Remove broken support for external metslib.

larshg · Feb 11, 2024 · ac77b3d · ac77b3d
1 parent 1033d24
commit ac77b3d
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Showing 3 changed files with 14 additions and 34 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -349,14 +349,6 @@ PCL_ADD_GRABBER_DEPENDENCY("DSSDK" "DepthSense SDK support")
 PCL_ADD_GRABBER_DEPENDENCY("RSSDK" "RealSense SDK support")
 PCL_ADD_GRABBER_DEPENDENCY("RSSDK2" "RealSense SDK 2.0 (librealsense) support")
 
-# metslib
-if(PKG_CONFIG_FOUND)
-  pkg_check_modules(METSLIB metslib)
-  if(METSLIB_FOUND)
-    set(HAVE_METSLIB ON)
-  endif()
-endif()
-
 # LibPNG
 option(WITH_PNG "PNG file support" TRUE)
 if(WITH_PNG)

diff --git a/recognition/CMakeLists.txt b/recognition/CMakeLists.txt
@@ -141,32 +141,24 @@ set(srcs
   src/implicit_shape_model.cpp
 )
 
-if(HAVE_METSLIB)
-  set(metslib_incs "")
-else()
-  set(metslib_incs
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/abstract-search.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/local-search.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/mets.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/metslib_config.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/model.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/observer.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/simulated-annealing.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/tabu-search.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/termination-criteria.hh"
-  )
-endif()
+set(metslib_incs
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/abstract-search.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/local-search.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/mets.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/metslib_config.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/model.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/observer.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/simulated-annealing.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/tabu-search.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/termination-criteria.hh"
+)
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${face_detection_incs} ${ransac_based_incs} ${ransac_based_impl_incs} ${hv_incs} ${hv_impl_incs} ${cg_incs} ${cg_impl_incs} ${metslib_incs})
 target_link_libraries("${LIB_NAME}" pcl_common pcl_kdtree pcl_octree pcl_search pcl_features pcl_registration pcl_sample_consensus pcl_filters pcl_ml pcl_io)
 
-if(HAVE_METSLIB)
-  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${METSLIB_INCLUDE_DIRS})
-else()
-  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${PCL_SOURCE_DIR}/recognition/include/pcl/recognition/3rdparty/)
-endif()
+target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include/pcl/recognition/3rdparty/)
 
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 # Install include files
@@ -182,7 +174,4 @@ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/hv" ${hv_impl_incs})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/cg" ${cg_impl_incs})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/linemod" ${LINEMOD_INCLUDES})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/linemod" ${LINEMOD_IMPLS})
-
-if(NOT HAVE_METSLIB)
-  PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/3rdparty/metslib" ${metslib_incs})
-endif()
+PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/3rdparty/metslib" ${metslib_incs})
diff --git a/recognition/include/pcl/recognition/hv/hv_go.h b/recognition/include/pcl/recognition/hv/hv_go.h
@@ -19,10 +19,9 @@
 
 #include <pcl/pcl_macros.h>
 #include <pcl/recognition/hv/hypotheses_verification.h>
+#include <pcl/recognition/3rdparty/metslib/mets.hh>
 #include <pcl/features/normal_3d.h>
 
-#include <metslib/mets.hh> // Either include 3.party in pcl/recognition/3rdparty or system installed metslib
-
 #include <memory>
 
 namespace pcl