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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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DISABLE_VTK not defined in new version of PCL library #795

Open windelbouwman opened 2 years ago

windelbouwman commented 2 years ago

When compiling rtabmap with a newer version of the PCL library, the define DISABLE_VTK is not defined. This causes a compilation error in rtabmap.

For example, this piece of code does not compile when using the PCL library 1.10: https://github.com/introlab/rtabmap/blob/master/corelib/src/Parameters.cpp#L44

What's notable here, is that we use ifndef DISABLE_VTK, which is a double negation. Might it be good to use something like ifdef WITH_VTK, if this exists?

matlabbe commented 2 years ago

The problem is how can we detect if PCL has been built with VTK or not? DISABLE_VTK is used not to check only if VTK is there, but also if PCL's related functions using VTK are there, like here: https://github.com/introlab/rtabmap/blob/656da152b31e4596235600b111d4d48530066e07/corelib/src/util3d_surface.cpp#L61-L63

Maybe there is a new define to let us know if PCL is built with VTK or not.

matlabbe commented 2 years ago

Looking this: https://github.com/PointCloudLibrary/pcl/blob/c509b2ba0d7866b9d8353387cf9e8126eab03d93/surface/CMakeLists.txt#L31-L48

We may assume that if VTK_FOUND is defined, PCL is built with it. I'll check the related pull requests.