partial fix after the latest commits

Author: jlblancoc

CMakeLists.txt

@@ -254,6 +254,7 @@ include(cmakemodules/script_wxwidgets.cmake REQUIRED)   # Check for wxWidgets +
 include(cmakemodules/script_libdc1394.cmake REQUIRED)   # Check for libdc1394-2
 include(cmakemodules/script_assimp.cmake REQUIRED)      # Check for system assimp lib (3D models)
 include(cmakemodules/script_lib3ds.cmake REQUIRED)      # Check for system lib3ds
+include(cmakemodules/script_liblas.cmake REQUIRED)      # Check for the LAS LiDAR format library
 include(cmakemodules/script_libtclap.cmake REQUIRED)    # Check for system libtclap
 include(cmakemodules/script_zlib.cmake REQUIRED)        # Check for zlib
 include(cmakemodules/script_jpeg.cmake REQUIRED)        # Check for jpeg

apps/SceneViewer3D/_DSceneViewerMain.cpp

@@ -64,6 +64,9 @@
 #include <mrpt/opengl/CAngularObservationMesh.h>	// It's in lib mrpt-maps
 
 #include <mrpt/maps/CColouredPointsMap.h>
+#if MRPT_HAS_LIBLAS
+#	include <mrpt/maps/CPointsMap_liblas.h>
+#endif
 
 // A custom Art provider for customizing the icons:
 class MyArtProvider : public wxArtProvider

cmakemodules/script_liblas.cmake

@@ -0,0 +1,52 @@
+# Check for the LAS (LiDAR format) library
+# ===================================================
+IF(UNIX)
+	FIND_FILE(LAS_CONFIG_FILE liblas-config)
+	IF(LAS_CONFIG_FILE)
+		MARK_AS_ADVANCED(LAS_CONFIG_FILE)
+
+		SET(CMAKE_MRPT_HAS_LIBLAS 1)
+		SET(CMAKE_MRPT_HAS_LIBLAS_SYSTEM 1)
+
+		# Get the config params:
+		EXECUTE_PROCESS(COMMAND ${LAS_CONFIG_FILE} --libs
+			RESULT_VARIABLE CMAKE_LAS_CONFIG_RES
+			OUTPUT_VARIABLE CMAKE_LAS_LIBS
+			OUTPUT_STRIP_TRAILING_WHITESPACE
+			)
+		IF(${CMAKE_LAS_CONFIG_RES})
+			MESSAGE("Error invoking LAS config file:\n ${LAS_CONFIG_FILE} --libs")
+		ENDIF(${CMAKE_LAS_CONFIG_RES})
+
+		EXECUTE_PROCESS(COMMAND ${LAS_CONFIG_FILE} --includes
+			RESULT_VARIABLE CMAKE_LAS_CONFIG_RES
+			OUTPUT_VARIABLE CMAKE_LAS_INCLUDES
+			OUTPUT_STRIP_TRAILING_WHITESPACE
+			)
+		IF(${CMAKE_LAS_CONFIG_RES})
+			MESSAGE("Error invoking LAS config file:\n ${LAS_CONFIG_FILE} --includes")
+		ENDIF(${CMAKE_LAS_CONFIG_RES})
+
+		# Join all flags and parse to separate them:
+		SET(CMAKE_LAS_CFGS "${CMAKE_LAS_LIBS} ${CMAKE_LAS_INCLUDES}")
+
+		pkgconfig_parse(${CMAKE_LAS_CFGS} "LAS")
+
+		# For some reason, "liblas-config --libs" return all other libs, except liblas itself:
+		LIST(APPEND LAS_LIBS "las")
+
+		IF($ENV{VERBOSE})
+			MESSAGE(STATUS "liblas configuration:")
+			MESSAGE(STATUS "  LAS_INCLUDE_DIRS: ${LAS_INCLUDE_DIRS}")
+			MESSAGE(STATUS "  LAS_LINK_DIRS: ${LAS_LINK_DIRS}")
+			MESSAGE(STATUS "  LAS_LIBS: ${LAS_LIBS}")
+		ENDIF($ENV{VERBOSE})
+
+	ELSE(LAS_CONFIG_FILE)
+		SET(CMAKE_MRPT_HAS_LIBLAS 0)
+	ENDIF(LAS_CONFIG_FILE)
+ELSE(UNIX)
+	# Windows: (Not supported for now)
+	SET(CMAKE_MRPT_HAS_LIBLAS 0)
+ENDIF(UNIX)
+

cmakemodules/script_show_final_summary.cmake

@@ -125,6 +125,7 @@ SHOW_CONFIG_LINE("Intel threading lib (TBB)           " CMAKE_MRPT_HAS_TBB)
 SHOW_CONFIG_LINE_SYSTEM("lib3ds (3DStudio scenes)            " CMAKE_MRPT_HAS_LIB3DS)
 SHOW_CONFIG_LINE_SYSTEM("libclang (for ConvertUTF)           " CMAKE_MRPT_HAS_CLANG)
 SHOW_CONFIG_LINE_SYSTEM("libjpeg (jpeg)                      " CMAKE_MRPT_HAS_JPEG)
+SHOW_CONFIG_LINE_SYSTEM("liblas (ASPRS LAS LiDAR format)     " CMAKE_MRPT_HAS_LIBLAS)
 SHOW_CONFIG_LINE("mexplus                             " CMAKE_MRPT_HAS_MATLAB)
 SHOW_CONFIG_LINE_SYSTEM("OpenCV (Image manipulation)         " CMAKE_MRPT_HAS_OPENCV "[Version: ${MRPT_OPENCV_VERSION}]")
 SHOW_CONFIG_LINE_SYSTEM("OpenGL                              " CMAKE_MRPT_HAS_OPENGL_GLUT)

libs/maps/src/opengl/CAngularObservationMesh.cpp

@@ -294,13 +294,13 @@ class FAddUntracedLines	{
 	CSetOfLinesPtr &lins;
 	const CPoint3D &pDist;
 	std::vector<double> pitchs;
-	FAddUntracedLines(CSetOfLinesPtr &l,const CPoint3D &p,const vector<double> &pi):lins(l),pDist(p),pitchs()	{
+	FAddUntracedLines(CSetOfLinesPtr &l,const CPoint3D &p,const std::vector<double> &pi):lins(l),pDist(p),pitchs()	{
 		pitchs.reserve(pi.size());
-		for (vector<double>::const_reverse_iterator it=pi.rbegin();it!=pi.rend();++it) pitchs.push_back(*it);
+		for (std::vector<double>::const_reverse_iterator it=pi.rbegin();it!=pi.rend();++it) pitchs.push_back(*it);
 	}
 	void operator()(const CObservation2DRangeScan& obs)	{
 		size_t hm=obs.scan.size();
-		for (vector<char>::const_iterator it=obs.validRange.begin();it!=obs.validRange.end();++it) if (*it) hm--;
+		for (std::vector<char>::const_iterator it=obs.validRange.begin();it!=obs.validRange.end();++it) if (*it) hm--;
 		lins->reserve(hm);
 		for (size_t i=0;i<obs.scan.size();i++) if (!obs.validRange[i])	{
 			double yaw=obs.aperture*((static_cast<double>(i)/static_cast<double>(obs.scan.size()-1))-0.5);

libs/opengl/src/COpenGLStandardObject.cpp

@@ -59,7 +59,7 @@ void COpenGLStandardObject::render_dl()	const	{
 		for_each(vertices.begin(),vertices.end(),renderFunc);
 		glEnd();
 	}	else	{
-		vector<TPoint3D>::const_iterator it=vertices.begin();
+		std::vector<TPoint3D>::const_iterator it=vertices.begin();
 		do	{
 			glBegin(type);
 			for_each(it,it+chunkSize,renderFunc);
@@ -132,4 +132,4 @@ void COpenGLStandardObject::disable(_GLENUM flag)
 		else ++it;
 	}
 	CRenderizableDisplayList::notifyChange();
-}
+}

parse-files/config.h.in

@@ -83,6 +83,10 @@ ${CMAKE_MRPT_BUILD_SHARED_LIB}
 #define MRPT_HAS_FTDI             ${CMAKE_MRPT_HAS_FTDI}
 #define MRPT_FTDI_VERSION         0x${LIBFTDI_VERSION_MAJOR}${LIBFTDI_VERSION_MINOR}0
 
+
+/** Support for the liblas library (A standard for LiDAR data format)  */
+#define MRPT_HAS_LIBLAS           ${CMAKE_MRPT_HAS_LIBLAS}
+
 /** wxWidgets is present in the system (required for UTILS::CDisplayWindow, etc.) */
 #define MRPT_HAS_WXWIDGETS        ${CMAKE_MRPT_HAS_WXWIDGETS}