Date: Tue, 20 Nov 2018 07:10:03 +0000 (UTC) From: Yuri Victorovich <yuri@FreeBSD.org> To: ports-committers@freebsd.org, svn-ports-all@freebsd.org, svn-ports-head@freebsd.org Subject: svn commit: r485413 - in head/math: . octomap octomap/files Message-ID: <201811200710.wAK7A3Gx092113@repo.freebsd.org>
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Author: yuri Date: Tue Nov 20 07:10:02 2018 New Revision: 485413 URL: https://svnweb.freebsd.org/changeset/ports/485413 Log: New port: math/octomap: Efficient probabilistic 3D mapping framework based on octrees Added: head/math/octomap/ head/math/octomap/Makefile (contents, props changed) head/math/octomap/distinfo (contents, props changed) head/math/octomap/files/ head/math/octomap/files/patch-dynamicEDT3D_src_CMakeLists.txt (contents, props changed) head/math/octomap/files/patch-octomap_src_CMakeLists.txt (contents, props changed) head/math/octomap/files/patch-octomap_src_math_CMakeLists.txt (contents, props changed) head/math/octomap/files/patch-octovis_CMakeLists__src.txt (contents, props changed) head/math/octomap/pkg-descr (contents, props changed) head/math/octomap/pkg-plist (contents, props changed) Modified: head/math/Makefile Modified: head/math/Makefile ============================================================================== --- head/math/Makefile Tue Nov 20 06:01:18 2018 (r485412) +++ head/math/Makefile Tue Nov 20 07:10:02 2018 (r485413) @@ -476,6 +476,7 @@ SUBDIR += octave-forge-video SUBDIR += octave-forge-zenity SUBDIR += octave-forge-zeromq + SUBDIR += octomap SUBDIR += ogdf SUBDIR += oleo SUBDIR += openblas Added: head/math/octomap/Makefile ============================================================================== --- /dev/null 00:00:00 1970 (empty, because file is newly added) +++ head/math/octomap/Makefile Tue Nov 20 07:10:02 2018 (r485413) @@ -0,0 +1,28 @@ +# $FreeBSD$ + +PORTNAME= octomap +DISTVERSIONPREFIX= v +DISTVERSION= v1.6.5-158 +DISTVERSIONSUFFIX= -g23cb13f +CATEGORIES= math + +MAINTAINER= yuri@FreeBSD.org +COMMENT= Efficient probabilistic 3D mapping framework based on octrees + +LICENSE= BSD3CLAUSE GPLv2 +LICENSE_COMB= dual +LICENSE_FILE_BSD3CLAUSE= ${WRKSRC}/octomap/LICENSE.txt +LICENSE_FILE_GPLv2= ${WRKSRC}/octovis/LICENSE.txt + +BUILD_DEPENDS= libQGLViewer>0:graphics/libQGLViewer # otherwise it doesn't build, see https://github.com/OctoMap/octomap/issues/225 + +USES= cmake:outsource localbase:ldflags +USE_GITHUB= yes +GH_ACCOUNT= OctoMap +USE_LDCONFIG= yes + +# Viewer is broken: https://github.com/OctoMap/octomap/issues/224, and libQGLViewer detection is broken: https://github.com/OctoMap/octomap/issues/225 +#CMAKE_ON= OCTOVIS_QT5 +CMAKE_ARGS= -DQGLVIEWER_BASE_DIR:PATH=${LOCALBASE}/include/QGLViewer #-DQGLViewer_LIBRARY_DIR_OTHER:PATH=${LOCALBASE}/lib + +.include <bsd.port.mk> Added: head/math/octomap/distinfo ============================================================================== --- /dev/null 00:00:00 1970 (empty, because file is newly added) +++ head/math/octomap/distinfo Tue Nov 20 07:10:02 2018 (r485413) @@ -0,0 +1,3 @@ +TIMESTAMP = 1542694534 +SHA256 (OctoMap-octomap-vv1.6.5-158-g23cb13f_GH0.tar.gz) = ff6f654b492b672b1a7ec39ccba4e29e1bdf215c318e388a22a3c78ab2fa34c7 +SIZE (OctoMap-octomap-vv1.6.5-158-g23cb13f_GH0.tar.gz) = 1682523 Added: head/math/octomap/files/patch-dynamicEDT3D_src_CMakeLists.txt ============================================================================== --- /dev/null 00:00:00 1970 (empty, because file is newly added) +++ head/math/octomap/files/patch-dynamicEDT3D_src_CMakeLists.txt Tue Nov 20 07:10:02 2018 (r485413) @@ -0,0 +1,37 @@ +--- dynamicEDT3D/src/CMakeLists.txt.orig 2018-11-20 06:37:53 UTC ++++ dynamicEDT3D/src/CMakeLists.txt +@@ -9,28 +9,28 @@ set_target_properties(dynamicedt3d PROPE + ) + target_link_libraries(dynamicedt3d ${OCTOMAP_LIBRARIES}) + +-add_library(dynamicedt3d-static STATIC ${dynamicEDT3D_SRCS}) +-target_link_libraries(dynamicedt3d-static ${OCTOMAP_LIBRARIES}) ++#add_library(dynamicedt3d-static STATIC ${dynamicEDT3D_SRCS}) ++#target_link_libraries(dynamicedt3d-static ${OCTOMAP_LIBRARIES}) + +-SET_TARGET_PROPERTIES(dynamicedt3d-static PROPERTIES OUTPUT_NAME "dynamicedt3d") ++#SET_TARGET_PROPERTIES(dynamicedt3d-static PROPERTIES OUTPUT_NAME "dynamicedt3d") + + if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D") + file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D") + endif() + +-export(TARGETS dynamicedt3d dynamicedt3d-static ++export(TARGETS dynamicedt3d + FILE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DTargets.cmake") + + # 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-static octomap-static) + ADD_DEPENDENCIES(dynamicedt3d octomap) + endif() + + ADD_SUBDIRECTORY(examples) + +-install(TARGETS dynamicedt3d dynamicedt3d-static ++install(TARGETS dynamicedt3d + EXPORT dynamicEDT3DTargets + INCLUDES DESTINATION include + ${INSTALL_TARGETS_DEFAULT_ARGS} Added: head/math/octomap/files/patch-octomap_src_CMakeLists.txt ============================================================================== --- /dev/null 00:00:00 1970 (empty, because file is newly added) +++ head/math/octomap/files/patch-octomap_src_CMakeLists.txt Tue Nov 20 07:10:02 2018 (r485413) @@ -0,0 +1,33 @@ +--- octomap/src/CMakeLists.txt.orig 2018-11-20 06:33:58 UTC ++++ octomap/src/CMakeLists.txt +@@ -16,9 +16,9 @@ set_target_properties( octomap PROPERTIE + VERSION ${OCTOMAP_VERSION} + SOVERSION ${OCTOMAP_SOVERSION} + ) +-ADD_LIBRARY( octomap-static STATIC ${octomap_SRCS}) +-SET_TARGET_PROPERTIES(octomap-static PROPERTIES OUTPUT_NAME "octomap") +-add_dependencies(octomap-static octomath-static) ++#ADD_LIBRARY( octomap-static STATIC ${octomap_SRCS}) ++#SET_TARGET_PROPERTIES(octomap-static PROPERTIES OUTPUT_NAME "octomap") ++#add_dependencies(octomap-static octomath-static) + + TARGET_LINK_LIBRARIES(octomap octomath) + +@@ -26,7 +26,7 @@ if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DI + file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap") + endif() + +-export(TARGETS octomap octomap-static ++export(TARGETS octomap + APPEND FILE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-targets.cmake") + + ADD_SUBDIRECTORY( testing ) +@@ -67,7 +67,7 @@ TARGET_LINK_LIBRARIES(intersection_examp + ADD_EXECUTABLE(octree2pointcloud octree2pointcloud.cpp) + TARGET_LINK_LIBRARIES(octree2pointcloud octomap) + +-install(TARGETS octomap octomap-static ++install(TARGETS octomap + EXPORT octomap-targets + INCLUDES DESTINATION include + ${INSTALL_TARGETS_DEFAULT_ARGS} Added: head/math/octomap/files/patch-octomap_src_math_CMakeLists.txt ============================================================================== --- /dev/null 00:00:00 1970 (empty, because file is newly added) +++ head/math/octomap/files/patch-octomap_src_math_CMakeLists.txt Tue Nov 20 07:10:02 2018 (r485413) @@ -0,0 +1,24 @@ +--- octomap/src/math/CMakeLists.txt.orig 2018-11-20 06:36:08 UTC ++++ octomap/src/math/CMakeLists.txt +@@ -14,17 +14,17 @@ SET_TARGET_PROPERTIES( octomath PROPERTI + ) + # INSTALL_NAME_DIR seems to be necessary for MacOS X + +-ADD_LIBRARY( octomath-static STATIC ${octomath_SRCS}) +-SET_TARGET_PROPERTIES(octomath-static PROPERTIES OUTPUT_NAME "octomath") ++#ADD_LIBRARY( octomath-static STATIC ${octomath_SRCS}) ++#SET_TARGET_PROPERTIES(octomath-static PROPERTIES OUTPUT_NAME "octomath") + + if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap") + file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap") + endif() + +-export(TARGETS octomath octomath-static ++export(TARGETS octomath + APPEND FILE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-targets.cmake") + +-install(TARGETS octomath octomath-static ++install(TARGETS octomath + EXPORT octomap-targets + INCLUDES DESTINATION include + ${INSTALL_TARGETS_DEFAULT_ARGS} Added: head/math/octomap/files/patch-octovis_CMakeLists__src.txt ============================================================================== --- /dev/null 00:00:00 1970 (empty, because file is newly added) +++ head/math/octomap/files/patch-octovis_CMakeLists__src.txt Tue Nov 20 07:10:02 2018 (r485413) @@ -0,0 +1,37 @@ +--- octovis/CMakeLists_src.txt.orig 2018-11-20 06:29:27 UTC ++++ octovis/CMakeLists_src.txt +@@ -99,9 +99,9 @@ include_directories(${CMAKE_CURRENT_BINA + + + # Library target +-add_library(octovis-static STATIC ${viewerlib_SRCS}) +-target_link_libraries(octovis-static) +-set_target_properties(octovis-static PROPERTIES OUTPUT_NAME octovis) ++#add_library(octovis-static STATIC ${viewerlib_SRCS}) ++#target_link_libraries(octovis-static) ++#set_target_properties(octovis-static PROPERTIES OUTPUT_NAME octovis) + + add_library(octovis-shared SHARED ${viewerlib_SRCS}) + target_link_libraries(octovis-shared +@@ -119,7 +119,7 @@ set_target_properties(octovis-shared PRO + # directly depend on the octomap library target when building the + # complete distribution, so it is recompiled as needed + if (CMAKE_PROJECT_NAME STREQUAL "octomap-distribution") +- ADD_DEPENDENCIES(octovis-static octomap-static) ++ #ADD_DEPENDENCIES(octovis-static octomap-static) + ADD_DEPENDENCIES(octovis-shared octomap) + endif() + +@@ -146,10 +146,10 @@ if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DI + file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis") + endif() + +-export(TARGETS octovis octovis-static octovis-shared ++export(TARGETS octovis octovis-shared + FILE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-targets.cmake") + +-install(TARGETS octovis octovis-static octovis-shared ++install(TARGETS octovis octovis-shared + EXPORT octovis-targets + INCLUDES DESTINATION include + ${INSTALL_TARGETS_DEFAULT_ARGS} Added: head/math/octomap/pkg-descr ============================================================================== --- /dev/null 00:00:00 1970 (empty, because file is newly added) +++ head/math/octomap/pkg-descr Tue Nov 20 07:10:02 2018 (r485413) @@ -0,0 +1,24 @@ +The OctoMap library implements a 3D occupancy grid mapping approach, providing +data structures and mapping algorithms in C++ particularly suited for robotics. +The map implementation is based on an octree and is designed to meet the +following requirements: +* Full 3D model. The map is able to model arbitrary environments without prior + assumptions about it. The representation models occupied areas as well as free + space. Unknown areas of the environment are implicitly encoded in the map. + While the distinction between free and occupied space is essential for safe + robot navigation, information about unknown areas is important, e.g., for + autonomous exploration of an environment. +* Updatable. It is possible to add new information or sensor readings at any + time. Modeling and updating is done in a probabilistic fashion. This accounts + for sensor noise or measurements which result from dynamic changes in the + environment, e.g., because of dynamic objects. +* Flexible. The extent of the map does not have to be known in advance. Instead, + the map is dynamically expanded as needed. The map is multi-resolution so + that, for instance, a high-level planner is able to use a coarse map, while a + local planner may operate using a fine resolution. + close-up views. +* Compact. The map is stored efficiently, both in memory and on disk. It is + possible to generate compressed files for later usage or convenient exchange + between robots even under bandwidth constraints. + +WWW: https://octomap.github.io/ Added: head/math/octomap/pkg-plist ============================================================================== --- /dev/null 00:00:00 1970 (empty, because file is newly added) +++ head/math/octomap/pkg-plist Tue Nov 20 07:10:02 2018 (r485413) @@ -0,0 +1,67 @@ +bin/binvox2bt +bin/bt2vrml +bin/compare_octrees +bin/convert_octree +bin/edit_octree +bin/eval_octree_accuracy +bin/graph2tree +bin/log2graph +include/dynamicEDT3D/bucketedqueue.h +include/dynamicEDT3D/bucketedqueue.hxx +include/dynamicEDT3D/dynamicEDT3D.h +include/dynamicEDT3D/dynamicEDTOctomap.h +include/dynamicEDT3D/dynamicEDTOctomap.hxx +include/dynamicEDT3D/point.h +include/octomap/AbstractOcTree.h +include/octomap/AbstractOccupancyOcTree.h +include/octomap/ColorOcTree.h +include/octomap/CountingOcTree.h +include/octomap/MCTables.h +include/octomap/MapCollection.h +include/octomap/MapCollection.hxx +include/octomap/MapNode.h +include/octomap/MapNode.hxx +include/octomap/OcTree.h +include/octomap/OcTreeBase.h +include/octomap/OcTreeBaseImpl.h +include/octomap/OcTreeBaseImpl.hxx +include/octomap/OcTreeDataNode.h +include/octomap/OcTreeDataNode.hxx +include/octomap/OcTreeIterator.hxx +include/octomap/OcTreeKey.h +include/octomap/OcTreeNode.h +include/octomap/OcTreeStamped.h +include/octomap/OccupancyOcTreeBase.h +include/octomap/OccupancyOcTreeBase.hxx +include/octomap/Pointcloud.h +include/octomap/ScanGraph.h +include/octomap/math/Pose6D.h +include/octomap/math/Quaternion.h +include/octomap/math/Utils.h +include/octomap/math/Vector3.h +include/octomap/octomap.h +include/octomap/octomap_deprecated.h +include/octomap/octomap_timing.h +include/octomap/octomap_types.h +include/octomap/octomap_utils.h +lib/libdynamicedt3d.so +lib/libdynamicedt3d.so.1.9 +lib/libdynamicedt3d.so.1.9.0 +lib/liboctomap.so +lib/liboctomap.so.1.9 +lib/liboctomap.so.1.9.0 +lib/liboctomath.so +lib/liboctomath.so.1.9 +lib/liboctomath.so.1.9.0 +libdata/pkgconfig/dynamicEDT3D.pc +libdata/pkgconfig/octomap.pc +share/dynamicEDT3D/dynamicEDT3DConfig-version.cmake +share/dynamicEDT3D/dynamicEDT3DConfig.cmake +share/dynamicEDT3D/dynamicEDT3DTargets-%%CMAKE_BUILD_TYPE%%.cmake +share/dynamicEDT3D/dynamicEDT3DTargets.cmake +share/dynamic_edt_3d/package.xml +%%DATADIR%%/octomap-config-version.cmake +%%DATADIR%%/octomap-config.cmake +%%DATADIR%%/octomap-targets-%%CMAKE_BUILD_TYPE%%.cmake +%%DATADIR%%/octomap-targets.cmake +%%DATADIR%%/package.xml
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