeqhull (qh, !qh_ALL);
+   int curlong, totlong;
+-  qh_memfreeshort (&curlong, &totlong);
++  qh_memfreeshort (qh, &curlong, &totlong);
+
+   hull.width = hull.size ();
+   hull.height = 1;
+diff --git a/surface/include/pcl/surface/qhull.h b/surface/include/pcl/surface/qhull.h
+index 39eee73e4..f119b2109 100644
+--- a/surface/include/pcl/surface/qhull.h
++++ b/surface/include/pcl/surface/qhull.h
+@@ -49,14 +49,14 @@
+ extern "C"
+ {
+ #ifdef HAVE_QHULL_2011
+-#  include "libqhull/libqhull.h"
+-#  include "libqhull/mem.h"
+-#  include "libqhull/qset.h"
+-#  include "libqhull/geom.h"
+-#  include "libqhull/merge.h"
+-#  include "libqhull/poly.h"
+-#  include "libqhull/io.h"
+-#  include "libqhull/stat.h"
++#  include "libqhull_r/libqhull_r.h"
++#  include "libqhull_r/mem_r.h"
++#  include "libqhull_r/qset_r.h"
++#  include "libqhull_r/geom_r.h"
++#  include "libqhull_r/merge_r.h"
++#  include "libqhull_r/poly_r.h"
++#  include "libqhull_r/io_r.h"
++#  include "libqhull_r/stat_r.h"
+ #else
+ #  include "qhull/qhull.h"
+ #  include "qhull/mem.h"