Merge pull request #1538 from rolalaro/ogre-1_12

Compatibility with more recent versions of Ogre
lagadic · Jan 18, 2025 · f6faf50 · f6faf50
2 parents 2f13b74 + cae757c
commit f6faf50
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diff --git a/.github/workflows/ubuntu-ogre-apt.yml b/.github/workflows/ubuntu-ogre-apt.yml
@@ -0,0 +1,117 @@
+name: Ubuntu-ogre-apt
+
+# https://www.jeffgeerling.com/blog/2020/running-github-actions-workflow-on-schedule-and-other-events
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+  schedule:
+    - cron: '0 2 * * SUN'
+
+# https://stackoverflow.com/questions/66335225/how-to-cancel-previous-runs-in-the-pr-when-you-push-new-commitsupdate-the-curre#comment133398800_72408109
+# https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#concurrency
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  build-ubuntu-ogre-apt:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04, ubuntu-latest]
+        compiler: [ {CC: /usr/bin/gcc-9, CXX: /usr/bin/g++-9}, {CC: /usr/bin/gcc-10, CXX: /usr/bin/g++-10}, {CC: /usr/bin/clang, CXX: /usr/bin/clang++} ]
+        standard: [ 11, 17 ]
+        ogre: [ogre-1.9, ogre-1.12]
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: Print system information
+      run: lscpu
+
+    - name: Print OS information
+      run: lsb_release -a
+
+    - name: Print compiler information
+      run: dpkg --list | grep compiler
+
+    - name: Install ViSP dependencies
+      run: sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-dev libv4l-dev liblapack-dev libopenblas-dev libeigen3-dev libopencv-dev nlohmann-json3-dev
+
+    - name: Install Ogre 1.9
+      if: matrix.ogre == 'ogre-1.9' && matrix.standard != '17'
+      run: sudo apt-get update && sudo apt-get install -y libogre-1.9-dev
+
+    - name: Install Ogre 1.12
+      if: matrix.ogre == 'ogre-1.12'
+      run: sudo apt-get update && sudo apt-get install -y libogre-1.12-dev
+
+    - name: Clone visp-images
+      env:
+        BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
+      # https://remarkablemark.org/blog/2022/09/25/check-git-branch-exists-in-remote-repository/
+      run: |
+        git clone --depth 1 /~https://github.com/lagadic/visp-images ${HOME}/visp-images
+        echo "VISP_INPUT_IMAGE_PATH=$HOME/visp-images" >> $GITHUB_ENV
+        echo ${VISP_INPUT_IMAGE_PATH}
+
+    - name: Clone visp_sample
+      run: |
+        git clone --depth 1 /~https://github.com/lagadic/visp_sample ${HOME}/visp_sample
+
+    - name: Configure CMake
+      run: |
+        mkdir build
+        cd build
+        CC=${{ matrix.compiler.CC }}
+        CXX=${{ matrix.compiler.CXX }}
+        CXX_STANDARD=${{ matrix.standard }}
+        echo "CC: $CC"
+        echo "CXX: $CXX"
+        echo "Standard: $CXX_STANDARD"
+        cmake .. -DCMAKE_C_COMPILER="${CC}" -DCMAKE_CXX_COMPILER="${CXX}" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/tmp/usr/local -DCMAKE_VERBOSE_MAKEFILE=ON -DUSE_CXX_STANDARD=$CXX_STANDARD
+        cat ViSP-third-party.txt
+
+    - name: Compile
+      working-directory: build
+      run: |
+        make -j$(nproc) install
+
+    - name: Run unit tests
+      working-directory: build
+      run: ctest -j$(nproc) --output-on-failure
+
+    - name: ViSP as 3rdparty with cmake
+      run: |
+        cd ${HOME}/visp_sample
+        mkdir visp_sample-build
+        cd visp_sample-build
+        CC=${{ matrix.compiler.CC }}
+        CXX=${{ matrix.compiler.CXX }}
+        cmake .. -DCMAKE_C_COMPILER="${CC}" -DCMAKE_CXX_COMPILER="${CXX}" -DVISP_DIR=/tmp/usr/local/lib/cmake/visp -DCMAKE_VERBOSE_MAKEFILE=ON
+        make -j$(nproc)
+
+    - name: ViSP as 3rdparty with visp.pc and pkg-config
+      run: |
+        cd ${HOME}/visp_sample
+        export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig
+        CC=${{ matrix.compiler.CC }}
+        CXX=${{ matrix.compiler.CXX }}
+        pkg-config --cflags visp
+        pkg-config --libs visp
+        make CXX=${{ matrix.compiler.CXX }} -j$(nproc) -f Makefile.visp.pc
+        make CXX=${{ matrix.compiler.CXX }} -j$(nproc) -f Makefile.visp.pc clean
+
+    - name: ViSP as 3rdparty with visp-config
+      run: |
+        cd ${HOME}/visp_sample
+        export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig
+        export VISP_INSTALL_PREFIX=/tmp/usr/local
+        CC=${{ matrix.compiler.CC }}
+        CXX=${{ matrix.compiler.CXX }}
+        $VISP_INSTALL_PREFIX/bin/visp-config --cflags
+        $VISP_INSTALL_PREFIX/bin/visp-config --libs
+        make CXX=${{ matrix.compiler.CXX }} -j$(nproc) -f Makefile.visp-config
+        make CXX=${{ matrix.compiler.CXX }} -j$(nproc) -f Makefile.visp-config clean
diff --git a/.github/workflows/ubuntu-ogre-src.yml b/.github/workflows/ubuntu-ogre-src.yml
@@ -0,0 +1,119 @@
+name: Ubuntu-ogre-src
+
+# https://www.jeffgeerling.com/blog/2020/running-github-actions-workflow-on-schedule-and-other-events
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+  schedule:
+    - cron: '0 2 * * SUN'
+
+# https://stackoverflow.com/questions/66335225/how-to-cancel-previous-runs-in-the-pr-when-you-push-new-commitsupdate-the-curre#comment133398800_72408109
+# https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#concurrency
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref || github.run_id }}
+  cancel-in-progress: true
+
+env:
+  # Function to get the most recent tag of a remote repository without having to clone it, excluding tag with 'pr' as in Pre Release
+  FUNCTION_GET_LATEST: 'git -c "versionsort.suffix=-" ls-remote --exit-code --refs --sort="version:refname" --tags ${GIT_ADDRESS} "*.*.*" | cut --delimiter="/" --fields=3 | grep -v -e pr | tail --lines=1'
+
+jobs:
+  build-ubuntu-ogre-src:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-20.04, ubuntu-latest]
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: Print system information
+      run: lscpu
+
+    - name: Print OS information
+      run: lsb_release -a
+
+    - name: Install dependencies for ubuntu 20.04
+      if: matrix.os == 'ubuntu-20.04'
+      run: |
+        sudo apt-get update && sudo apt-get install -y libdc1394-22-dev
+
+    - name: Install common dependencies for ubuntu
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libx11-dev libv4l-dev gfortran liblapack-dev libeigen3-dev
+        sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
+        sudo apt-get install -y mesa-common-dev mesa-utils freeglut3-dev libflann-dev libboost-all-dev
+        sudo apt-get install -y nlohmann-json3-dev
+
+    - name: Install dependencies for ubuntu-latest
+      if: matrix.os == 'ubuntu-latest'
+      run: |
+        sudo apt-get update && sudo apt-get install -y libx11-dev libdc1394-dev libv4l-dev gfortran liblapack-dev libeigen3-dev
+        sudo apt-get update && sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
+
+    - name: Install Ogre dependencies
+      run: |
+        sudo apt-get update && sudo apt-get install -y libgles2-mesa-dev libvulkan-dev glslang-dev libxrandr-dev  libxaw7-dev libx11-dev libzzip-dev libsdl2-dev
+
+    - name: Build Ogre from source
+      run: |
+        pwd
+        GIT_ADDRESS="/~https://github.com/OGRECave/ogre"
+        LATEST_TAG=`eval ${FUNCTION_GET_LATEST}`
+        echo "Newest tag is ${LATEST_TAG}"
+        git clone --depth 1 --branch ${LATEST_TAG} ${GIT_ADDRESS} ${HOME}/ogre
+        cd ${HOME}/ogre
+        mkdir build && cd build && mkdir install
+        cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$(pwd)/install
+        make -j$(nproc) install
+        echo "OGRE_DIR=$(pwd)/install" >> $GITHUB_ENV
+        echo $OGRE_DIR
+
+    - name: Clone visp-images
+      env:
+        BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
+      # https://remarkablemark.org/blog/2022/09/25/check-git-branch-exists-in-remote-repository/
+      run: |
+        git clone --depth 1 /~https://github.com/lagadic/visp-images ${HOME}/visp-images
+        echo "VISP_INPUT_IMAGE_PATH=$HOME/visp-images" >> $GITHUB_ENV
+        echo ${VISP_INPUT_IMAGE_PATH}
+
+    - name: Configure CMake
+      run: |
+        pwd
+        mkdir build && cd build && mkdir install
+        cmake .. -DCMAKE_INSTALL_PREFIX=$(pwd)/install
+        cat ViSP-third-party.txt
+
+    - name: Build visp-config script
+      working-directory: build
+      run: |
+        make -j$(nproc) developer_scripts
+        ./bin/visp-config --cflags
+        ./bin/visp-config --libs
+
+    - name: Build and install ViSP
+      working-directory: build
+      run: |
+        make -j$(nproc) install
+        echo "VISP_DIR=$(pwd)/install" >> $GITHUB_ENV
+        echo $VISP_DIR
+
+    - name: Run unit tests
+      working-directory: build
+      run: ctest -j$(nproc) --output-on-failure
+
+    - name: Clone visp_started
+      run: |
+        git clone --depth 1 /~https://github.com/lagadic/visp_started ${HOME}/visp_started
+
+    - name: Build visp_started with ViSP as 3rdparty
+      run: |
+        cd ${HOME}/visp_started
+        mkdir visp_started-build
+        cd visp_started-build
+        cmake ..
+        make -j$(nproc)
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -142,6 +142,13 @@ set(VISP_SOVERSION "${VISP_VERSION_MAJOR}.${VISP_VERSION_MINOR}")
 # Package revision number
 set(VISP_REVISION "1")
 
+# Try to locate visp-images and, if it exists, its version
+vp_find_dataset(VISP_DATASET_FOUND VISP_DATASET_LOCATION
+                    VISP_DATASET_VERSION
+                    VISP_DATASET_VERSION_MAJOR
+                    VISP_DATASET_VERSION_MINOR
+                    VISP_DATASET_VERSION_PATCH)
+
 #-----------------------------------------------------------------------------
 # TO BE CHECKED BEFORE NEXT RELEASE
 #
@@ -984,6 +991,7 @@ include(cmake/VISPExtraTargets.cmake)
 include(cmake/OgreTools.cmake)
 if(USE_OGRE)
   vp_set_ogre_media()
+  set(VISP_HAVE_OGRE_VERSION "(${OGRE_VERSION_MAJOR}<<16 | ${OGRE_VERSION_MINOR}<<8 | ${OGRE_VERSION_PATCH})") # for vpConfig.h
 endif()
 
 #----------------------------------------------------------------------
@@ -1436,10 +1444,6 @@ if(USE_JPEG)
     endif()
   endif()
 endif()
-if(USE_OIS)
-  vp_parse_header("${OIS_INCLUDE_DIR}/OISPrereqs.h" OIS_VERSION_LINES OIS_VERSION_MAJOR OIS_VERSION_MINOR OIS_VERSION_PATCH)
-  set(OIS_VERSION "${OIS_VERSION_MAJOR}.${OIS_VERSION_MINOR}.${OIS_VERSION_PATCH}")
-endif()
 if(USE_EIGEN3)
   # Additionnal check to be sure that Eigen3 include dir os well detected
   if(NOT EXISTS ${EIGEN3_INCLUDE_DIR})
@@ -1904,6 +1908,15 @@ endif()
 if(USE_YARP)
   status("    Yarp dir:" "${YARP_DIR}")
 endif()
+if(USE_OGRE)
+  if(NOT ${OGRE_DIR} STREQUAL "")
+    status("    Ogre dir:" "${OGRE_DIR}")
+  else()
+    status("    Ogre inc dir:" "${OGRE_INCLUDE_DIR}")
+    status("    Ogre Main lib:" "${OGRE_LIBRARY_REL}")
+    status("    Ogre plugin dir:" "${OGRE_PLUGIN_DIR_REL}")
+  endif()
+endif()
 
 # ========================== auxiliary ==========================
 status("")

diff --git a/cmake/FindOIS.cmake b/cmake/FindOIS.cmake
@@ -0,0 +1,79 @@
+#############################################################################
+#
+# ViSP, open source Visual Servoing Platform software.
+# Copyright (C) 2005 - 2025 by Inria. All rights reserved.
+#
+# This software is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+# See the file LICENSE.txt at the root directory of this source
+# distribution for additional information about the GNU GPL.
+#
+# For using ViSP with software that can not be combined with the GNU
+# GPL, please contact Inria about acquiring a ViSP Professional
+# Edition License.
+#
+# See https://visp.inria.fr for more information.
+#
+# This software was developed at:
+# Inria Rennes - Bretagne Atlantique
+# Campus Universitaire de Beaulieu
+# 35042 Rennes Cedex
+# France
+#
+# If you have questions regarding the use of this file, please contact
+# Inria at visp@inria.fr
+#
+# This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+# WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+#
+# Description:
+# Try to find OIS 3rd party used by vpAROgre class
+# Once run this will define:
+#
+# OIS_FOUND
+# OIS_INCLUDE_DIRS
+# OIS_LIBRARIES
+# OIS_VERSION
+#
+#############################################################################
+
+find_path(OIS_INCLUDE_DIR
+  NAMES ois/OIS.h
+  PATHS
+    $ENV{OIS_DIR}/include/ois
+    ${OIS_DIR}/include/ois
+    /usr/include
+    /usr/local/include
+)
+
+find_library(OIS_LIBRARY
+  NAMES OIS
+  PATHS
+    $ENV{OIS_DIR}/lib
+    ${OIS_DIR}/lib
+    /usr/lib
+    /usr/local/lib
+    )
+
+if(OIS_LIBRARY AND OIS_INCLUDE_DIR)
+  set(OIS_INCLUDE_DIRS ${OIS_INCLUDE_DIR})
+  set(OIS_LIBRARIES ${OIS_LIBRARY})
+  set(OIS_FOUND TRUE)
+
+  get_filename_component(OIS_LIB_DIR ${OIS_LIBRARY} PATH)
+  vp_get_version_from_pkg("OIS" "${OIS_LIB_DIR}/pkgconfig" OIS_VERSION)
+
+  if(NOT OIS_VERSION)
+    vp_parse_header("${OIS_INCLUDE_DIR}/ois/OISPrereqs.h" OIS_VERSION_LINES OIS_VERSION_MAJOR OIS_VERSION_MINOR OIS_VERSION_PATCH)
+    set(OIS_VERSION "${OIS_VERSION_MAJOR}.${OIS_VERSION_MINOR}.${OIS_VERSION_PATCH}")
+  endif()
+else()
+  set(OIS_FOUND FALSE)
+endif()
+
+mark_as_advanced(
+  OIS_INCLUDE_DIR
+  OIS_LIBRARY
+)
diff --git a/cmake/FindVicon.cmake b/cmake/FindVicon.cmake
@@ -35,7 +35,6 @@
 # VICON_FOUND
 # VICON_INCLUDE_DIRS
 # VICON_LIBRARIES
-# VICON_VERSION
 #
 #############################################################################
 
@@ -70,4 +69,4 @@ endif()
 mark_as_advanced(
   VICON_INCLUDE_DIR
   VICON_LIBRARY
-)
+)