Use CMake >=3.1 ExternalProjects for: assimp, octomap, and Eigen (#575)

* Remove embedded copy of assimp, and use CMake to download it if needed
* fix EP assimp build (still DLLs are in the wrong output dir) cc: #359
* fix EP assimp link
* correctly removed Eigen3 embedded dir
* EP out-of-source dirs
* done porting eigen & assimp as EP
* Remove embedded version of octomap cc: #574
* Add simpler build instructions to README
* fix build of EP in GNU/Linux
* Debian pkg: update after removing octomap sources

.gitignore

@@ -14,7 +14,7 @@ SOURCE_DATE_EPOCH
 
 # Vim-related files
 Session.vim
-otherlibs/eigen3
 
 # common results directories
 graphslam_results/
+

CMakeLists.txt

@@ -226,6 +226,7 @@ include(cmakemodules/script_videre_svs.cmake REQUIRED)  # Support for Videre Des
 include(cmakemodules/script_ftdi.cmake REQUIRED)        # Check for the FTDI headers (Linux only, in win32 we use built-in header & dynamic DLL load):
 include(cmakemodules/script_inotify.cmake REQUIRED)     # Check for the sys/inotify headers (Linux only, in win32 we use the equivalent API for file system monitoring):
 include(cmakemodules/script_gl_glut.cmake REQUIRED)     # Check for the GL,GLUT libraries
+include(cmakemodules/script_octomap.cmake REQUIRED)     # Check for the octomap library
 include(cmakemodules/script_opencv.cmake REQUIRED)      # Check for the OpenCV libraries (via pkg-config, CMake, with different options)
 include(cmakemodules/script_openni2.cmake REQUIRED)     # Check for the OpenNI2 library
 include(cmakemodules/script_ffmpeg.cmake REQUIRED)      # Check for ffmpeg C libraries: libavcodec, libavutil, libavformat, libswscale

README.md

@@ -1,4 +1,4 @@
-The MRPT project 
+The MRPT project
 ====================================================
 [![Travis](https://travis-ci.org/MRPT/mrpt.png?branch=master)](https://travis-ci.org/MRPT/mrpt)
 [![Shippable](http://150.214.150.101:50000/projects/5940153f75d24b06002327b7/badge?branch=master)](http://150.214.150.101:50001/github/MRPT/mrpt)
@@ -10,51 +10,58 @@ The MRPT project
 <img align="right" src="https://mrpt.github.io/imgs/mrpt-videos-mix2.gif">
 
 Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers
-in mobile robotics and computer vision. Libraries include [SLAM solutions](http://www.mrpt.org/List_of_SLAM_algorithms), [3D(6D) geometry](http://www.mrpt.org/tutorials/programming/maths-and-geometry/2d_3d_geometry/), [SE(2)/SE(3) Lie groups](http://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf), 
-[probability density functions (pdfs)](http://reference.mrpt.org/stable/classmrpt_1_1utils_1_1_c_probability_density_function.html) over points, landmarks, poses and maps, 
-Bayesian inference ([Kalman filters](http://www.mrpt.org/Kalman_Filters), [particle filters](http://www.mrpt.org/tutorials/programming/statistics-and-bayes-filtering/particle_filters/)), [image processing](http://www.mrpt.org/tutorials/programming/images-image-processing-camera-models/), [obstacle avoidance](http://www.mrpt.org/Obstacle_avoidance), [etc](http://reference.mrpt.org/devel/modules.html). 
-MRPT also provides GUI apps for [Stereo camera calibration](http://www.mrpt.org/list-of-mrpt-apps/application-kinect-stereo-calib/), [dataset inspection](http://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/), 
+in mobile robotics and computer vision. Libraries include [SLAM solutions](http://www.mrpt.org/List_of_SLAM_algorithms), [3D(6D) geometry](http://www.mrpt.org/tutorials/programming/maths-and-geometry/2d_3d_geometry/), [SE(2)/SE(3) Lie groups](http://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf),
+[probability density functions (pdfs)](http://reference.mrpt.org/stable/classmrpt_1_1utils_1_1_c_probability_density_function.html) over points, landmarks, poses and maps,
+Bayesian inference ([Kalman filters](http://www.mrpt.org/Kalman_Filters), [particle filters](http://www.mrpt.org/tutorials/programming/statistics-and-bayes-filtering/particle_filters/)), [image processing](http://www.mrpt.org/tutorials/programming/images-image-processing-camera-models/), [obstacle avoidance](http://www.mrpt.org/Obstacle_avoidance), [etc](http://reference.mrpt.org/devel/modules.html).
+MRPT also provides GUI apps for [Stereo camera calibration](http://www.mrpt.org/list-of-mrpt-apps/application-kinect-stereo-calib/), [dataset inspection](http://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/),
 and [much more](http://www.mrpt.org/list-of-mrpt-apps/).
 
 ## 2. Resources
   * Download the latest unstable code with: `git clone https://github.com/MRPT/mrpt.git --depth 1`
   * Ask questions at: [this Google group](http://www.mrpt.org/forum/) or at [stackoverflow](http://stackoverflow.com/search?q=mrpt) (please, use the tag `mrpt`!)
   * [Main project website](http://www.mrpt.org/), including [sources and Windows installer downloads](http://www.mrpt.org/download-mrpt/)
   * [C++ API reference](http://reference.mrpt.org/)
-  * ROS packages: [mrpt_navigation](http://wiki.ros.org/mrpt_navigation), [mrpt_slam](http://wiki.ros.org/mrpt_slam)
+  * ROS packages: [`mrpt_navigation`](http://wiki.ros.org/mrpt_navigation), [`mrpt_slam`](http://wiki.ros.org/mrpt_slam)
   * [Bindings documentation](https://github.com/MRPT/mrpt/wiki) (Python, Matlab)
   * Source code for [dozens of examples](http://www.mrpt.org/tutorials/mrpt-examples/)
-  * Example configuration files for  MRPT applications can be found at: 
+  * Example configuration files for  MRPT applications can be found at:
      [MRPT/share/mrpt/config_files](https://github.com/MRPT/mrpt/tree/master/share/mrpt/config_files)
-  * Some sample datasets are stored in: 
-     [MRPT/share/mrpt/datasets](https://github.com/MRPT/mrpt/tree/master/share/mrpt/datasets). 
+  * Some sample datasets are stored in:
+     [MRPT/share/mrpt/datasets](https://github.com/MRPT/mrpt/tree/master/share/mrpt/datasets).
     A more complete dataset repository is [available online](http://www.mrpt.org/robotics_datasets).
   * [How to contribute](https://github.com/MRPT/mrpt/blob/master/.github/CONTRIBUTING.md) with your code for new feaures, bug fixes, etc.
 
 ## 3. Compiling
-### 3.1 **FIVE SECONDS INSTRUCTIONS**
 
-1.  Invoke `cmake-gui` and select: 
-      * Where source is          --> MRPT source root directory
-      * Where to build binaries  --> Pick a new, empty directory.
+Minimum compiler requisites:
+  * Ubuntu 16.04 default gcc/clang versions, or
+  * Windows: Visual Studio 2015/2017.
 
-    If your platform doesn't support cmake-gui, open a console, chdir to a new 
-    empty directory and execute:
-
-    	$ ccmake <PATH_TO_MRPT_SOURCES>
+To build in Debian/Ubuntu follow the steps below. See [full build docs](http://www.mrpt.org/Building_and_Installing_Instructions) online
+for Windows instructions or to learn all the details.
 
-2. Within `cmake-gui` (or `ccmake`), set all the build options as 
-   you desire, then press "Configure" and "Generate". To build 
-   the examples, enable `BUILD_SAMPLES`.
+  * Install minimum recommended dependencies:
 
-3. Build with the IDE / compiler you selected from CMake (Visual Studio, GNU Make,...)
+```bash
+sudo apt install build-essential pkg-config cmake libwxgtk3.0-dev \
+libopencv-dev libeigen3-dev libgtest-dev
+```
 
+  * Install additional dependencies to enable all MRPT features:
 
-### 3.2. Further details (RECOMMENDED!)
+```bash
+sudo apt install libftdi-dev freeglut3-dev zlib1g-dev libusb-1.0-0-dev \
+libudev-dev libfreenect-dev libdc1394-22-dev libavformat-dev libswscale-dev \
+libassimp-dev libjpeg-dev   libsuitesparse-dev libpcap-dev liboctomap-dev
+```
 
-Read the [compiling instructions](http://www.mrpt.org/Building_and_Installing_Instructions).
+  * Build with `cmake` as usual:
 
+```bash
+mkdir build && cd build
+cmake ..
+make
+```
 
 ## 4. License
 MRPT is released under the [new BSD license](http://www.mrpt.org/License/).
-

cmakemodules/DeclareMRPTLib.cmake

@@ -231,7 +231,7 @@ macro(internal_define_mrpt_lib name headers_only is_metalib)
 
 	# Special case: embedded eigen3 as dep of "mrpt-base"
 	IF (EIGEN_USE_EMBEDDED_VERSION AND ${name} STREQUAL "base")
-		add_dependencies(mrpt-${name} eigen3)
+		add_dependencies(mrpt-${name} EP_eigen3)
 	ENDIF()
 
 

cmakemodules/script_assimp.cmake

@@ -1,8 +1,6 @@
 # Check for system libassimp:
 #  http://assimp.sourceforge.net/
 # ===================================================
-
-
 SET(CMAKE_MRPT_HAS_ASSIMP 0)
 SET(CMAKE_MRPT_HAS_ASSIMP_SYSTEM 0)
 
@@ -28,45 +26,33 @@ IF(PKG_CONFIG_FOUND)
 	ENDIF (ASSIMP_FOUND)
 ENDIF(PKG_CONFIG_FOUND)
 
-IF (NOT ASSIMP_FOUND AND EXISTS "${MRPT_SOURCE_DIR}/otherlibs/assimp/")
+IF (NOT ASSIMP_FOUND)
 	SET(BUILD_ASSIMP ON CACHE BOOL "Build an embedded version of Assimp (3D models importer)")
 	IF (BUILD_ASSIMP)
 
 		# Use embedded version:
 		# --------------------------
-		# Tune cmake vars for assimp build for mrpt:
-		SET (ASSIMP_BUILD_ASSIMP_TOOLS OFF CACHE BOOL "If the supplementary tools for Assimp are built in addition to the library." FORCE)	
-		SET (ASSIMP_BUILD_SAMPLES OFF CACHE BOOL "If the official samples are built as well (needs Glut)." FORCE)
-		SET (ASSIMP_BUILD_STATIC_LIB ON CACHE BOOL "Build Assimp static." FORCE)
-		SET (ASSIMP_BUILD_TESTS OFF CACHE BOOL "." FORCE)
-		set(ASSIMP_LIBRARY_SUFFIX "-mrpt" CACHE STRING "Suffix to append to library names" FORCE)
-
-		add_subdirectory("${MRPT_SOURCE_DIR}/otherlibs/assimp/")
-		if(ENABLE_SOLUTION_FOLDERS)
-			set_target_properties(assimp PROPERTIES FOLDER "3rd party")
-		else(ENABLE_SOLUTION_FOLDERS)
-			SET_TARGET_PROPERTIES(assimp  PROPERTIES PROJECT_LABEL "(3rdparty) assimp")
-		endif(ENABLE_SOLUTION_FOLDERS)
-		MARK_AS_ADVANCED(
-			ASSIMP_BUILD_ASSIMP_TOOLS
-			ASSIMP_BUILD_SAMPLES
-			ASSIMP_BUILD_TESTS
-			AMD64
-			ASM686
-			ASSIMP_BIN_INSTALL_DIR
-			ASSIMP_BUILD_STATIC_LIB 
-			ASSIMP_DEBUG_POSTFIX
-			ASSIMP_ENABLE_BOOST_WORKAROUND
-			ASSIMP_NO_EXPORT
-			ASSIMP_INCLUDE_INSTALL_DIR
-			ASSIMP_LIB_INSTALL_DIR
-			ASSIMP_BIN_INSTALL_DIR
-			ASSIMP_INSTALL_PDB
-			ASSIMP_OPT_BUILD_PACKAGES
-			ASSIMP_PACKAGE_VERSION
-			ASSIMP_LIBRARY_SUFFIX
-			)
-
+		# Include embedded version headers:
+		include(ExternalProject)
+		# download from GH
+		ExternalProject_Add(EP_assimp
+		  URL               "https://github.com/assimp/assimp/archive/v4.0.1.tar.gz"
+		  URL_MD5           "23a6301c728a413aafbfa1cca19ba91f"
+		  SOURCE_DIR        "${MRPT_BINARY_DIR}/otherlibs/assimp/"
+		  CMAKE_ARGS
+			-DASSIMP_BUILD_ASSIMP_TOOLS=OFF
+			-DASSIMP_BUILD_SAMPLES=OFF
+			-DASSIMP_BUILD_STATIC_LIB=ON
+			-DASSIMP_BUILD_TESTS=OFF
+			-DASSIMP_LIBRARY_SUFFIX=-mrpt
+			-DCMAKE_LIBRARY_OUTPUT_PATH=${MRPT_BINARY_DIR}/lib
+			-DLIBRARY_OUTPUT_PATH=${MRPT_BINARY_DIR}/lib
+			-DCMAKE_RUNTIME_OUTPUT_DIRECTORY=${MRPT_BINARY_DIR}/bin
+			-DRUNTIME_OUTPUT_DIRECTORY=${MRPT_BINARY_DIR}/bin
+			-DCMAKE_DEBUG_POSTFIX=d
+		  INSTALL_COMMAND   ""
+		  TEST_COMMAND      ""
+		)
 
 		# 2nd attempt: via cmake
 		SET(ASSIMP_DIR "${EMBEDDED_ASSIMP_DIR}" CACHE PATH "Path to ASSIMP CMake config file" FORCE)
@@ -76,24 +62,41 @@ IF (NOT ASSIMP_FOUND AND EXISTS "${MRPT_SOURCE_DIR}/otherlibs/assimp/")
 
 		SET(CMAKE_MRPT_HAS_ASSIMP 1)
 		SET(CMAKE_MRPT_HAS_ASSIMP_SYSTEM 0)
-
-		# Override binary output dir:
-		SET_TARGET_PROPERTIES(assimp PROPERTIES 
-			ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/"
-			RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/"
-			)
-
 	ENDIF (BUILD_ASSIMP)
 ENDIF()
 
 IF (ASSIMP_FOUND_VIA_CMAKE)
 	# override wrong target libs in -config.cmake file:
 	set(ASSIMP_LIBRARIES "")
-	LIST(APPEND ASSIMP_LIBRARIES optimized "assimp-mrpt" debug "assimp-mrptd")
+
+	if(MSVC12)
+		SET(ASSIMP_MSVC_VERSION "vc120")
+	elseif(MSVC14)
+		SET(ASSIMP_MSVC_VERSION "vc140")
+	ENDIF(MSVC12)
+
+	if(MSVC12 OR MSVC14)
+		SET(ASSIMP_CUSTOM_LIB_NAME "assimp-mrpt-${ASSIMP_MSVC_VERSION}-mt")
+	else()
+		SET(ASSIMP_CUSTOM_LIB_NAME "assimp")
+		SET(ASSIMP_LIBRARY_DIRS "${MRPT_BINARY_DIR}/lib")
+	endif()
+
+	LIST(APPEND ASSIMP_LIBRARIES optimized "${ASSIMP_CUSTOM_LIB_NAME}" debug "${ASSIMP_CUSTOM_LIB_NAME}d")
 
 	# override wrong include dirs:
-	SET(ASSIMP_INCLUDE_DIRS "${MRPT_SOURCE_DIR}/otherlibs/assimp/include/")
+	SET(ASSIMP_INCLUDE_DIRS
+		"${MRPT_BINARY_DIR}/otherlibs/assimp/include/"
+		"${MRPT_BINARY_DIR}/EP_assimp-prefix/src/EP_assimp-build/include/"
+	)
 
+	# Install assimp DLLs (for binary packages)
+	IF(WIN32)
+		FILE(GLOB_RECURSE EXTRA_DLLS "${MRPT_BINARY_DIR}/bin/Release/assimp-*.dll" "${MRPT_BINARY_DIR}/bin/Debug/assimp-*.dll")
+		FOREACH(F ${EXTRA_DLLS})
+			INSTALL(FILES "${F}" DESTINATION bin)
+		ENDFOREACH(F)
+	ENDIF()
 ENDIF (ASSIMP_FOUND_VIA_CMAKE)
 
 # ASSIMP_ROOT_DIR - the root directory where the installation can be found
@@ -103,12 +106,11 @@ ENDIF (ASSIMP_FOUND_VIA_CMAKE)
 # ASSIMP_LIBRARY_DIRS - link directories
 # ASSIMP_LIBRARIES - libraries to link plugins with
 IF (CMAKE_MRPT_HAS_ASSIMP)
-	MARK_AS_ADVANCED(ASSIMP_DIR)
-
-	# Seems to be needed by all mrpt-* projects
-	IF(NOT ${ASSIMP_LIBRARY_DIRS} STREQUAL "")
+	if (NOT "${ASSIMP_LIBRARY_DIRS}" STREQUAL "")
 		LINK_DIRECTORIES("${ASSIMP_LIBRARY_DIRS}")
-	ENDIF(NOT ${ASSIMP_LIBRARY_DIRS} STREQUAL "")
+	endif()
+
+	MARK_AS_ADVANCED(ASSIMP_DIR)
 
 	IF ($ENV{VERBOSE})	
 		MESSAGE(STATUS "Assimp:")

cmakemodules/script_eigen.cmake

@@ -22,17 +22,17 @@ IF (EIGEN_USE_EMBEDDED_VERSION)
 	# Include embedded version headers:
 	include(ExternalProject)
 	# download Eigen from bitbucket
-	ExternalProject_Add(eigen3
+	ExternalProject_Add(EP_eigen3
 	  URL               "https://bitbucket.org/eigen/eigen/get/3.3.4.tar.bz2"
 	  URL_MD5           "a7aab9f758249b86c93221ad417fbe18"
-	  SOURCE_DIR        "${MRPT_SOURCE_DIR}/otherlibs/eigen3/"
+	  SOURCE_DIR        "${MRPT_BINARY_DIR}/otherlibs/eigen3/"
 	  CONFIGURE_COMMAND ""
 	  BUILD_COMMAND     ""
 	  INSTALL_COMMAND   ""
 	  TEST_COMMAND      ""
 	)
 
-	SET(EIGEN_EMBEDDED_INCLUDE_DIR "${MRPT_SOURCE_DIR}/otherlibs/eigen3/" CACHE PATH "Eigen path for embedded use")
+	SET(EIGEN_EMBEDDED_INCLUDE_DIR "${MRPT_BINARY_DIR}/otherlibs/eigen3/" CACHE PATH "Eigen path for embedded use" FORCE)
 	MARK_AS_ADVANCED(EIGEN_EMBEDDED_INCLUDE_DIR)
 
 	SET(MRPT_EIGEN_INCLUDE_DIR "${EIGEN_EMBEDDED_INCLUDE_DIR}")

cmakemodules/script_install_commands.cmake

@@ -67,7 +67,7 @@ IF(WIN32)
 			INSTALL(FILES "${F}" DESTINATION bin)
 		ENDFOREACH(F)
 	ENDIF (EXISTS "${FFMPEG_WIN32_ROOT_DIR}/bin")
-	
+
 	# Extra optional DLLs to be installed in the "bin" folder:
 	file(TO_CMAKE_PATH "$ENV{MRPT_EXTRA_DLLS_TO_INSTALL}" MRPT_EXTRA_DLLS_TO_INSTALL)
 	IF (NOT "${MRPT_EXTRA_DLLS_TO_INSTALL}" STREQUAL "")
@@ -136,7 +136,7 @@ IF (PACKAGE_INCLUDES_SOURCES)
 	ENDIF(NOT IS_DEBIAN_DBG_PKG)
 ENDIF (PACKAGE_INCLUDES_SOURCES)
 
-# If using embedded version, install embedded version as part of mrpt-base's headers:
+# Using embedded version of libraries that need public headers?
 IF (PACKAGE_INCLUDES_SOURCES)
 	IF (EIGEN_USE_EMBEDDED_VERSION AND NOT IS_DEBIAN_DBG_PKG)
 		IF(WIN32)
@@ -148,10 +148,20 @@ IF (PACKAGE_INCLUDES_SOURCES)
 		ENDIF(WIN32)
 
 		INSTALL(
-			DIRECTORY "${MRPT_SOURCE_DIR}/otherlibs/eigen3/Eigen"
+			DIRECTORY "${MRPT_BINARY_DIR}/otherlibs/eigen3/Eigen"
 			DESTINATION "${MRPT_INSTALL_EIGEN_PREFIX}" )
 		INSTALL(
-			DIRECTORY "${MRPT_SOURCE_DIR}/otherlibs/eigen3/unsupported"
+			DIRECTORY "${MRPT_BINARY_DIR}/otherlibs/eigen3/unsupported"
 			DESTINATION "${MRPT_INSTALL_EIGEN_PREFIX}" )
 	ENDIF (EIGEN_USE_EMBEDDED_VERSION AND NOT IS_DEBIAN_DBG_PKG)
+
+	IF (CMAKE_MRPT_HAS_OCTOMAP AND NOT CMAKE_MRPT_HAS_OCTOMAP_SYSTEM)
+		# headers must end up in /Program Files/MRPT-X.Y.Z/libs/maps/...
+		SET(MRPT_INSTALL_OCTOMAP_PREFIX "libs/maps/include/")
+
+		INSTALL(
+			DIRECTORY "${MRPT_BINARY_DIR}/otherlibs/octomap/octomap/include/"
+			DESTINATION "${MRPT_INSTALL_OCTOMAP_PREFIX}" )
+	ENDIF()
+
 ENDIF (PACKAGE_INCLUDES_SOURCES)