Merge branch 'devel' (1.6.0 release)

Conflicts: octomap/CHANGELOG.txt octomap/CMakeLists.txt
OctoMap · Apr 5, 2013 · 5f77cb6 · 5f77cb6
2 parents 9897eb3 + 56cba6d
commit 5f77cb6
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,24 +6,6 @@ ENABLE_TESTING()  # enable CTest environment of subprojects
 ADD_SUBDIRECTORY( octomap )
 ADD_SUBDIRECTORY( octovis )
 ADD_SUBDIRECTORY( dynamicEDT3D )
-
-# make complete package release from source 
-IF (NOT WIN32)
-	SET(PKG_NAME "${PROJECT_NAME}.tar.gz")
-	SET(DIST_DIR "${CMAKE_BINARY_DIR}/dist")
-	ADD_CUSTOM_TARGET("dist" 
-	  rm -rf "${DIST_DIR}" "${CMAKE_BINARY_DIR}/${PKG_NAME}"
-	  COMMAND mkdir "${DIST_DIR}"
-	  COMMAND svn export --force -q "${PROJECT_SOURCE_DIR}" "${DIST_DIR}/${PROJECT_NAME}" 
-	  COMMAND tar -czf "${CMAKE_BINARY_DIR}/${PKG_NAME}" -C "${DIST_DIR}" --exclude=".hidden" "${PROJECT_NAME}"
-	    WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
-	  # cleanup so that there is no copy in the source dir
-	  COMMAND rm -rf "${DIST_DIR}"
-	)
-
-	# also build subproject's dist for completeness
-	ADD_DEPENDENCIES(dist dist-octomap dist-octovis)
-ENDIF()
 
 
 
diff --git a/README.md b/README.md
@@ -0,0 +1,64 @@
+OctoMap - A probabilistic, flexible, and compact 3D mapping library for robotic systems.
+========================================================================================
+
+
+Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013.
+http://octomap.github.com
+
+Further Contributors:
+* C. Sprunk, University of Freiburg
+* J. Mueller, University of Freiburg
+* S. Osswald, University of Freiburg
+* R. Schmitt, University of Freiburg
+* R. Bogdan Rusu, Willow Garage Inc.
+* C. Dornhege, University of Freiburg
+
+License: 
+  * octomap: [New BSD License](octomap/LICENSE.txt)
+  * octovis and related libraries: [GPL](octovis/LICENSE.txt)
+
+
+Download the latest releases:
+  https://github.com/octomap/octomap/tags
+
+API documentation:
+  http://octomap.github.com/octomap/doc/
+
+Report bugs and request features in our tracker:
+  https://github.com/OctoMap/octomap/issues
+
+A list of changes is available in the [octomap changelog](octomap/CHANGELOG.txt)
+
+
+OVERVIEW
+--------
+
+OctoMap consists of two separate libraries each in its own subfolder:
+**octomap**, the actual library, and **octovis**, our visualization libraries and tools.
+This README provides an overview of both, for details on compiling each please 
+see [octomap/README.md](octomap/README.md) and [octovis/README.md](octovis/README.md) respectively.
+See http://www.ros.org/wiki/octomap and http://www.ros.org/wiki/octovis if you 
+want to use OctoMap in ROS; there are pre-compiled packages available.
+
+You can build each library separately with CMake by running it from the subdirectories, 
+or build octomap and octovis together from this top-level directory. E.g., to
+only compile the library, run:
+
+    cd octomap
+    mkdir build
+    cd build
+    cmake ..
+    make
+
+To compile the complete package, run:
+
+    cd build
+    cmake ..
+    make
+
+Binaries and libs will end up in the directories `bin` and `lib` of the
+top-level directory where you started the build.
+
+
+See [octomap README](octomap/README.md) and [octovis README](octovis/README.md) for further
+details and hints on compiling, especially under Windows.
diff --git a/README.txt b/README.txt
diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
@@ -43,7 +43,6 @@ find_package(octomap REQUIRED
    ${CMAKE_SOURCE_DIR}/../octomap/lib/cmake/octomap
 )
 INCLUDE_DIRECTORIES(${OCTOMAP_INCLUDE_DIRS})
-LINK_DIRECTORIES(${OCTOMAP_LIBRARY_DIRS})
 
 ADD_SUBDIRECTORY(src)
 

diff --git a/dynamicEDT3D/include/dynamicEDT3D/bucketedqueue.h b/dynamicEDT3D/include/dynamicEDT3D/bucketedqueue.h
@@ -1,5 +1,3 @@
-// $Id$
-
 /**
 * dynamicEDT3D:
 * A library for incrementally updatable Euclidean distance transforms in 3D.

diff --git a/dynamicEDT3D/include/dynamicEDT3D/bucketedqueue.hxx b/dynamicEDT3D/include/dynamicEDT3D/bucketedqueue.hxx
@@ -1,5 +1,3 @@
-// $Id$
-
 /**
 * dynamicEDT3D:
 * A library for incrementally updatable Euclidean distance transforms in 3D.

diff --git a/dynamicEDT3D/include/dynamicEDT3D/dynamicEDT3D.h b/dynamicEDT3D/include/dynamicEDT3D/dynamicEDT3D.h
@@ -1,5 +1,3 @@
-// $Id$
-
 /**
 * dynamicEDT3D:
 * A library for incrementally updatable Euclidean distance transforms in 3D.

diff --git a/dynamicEDT3D/include/dynamicEDT3D/dynamicEDTOctomap.h b/dynamicEDT3D/include/dynamicEDT3D/dynamicEDTOctomap.h
@@ -1,5 +1,3 @@
-// $Id$
-
 /**
 * dynamicEDT3D:
 * A library for incrementally updatable Euclidean distance transforms in 3D.

diff --git a/dynamicEDT3D/include/dynamicEDT3D/point.h b/dynamicEDT3D/include/dynamicEDT3D/point.h
@@ -1,5 +1,3 @@
-// $Id$
-
 /**
 * dynamicEDT3D:
 * A library for incrementally updatable Euclidean distance transforms in 3D.

diff --git a/dynamicEDT3D/src/CMakeLists.txt b/dynamicEDT3D/src/CMakeLists.txt
@@ -11,6 +11,13 @@ target_link_libraries(dynamicedt3d-static ${OCTOMAP_LIBRARIES})
 
 SET_TARGET_PROPERTIES(dynamicedt3d-static PROPERTIES OUTPUT_NAME "dynamicedt3d") 
 
+# directly depend on the octomap library target when building the
+# complete distribution, so it it recompiled as needed
+if (CMAKE_PROJECT_NAME STREQUAL "octomap-distribution")
+  ADD_DEPENDENCIES(dynamicedt3d-static octomap-static)
+  ADD_DEPENDENCIES(dynamicedt3d octomap)
+endif()
+
 ADD_SUBDIRECTORY(examples)
 
 install(TARGETS 

diff --git a/dynamicEDT3D/src/dynamicEDT3D.cpp b/dynamicEDT3D/src/dynamicEDT3D.cpp
@@ -1,5 +1,3 @@
-// $Id$
-
 /**
 * dynamicEDT3D:
 * A library for incrementally updatable Euclidean distance transforms in 3D.

diff --git a/dynamicEDT3D/src/dynamicEDTOctomap.cpp b/dynamicEDT3D/src/dynamicEDTOctomap.cpp
@@ -1,5 +1,3 @@
-// $Id$
-
 /**
 * dynamicEDT3D:
 * A library for incrementally updatable Euclidean distance transforms in 3D.

diff --git a/dynamicEDT3D/src/examples/exampleEDT3D.cpp b/dynamicEDT3D/src/examples/exampleEDT3D.cpp
@@ -1,5 +1,3 @@
-// $Id$
-
 /**
 * dynamicEDT3D:
 * A library for incrementally updatable Euclidean distance transforms in 3D.

diff --git a/dynamicEDT3D/src/examples/exampleEDTOctomap.cpp b/dynamicEDT3D/src/examples/exampleEDTOctomap.cpp
@@ -1,5 +1,3 @@
-// $Id$
-
 /**
 * dynamicEDT3D:
 * A library for incrementally updatable Euclidean distance transforms in 3D.

diff --git a/octomap/CHANGELOG.txt b/octomap/CHANGELOG.txt
@@ -1,3 +1,21 @@
+v1.6.0: 2013-04-05
+==================
+- Speedup: Pruning is now done only on affected nodes on each call to
+  updateNode(). You no longer have to call prune(), except when you manually
+  change nodes or use lazy_update.
+- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
+- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
+- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
+  with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
+- Empty octrees no longer contain a root node (#11)
+- Library names in CMake configs are now absolute paths, you should no longer
+  use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
+- graph2tree: pointcloud is transformed in batch before insertion, small changes
+  in command line options
+- octovis: more map editing options, fixed setting nodes to free/occupied (thx
+  to C. Dornhege)
+- Sample data is now in octomap/share
+
 v1.5.4: 2013-02-27
 ==================
 - Removed binvox binaries from sources for improved packaging compatibility

diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
@@ -5,8 +5,8 @@ ENABLE_TESTING()
 
 # version (e.g. for packaging)
 set(OCTOMAP_MAJOR_VERSION 1)
-set(OCTOMAP_MINOR_VERSION 5)
-set(OCTOMAP_PATCH_VERSION 4)
+set(OCTOMAP_MINOR_VERSION 6)
+set(OCTOMAP_PATCH_VERSION 0)
 set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0003 NEW)
@@ -17,6 +17,18 @@ SET (CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/CMakeModules")
 # COMPILER SETTINGS (default: Release) and flags
 INCLUDE(CompilerSettings)
 
+# OCTOMAP_OMP = enable OpenMP parallelization (experimental, defaults to OFF)
+SET(OCTOMAP_OMP FALSE CACHE BOOL "Enable/disable OpenMP parallelization")
+IF(DEFINED ENV{OCTOMAP_OMP})
+  SET(OCTOMAP_OMP $ENV{OCTOMAP_OMP})
+ENDIF(DEFINED ENV{OCTOMAP_OMP})
+IF(OCTOMAP_OMP)
+  FIND_PACKAGE( OpenMP REQUIRED)
+  SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+  SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
+ENDIF(OCTOMAP_OMP)
+
 # Set output directories for libraries and executables
 SET( BASE_DIR ${CMAKE_SOURCE_DIR} )
 SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${BASE_DIR}/lib )
@@ -44,6 +56,9 @@ install(FILES ${octomap_HDRS}	DESTINATION include/octomap)
 file(GLOB octomap_math_HDRS ${PROJECT_SOURCE_DIR}/include/octomap/math/*.h)
 install(FILES ${octomap_math_HDRS}	DESTINATION include/octomap/math)
 
+# Install catkin package.xml
+install(FILES package.xml DESTINATION share/octomap)
+
 # uninstall target
 configure_file(
     "${PROJECT_SOURCE_DIR}/CMakeModules/CMakeUninstall.cmake.in"
@@ -104,21 +119,6 @@ IF(DOXYGEN_FOUND)
     COMMENT "Generating documentation (Doxygen) at location ${PROJECT_SOURCE_DIR}/doc/html/")
 ENDIF(DOXYGEN_FOUND)
 
-# make package release from source (must be done on the SVN source tree)
-IF (NOT WIN32)
-	SET(OCTOMAP_PKG_NAME "${PROJECT_NAME}-${OCTOMAP_VERSION}.tar.gz")
-	SET(DIST_DIR "${CMAKE_BINARY_DIR}/dist-${PROJECT_NAME}")
-	ADD_CUSTOM_TARGET("dist-${PROJECT_NAME}" 
-		rm -rf "${DIST_DIR}" "${CMAKE_BINARY_DIR}/${OCTOMAP_PKG_NAME}"
-		COMMAND mkdir "${DIST_DIR}"
-		COMMAND svn export --force -q "${PROJECT_SOURCE_DIR}" "${DIST_DIR}/${PROJECT_NAME}" 
-		COMMAND tar -czf "${CMAKE_BINARY_DIR}/${OCTOMAP_PKG_NAME}" -C "${DIST_DIR}" --exclude=".hidden" "${PROJECT_NAME}"
-			WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}"
-		# cleanup so that there is no copy in the source dir
-		COMMAND rm -rf "${DIST_DIR}"
-	)
-ENDIF()
-
 # Needs to be last statement:
 INCLUDE(CPackSettings)
 

diff --git a/octomap/CMakeModules/CompilerSettings.cmake b/octomap/CMakeModules/CompilerSettings.cmake
@@ -7,25 +7,14 @@ ENDIF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
 MESSAGE ("\n")
 MESSAGE (STATUS "${PROJECT_NAME} building as ${CMAKE_BUILD_TYPE}")
 
-# OCTOMAP_OMP = enable OpenMP
-# SET(OCTOMAP_OMP 1 CACHE BOOL "Enable/disable OpenMP")
-# IF($ENV{OCTOMAP_OMP})
-#   SET(OCTOMAP_OMP $ENV{OCTOMAP_OMP}) 
-#   MESSAGE(STATUS "Found OCTOMAP_OMP=${OCTOMAP_OMP}")
-# ENDIF($ENV{OCTOMAP_OMP})
-
 # COMPILER FLAGS
 IF (CMAKE_COMPILER_IS_GNUCC)
   SET (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wno-error ")
   SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-error ")
   SET (CMAKE_CXX_FLAGS_RELEASE "-O3 -funroll-loops -DNDEBUG")
   SET (CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
   # Shared object compilation under 64bit (vtable)
-  ADD_DEFINITIONS(-fPIC)  
-  # IF(OCTOMAP_OMP)
-  #   SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fopenmp")
-  #   SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -fopenmp")
-  # ENDIF(OCTOMAP_OMP)
+  ADD_DEFINITIONS(-fPIC)
 ENDIF()