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Add missing -DDISABLE_VTK to WITH_QT=OFF build#790

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Add missing -DDISABLE_VTK to WITH_QT=OFF build#790
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@oseiskar oseiskar commented Nov 27, 2021

Otherwise complains about missing VTK headers like this

rtabmap/corelib/src/Parameters.cpp:45:10: fatal error: 'vtkVersion.h' file not found
#include <vtkVersion.h>
         ^~~~~~~~~~~~~~
1 error generated.

@matlabbe
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matlabbe commented Dec 5, 2021

See also #618
Which PCL version are you using? Normally PCL will add -DDISABLE_VTK in PCL_DEFINITIONS, which is forwarded to rtabmap build.

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oseiskar commented Dec 6, 2021

Right, sorry. I am using a self-built PCL 1.12.0 with static linking and minimal features, i.e.,

cmake -DPCL_SHARED_LIBS=OFF \
  -DWITH_LIBUSB=OFF \
  -DWITH_OPENNI=OFF \
  -DWITH_OPENNI2=OFF \
  -DWITH_PNG=OFF \
  -DWITH_QHULL=OFF \
  -DWITH_PCAP=OFF \
  -DWITH_CUDA=OFF \
  #  ... + Boost flags
  -DBUILD_tools=OFF \
  -DBUILD_stereo=OFF \
  -DBUILD_io=ON \
  -DBUILD_kdtree=ON \
  -DBUILD_search=ON \
  -DBUILD_surface=ON \
  -DBUILD_filters=ON \
  -DBUILD_registration=ON \
  -DBUILD_sample_consensus=ON \
  -DBUILD_segmentation=ON \
  -DWITH_OPENGL=OFF \
  -DWITH_VTK=OFF \
  -DBUILD_visualization=OFF ..

Then I'm building RTABMap like this

cmake -DBUILD_SHARED_LIBS=OFF \
  -DWITH_QT=OFF \
  -DPCL_FLANN_REQUIRED_TYPE=STATIC \
  -DPCL_SHARED_LIBS=OFF \
  # ... lots of -D feature flags and some Eigen flags
  -DBUILD_EXAMPLES=OFF \
  -DBUILD_APP=OFF \
  -DBUILD_TOOLS=OFF \
  -DBUILD_DOCS=OFF \
  -DBUILD_TESTS=OFF \
    ..

If I would have to guess, probably the static linking breaks the automatic -DDISABLE_VTK mechanism somehow. However, with the patch in this PR, I can build RTABMap (on Ubuntu 20) and the resulting rtabmap_core lib works.

@windelbouwman
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windelbouwman commented May 13, 2022

I noticed that this preprocessor define was remove in PCL version 1.10.

See this issue: #795

matlabbe added a commit that referenced this pull request May 28, 2022
@matlabbe
would fix: #618 #790 #795
b8017d6
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matlabbe commented May 28, 2022

See pull request #871, it handles also the case when PCL is built with VTK (without qt stuff) just for VTK filtering algorithms

@matlabbe matlabbe closed this May 28, 2022
matlabbe added a commit that referenced this pull request May 30, 2022
@matlabbe
would fix: #618 #790 #795 (#871)
8f8256c
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@oseiskar @matlabbe @windelbouwman