Merge branch 'devel' for 1.7.1 release

dynamicEDT3D/CMakeLists.txt

@@ -6,7 +6,7 @@ ENABLE_TESTING()
 # version (e.g. for packaging)
 set(DYNAMICEDT3D_MAJOR_VERSION 1)
 set(DYNAMICEDT3D_MINOR_VERSION 7)
-set(DYNAMICEDT3D_PATCH_VERSION 0)
+set(DYNAMICEDT3D_PATCH_VERSION 1)
 set(DYNAMICEDT3D_VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
 set(DYNAMICEDT3D_SOVERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION})
 
@@ -25,6 +25,13 @@ SET( BASE_DIR ${CMAKE_SOURCE_DIR} )
 SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${BASE_DIR}/lib )
 SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${BASE_DIR}/lib )
 SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BASE_DIR}/bin )
+# output dirs for multi-config builds (MSVC)
+foreach( OUTPUTCONFIG ${CMAKE_CONFIGURATION_TYPES} )
+  STRING( TOUPPER ${OUTPUTCONFIG} OUTPUTCONFIG )
+  SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/lib )
+  SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/lib )
+  SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/bin )
+endforeach( OUTPUTCONFIG CMAKE_CONFIGURATION_TYPES )
 
 set(INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
 INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
@@ -73,6 +80,17 @@ export(PACKAGE dynamicEDT3D)
 # Create a dynamicEDT3DConfig.cmake file for the use from the build tree
 set(DYNAMICEDT3D_INCLUDE_DIRS "${INCLUDE_DIRS}")
 set(DYNAMICEDT3D_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
+# Set library names as absolute paths
+# Windows, spec. MSVC requires the .lib suffix for imported libs
+IF(WIN32)
+  set(DYNAMICEDT3D_LIBRARY
+    "${DYNAMICEDT3D_LIB_DIR}/${CMAKE_IMPORT_LIBRARY_PREFIX}dynamicedt3d${CMAKE_IMPORT_LIBRARY_SUFFIX}"
+  )
+ELSE()
+  set(DYNAMICEDT3D_LIBRARY
+    "${DYNAMICEDT3D_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}dynamicedt3d${CMAKE_SHARED_LIBRARY_SUFFIX}"
+  )
+ENDIF()
 # not used right now (export depends?)
 #set(DYNEDT3D_CMAKE_DIR "${PROJECT_BINARY_DIR}")
 configure_file(dynamicEDT3DConfig.cmake.in

dynamicEDT3D/dynamicEDT3DConfig.cmake.in

@@ -20,6 +20,4 @@ set(DYNAMICEDT3D_LIBRARY_DIRS "@DYNAMICEDT3D_LIB_DIR@")
 # Our library dependencies (contains definitions for IMPORTED targets)
 # include("@FOOBAR_CMAKE_DIR@/FooBarLibraryDepends.cmake")
 
-set(DYNAMICEDT3D_LIBRARIES
- "@DYNAMICEDT3D_LIB_DIR@/libdynamicedt3d@CMAKE_SHARED_LIBRARY_SUFFIX@"
-)
+set(DYNAMICEDT3D_LIBRARIES "@DYNAMICEDT3D_LIBRARY@")

dynamicEDT3D/package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>dynamic_edt_3d</name>
-  <version>1.7.0</version>
+  <version>1.7.1</version>
   <description> The dynamicEDT3D library implements an inrementally updatable Euclidean distance transform (EDT) in 3D. It comes with a wrapper to use the OctoMap 3D representation and hooks into the change detection of the OctoMap library to propagate changes to the EDT.</description>
 
   <author email="[email protected]">Christoph Sprunk</author>

octomap/CHANGELOG.txt

@@ -1,3 +1,13 @@
+v1.7.1: 2016-01-31
+==================
+- Fixed #82: Enable uninstall target for complete project
+- Fixed #47: Exported CMake library paths for Windows no longer
+  have the Release/Debug prefix and correctly contain the .lib file
+- Fixed #51: IO factory class registry with MSVC. Calling a dummy 
+  function from an OcTree class c'tor enables reading general .ot files
+  when compiling with MSVC
+- Fixed #100: Explicit casts to avoid warnings with MSVC
+
 v1.7.0: 2015-11-27
 ==================
 - BBX iterators fixed for empty trees (thx to F. Boniardi)
@@ -8,6 +18,12 @@ v1.7.0: 2015-11-27
   A. Ecins)
 - Fixed hashing overflow with clang (thx to L. Riano)
 
+
+v1.6.9: 2016-01-13
+==================
+- Maintenance release for ROS: 
+  Added function to determine state of change detection
+
 v1.6.7: 2014-08-31
 ==================
 - FSF address in octovis license header for OctoMap package in Fedora

octomap/CMakeLists.txt

@@ -6,7 +6,7 @@ ENABLE_TESTING()
 # version (e.g. for packaging)
 set(OCTOMAP_MAJOR_VERSION 1)
 set(OCTOMAP_MINOR_VERSION 7)
-set(OCTOMAP_PATCH_VERSION 0)
+set(OCTOMAP_PATCH_VERSION 1)
 set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
 set(OCTOMAP_SOVERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION})
 if(COMMAND cmake_policy)
@@ -35,6 +35,13 @@ SET( BASE_DIR ${CMAKE_SOURCE_DIR} )
 SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${BASE_DIR}/lib )
 SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${BASE_DIR}/lib )
 SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BASE_DIR}/bin )
+# output dirs for multi-config builds (MSVC)
+foreach( OUTPUTCONFIG ${CMAKE_CONFIGURATION_TYPES} )
+  STRING( TOUPPER ${OUTPUTCONFIG} OUTPUTCONFIG )
+  SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/lib )
+  SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/lib )
+  SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/bin )
+endforeach( OUTPUTCONFIG CMAKE_CONFIGURATION_TYPES )
 
 set(INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
 INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
@@ -69,26 +76,39 @@ configure_file(
 add_custom_target(uninstall
     COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
 
-
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
 export(PACKAGE octomap)
 
 # Create a octomap-config.cmake file for the use from the build tree
 set(OCTOMAP_INCLUDE_DIRS "${INCLUDE_DIRS}")
 set(OCTOMAP_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
+# Set library names as absolute paths
+# Windows, spec. MSVC requires the .lib suffix for imported libs
+IF(WIN32)
+  set(OCTOMAP_LIBRARY
+    "${OCTOMAP_LIB_DIR}/${CMAKE_IMPORT_LIBRARY_PREFIX}octomap${CMAKE_IMPORT_LIBRARY_SUFFIX}"
+  )
+  set(OCTOMATH_LIBRARY
+    "${OCTOMAP_LIB_DIR}/${CMAKE_IMPORT_LIBRARY_PREFIX}octomath${CMAKE_IMPORT_LIBRARY_SUFFIX}"
+  )
+ELSE()
+  set(OCTOMAP_LIBRARY
+    "${OCTOMAP_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}octomap${CMAKE_SHARED_LIBRARY_SUFFIX}"
+  )
+  set(OCTOMATH_LIBRARY
+    "${OCTOMAP_LIB_DIR}/${CMAKE_SHARED_LIBRARY_PREFIX}octomath${CMAKE_SHARED_LIBRARY_SUFFIX}"
+  )
+ENDIF()
+
 # not used right now (export depends?)
 #set(OCTOMAP_CMAKE_DIR "${PROJECT_BINARY_DIR}")
 configure_file(octomap-config.cmake.in
   "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config.cmake" @ONLY)
 configure_file(octomap-config-version.cmake.in
   "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config-version.cmake" @ONLY)
 
-# Install the export set for use with the install-tree
-#install(EXPORT FooBarLibraryDepends DESTINATION
-#  "${INSTALL_DATA_DIR}/FooBar/CMake"
-#  COMPONENT dev)
-
+
 # Create a octomap-config.cmake file for the use from the install tree
 # and install it
 set(OCTOMAP_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")

octomap/CMakeModules/CMakeUninstall.cmake.in

@@ -1,8 +1,11 @@
-if (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-    message(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
-endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+# Ignore empty list items.
+cmake_policy(SET CMP0007 OLD)
 
-file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
+if (NOT EXISTS "@CMAKE_BINARY_DIR@/install_manifest.txt")
+    message(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_BINARY_DIR@/install_manifest.txt\"")
+endif(NOT EXISTS "@CMAKE_BINARY_DIR@/install_manifest.txt")
+
+file(READ "@CMAKE_BINARY_DIR@/install_manifest.txt" files)
 string(REGEX REPLACE "\n" ";" files "${files}")
 list(REVERSE files)
 foreach (file ${files})

octomap/README.md

@@ -121,38 +121,48 @@ The octomap library and tools can be compiled and used
 under Windows although this has not been tested in-depth. 
 Feedback is welcome.
 
-To compile the library you need cmake (http://www.cmake.org).
+To compile the library you need cmake (http://www.cmake.org)
+and either MinGW or Visual Studio.
 
 ### MinGW ###
 
 1. Download the MinGW distribution (http://www.mingw.org)
 2. Install C++ compiler and add MingGW/bin to your system PATH
 3. Start the cmake-gui and set the code directory to the 
   library root (e.g. `/octomap`)
-4. Set the build directory to, e.g., `/octomap/build`.
-5. Press "Generate", select the appropriate generator, "MinGW Makefiles".
+4. Create and set the build directory to, e.g., `/octomap/build`.
+5. Press "Configure" then "Generate", select the appropriate generator, "MinGW Makefiles".
 6. Start a command shell and "make" the project:
 
         octomap> cd build
         octomap/build> mingw32-make.exe
 
 
-You can run the unit tests using ctest on the command prompt:
+As verification, you can run the unit tests using ctest on the 
+command prompt:
 
     octomap/build> ctest.exe
 
 
-### Microsoft Visual Studio 2010 ###
+### Microsoft Visual Studio (2013 or later recommended) ###
 
-1. Start the cmake-gui and set the code directory to the 
-  library root (e.g. `/octomap`)
-2. Set the build directory to, e.g., /octomap/build.
-3. Press "Generate", select the appropriate generator, e.g. "Visual Studio 10". 
-      This generates a solution file octomap.sln
-4. Load this file and build the project
+Last tested with MSVC 2013 and 2015 (Community Edition).
+
+1. Start the cmake-gui and set the source code directory to the 
+  library root (e.g. `\octomap`)
+2. Create a build directory and set it in CMake ("Where to build the
+   binaries"), e.g.  `\octomap\build`.
+3. Press "Configure" then "Generate", select the appropriate generator, e.g. "Visual Studio 2015". 
+      This generates a solution file `octomap.sln` in the build directory.
+4. Load this file and build the project `ALL_BUILD` in Visual Studio.
 
+Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
+you can only build octomap by proceeding as described above but in the `octomap`
+subdirectory. This can help you getting started when there are problems with
+octovis and Qt4.
 
-You can run the unit tests using ctest on the command prompt:
+As verification, you can run the unit tests in Visual Studio by building the
+`RUN_TESTS` project or by using ctest on the command prompt:
 
     octomap/build> ctest.exe -C Release
 

octomap/include/octomap/ColorOcTree.h

@@ -117,7 +117,7 @@ namespace octomap {
 
   public:
     /// Default constructor, sets resolution of leafs
-    ColorOcTree(double resolution) : OccupancyOcTreeBase<ColorOcTreeNode>(resolution) {};  
+    ColorOcTree(double resolution);
 
     /// virtual constructor: creates a new object of same type
     /// (Covariant return type requires an up-to-date compiler)
@@ -172,14 +172,24 @@ namespace octomap {
 
     /**
      * Static member object which ensures that this OcTree's prototype
-     * ends up in the classIDMapping only once
+     * ends up in the classIDMapping only once. You need this as a 
+     * static member in any derived octree class in order to read .ot
+     * files through the AbstractOcTree factory. You should also call
+     * ensureLinking() once from the constructor.
      */
     class StaticMemberInitializer{
        public:
          StaticMemberInitializer() {
            ColorOcTree* tree = new ColorOcTree(0.1);
            AbstractOcTree::registerTreeType(tree);
          }
+
+         /**
+         * Dummy function to ensure that MSVC does not drop the
+         * StaticMemberInitializer, causing this tree failing to register.
+         * Needs to be called from the constructor of this octree.
+         */
+         void ensureLinking() {};
     };
     /// static member to ensure static initialization (only once)
     static StaticMemberInitializer colorOcTreeMemberInit;

octomap/include/octomap/CountingOcTree.h

@@ -89,7 +89,7 @@ namespace octomap {
 
   public:
     /// Default constructor, sets resolution of leafs
-    CountingOcTree(double resolution) : OcTreeBase<CountingOcTreeNode>(resolution) {};    
+    CountingOcTree(double resolution);
     virtual CountingOcTreeNode* updateNode(const point3d& value);
     CountingOcTreeNode* updateNode(const OcTreeKey& k);
     void getCentersMinHits(point3d_list& node_centers, unsigned int min_hits) const;
@@ -104,14 +104,24 @@ namespace octomap {
 
     /**
      * Static member object which ensures that this OcTree's prototype
-     * ends up in the classIDMapping only once
+     * ends up in the classIDMapping only once. You need this as a 
+     * static member in any derived octree class in order to read .ot
+     * files through the AbstractOcTree factory. You should also call
+     * ensureLinking() once from the constructor.
      */
     class StaticMemberInitializer{
        public:
          StaticMemberInitializer() {
            CountingOcTree* tree = new CountingOcTree(0.1);
            AbstractOcTree::registerTreeType(tree);
          }
+
+         /**
+         * Dummy function to ensure that MSVC does not drop the
+         * StaticMemberInitializer, causing this tree failing to register.
+         * Needs to be called from the constructor of this octree.
+         */
+         void ensureLinking() {};
     };
     /// static member to ensure static initialization (only once)
     static StaticMemberInitializer countingOcTreeMemberInit;

octomap/include/octomap/MapCollection.h

@@ -56,7 +56,7 @@ namespace octomap {
     bool isOccupied(const point3d& p) const;
     bool isOccupied(float x, float y, float z) const;
 
-    float getOccupancy(const point3d& p);
+    double getOccupancy(const point3d& p);
 
     bool castRay(const point3d& origin, const point3d& direction, point3d& end,
                  bool ignoreUnknownCells=false, double maxRange=-1.0) const;

octomap/include/octomap/MapCollection.hxx

@@ -168,14 +168,14 @@ namespace octomap {
 
 
   template <class MAPNODE>
-  float MapCollection<MAPNODE>::getOccupancy(const point3d& p) {
-    float max_occ_val = 0;
+  double MapCollection<MAPNODE>::getOccupancy(const point3d& p) {
+    double max_occ_val = 0;
     bool is_unknown = true;
     for (const_iterator it = this->begin(); it != this->end(); ++it) {
       point3d ptrans = (*it)->getOrigin().inv().transform(p);
       typename MAPNODE::TreeType::NodeType* n = (*it)->getMap()->search(ptrans);
       if (n) {
-        float occ = n->getOccupancy();
+        double occ = n->getOccupancy();
         if (occ > max_occ_val) max_occ_val = occ;
         is_unknown = false;
       }

octomap/include/octomap/OcTree.h

@@ -50,7 +50,7 @@ namespace octomap {
 
   public:
     /// Default constructor, sets resolution of leafs
-    OcTree(double resolution) : OccupancyOcTreeBase<OcTreeNode>(resolution) {};
+    OcTree(double resolution);
 
     /**
      * Reads an OcTree from a binary file 
@@ -71,15 +71,26 @@ namespace octomap {
   protected:
     /**
      * Static member object which ensures that this OcTree's prototype
-     * ends up in the classIDMapping only once
+     * ends up in the classIDMapping only once. You need this as a 
+     * static member in any derived octree class in order to read .ot
+     * files through the AbstractOcTree factory. You should also call
+     * ensureLinking() once from the constructor.
      */
     class StaticMemberInitializer{
     public:
       StaticMemberInitializer() {
         OcTree* tree = new OcTree(0.1);
         AbstractOcTree::registerTreeType(tree);
       }
+
+	    /**
+	     * Dummy function to ensure that MSVC does not drop the
+	     * StaticMemberInitializer, causing this tree failing to register.
+	     * Needs to be called from the constructor of this octree.
+	     */
+	    void ensureLinking() {};
     };
+
     /// to ensure static initialization (only once)
     static StaticMemberInitializer ocTreeMemberInit;
   };

octomap/include/octomap/OcTreeBaseImpl.hxx

@@ -672,7 +672,7 @@ namespace octomap {
 
     // Note: this can be larger than the adressable memory 
     //   - size_t may not be enough to hold it!
-    return ((size_x/resolution) * (size_y/resolution) * (size_z/resolution)
+    return (unsigned long long)((size_x/resolution) * (size_y/resolution) * (size_z/resolution)
         * sizeof(root->getValue()));
 
   }

octomap/include/octomap/OcTreeDataNode.h

@@ -51,7 +51,12 @@ namespace octomap {
    * This is the base class for nodes used in an OcTree. The used implementation
    * for occupancy mapping is in OcTreeNode.#
    * \tparam T data to be stored in the node (e.g. a float for probabilities)
-   *
+   * 
+   * Note: If you derive a class (directly or indirectly) from OcTreeDataNode, 
+   * you have to implement (at least) the following functions to avoid slicing
+   * errors and memory-related bugs:
+   * createChild(), getChild(), getChild() const, expandNode() 
+   * See ColorOcTreeNode in ColorOcTree.h for an example. 
    */
   template<typename T> class OcTreeDataNode: public AbstractOcTreeNode {
 

octomap/include/octomap/OcTreeKey.h

@@ -137,8 +137,8 @@ namespace octomap {
       end_of_ray++;
     }
 
-    unsigned int size() const { return end_of_ray - ray.begin(); }
-    unsigned int sizeMax() const { return 100000; }
+    size_t size() const { return end_of_ray - ray.begin(); }
+    size_t sizeMax() const { return 100000; }
 
     typedef std::vector<OcTreeKey>::iterator iterator;
     typedef std::vector<OcTreeKey>::const_iterator const_iterator;