Add color, image and material classes

tesseract-robotics · Nov 12, 2022 · 415127d · 415127d
1 parent 015a9eb
commit 415127d
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diff --git a/tesseract_common/CMakeLists.txt b/tesseract_common/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(Boost REQUIRED COMPONENTS system filesystem serialization)
 find_package(Eigen3 REQUIRED)
 find_package(TinyXML2 REQUIRED)
 find_package(yaml-cpp REQUIRED)
+find_package(FreeImage REQUIRED)
 
 find_package(console_bridge REQUIRED)
 if(NOT TARGET console_bridge::console_bridge)
@@ -47,12 +48,18 @@ add_library(
   src/allowed_collision_matrix.cpp
   src/any_poly.cpp
   src/collision_margin_data.cpp
+  src/color.cpp
   src/joint_state.cpp
   src/manipulator_info.cpp
+  src/material.cpp
   src/kinematic_limits.cpp
   src/eigen_serialization.cpp
+  src/image.cpp
   src/utils.cpp
   src/resource_locator.cpp
+  src/shader_param.cpp
+  src/shader_params.cpp
+  src/shader_type.cpp
   src/types.cpp)
 target_link_libraries(
   ${PROJECT_NAME}
@@ -64,6 +71,7 @@ target_link_libraries(
          Boost::filesystem
          Boost::serialization
          console_bridge::console_bridge
+         ${FreeImage_LIBRARIES}
          yaml-cpp)
 target_compile_options(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -77,6 +85,8 @@ target_code_coverage(
   ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                   "$<INSTALL_INTERFACE:include>")
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+    ${FreeImage_INCLUDE_DIRS})
 
 configure_package(NAMESPACE tesseract TARGETS ${PROJECT_NAME})
 
@@ -91,6 +101,8 @@ install(
 
 install(
   FILES "${CMAKE_CURRENT_LIST_DIR}/cmake/tesseract_macros.cmake"
+        "${CMAKE_CURRENT_LIST_DIR}/cmake/FindFreeImage.cmake"
+        "${CMAKE_CURRENT_LIST_DIR}/cmake/FindPkgMacros.cmake"
         "${CMAKE_CURRENT_LIST_DIR}/cmake/FindTinyXML2.cmake"
         "${CMAKE_CURRENT_LIST_DIR}/cmake/Findtcmalloc.cmake"
         "${CMAKE_CURRENT_LIST_DIR}/cmake/Findtcmalloc_minimal.cmake"

diff --git a/tesseract_common/cmake/FindFreeImage.cmake b/tesseract_common/cmake/FindFreeImage.cmake
@@ -0,0 +1,48 @@
+#-------------------------------------------------------------------
+# This file is part of the CMake build system for OGRE
+#     (Object-oriented Graphics Rendering Engine)
+# For the latest info, see http://www.ogre3d.org/
+#
+# The contents of this file are placed in the public domain. Feel
+# free to make use of it in any way you like.
+#-------------------------------------------------------------------
+
+# - Try to find FreeImage
+# Once done, this will define
+#
+#  FreeImage_FOUND - system has FreeImage
+#  FreeImage_INCLUDE_DIRS - the FreeImage include directories
+#  FreeImage_LIBRARIES - link these to use FreeImage
+
+include(FindPkgMacros)
+findpkg_begin(FreeImage)
+
+# Get path, convert backslashes as ${ENV_${var}}
+getenv_path(FREEIMAGE_HOME)
+
+# construct search paths
+set(FreeImage_PREFIX_PATH ${FREEIMAGE_HOME} ${ENV_FREEIMAGE_HOME})
+create_search_paths(FreeImage "")
+# redo search if prefix path changed
+clear_if_changed(FreeImage_PREFIX_PATH
+  FreeImage_LIBRARY_FWK
+  FreeImage_LIBRARY_REL
+  FreeImage_LIBRARY_DBG
+  FreeImage_INCLUDE_DIR
+)
+
+set(FreeImage_LIBRARY_NAMES freeimage freeimageLib FreeImage FreeImageLib)
+get_debug_names(FreeImage_LIBRARY_NAMES)
+
+use_pkgconfig(FreeImage_PKGC freeimage)
+
+findpkg_framework(FreeImage)
+
+find_path(FreeImage_INCLUDE_DIR NAMES FreeImage.h HINTS ${FreeImage_INC_SEARCH_PATH} ${FreeImage_PKGC_INCLUDE_DIRS})
+
+find_library(FreeImage_LIBRARY_REL NAMES ${FreeImage_LIBRARY_NAMES} HINTS ${FreeImage_LIB_SEARCH_PATH} ${FreeImage_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Release RelWithDebInfo MinSizeRel)
+find_library(FreeImage_LIBRARY_DBG NAMES ${FreeImage_LIBRARY_NAMES_DBG} HINTS ${FreeImage_LIB_SEARCH_PATH} ${FreeImage_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Debug)
+
+make_library_set(FreeImage_LIBRARY)
+
+findpkg_finish(FreeImage)
diff --git a/tesseract_common/cmake/FindPkgMacros.cmake b/tesseract_common/cmake/FindPkgMacros.cmake
@@ -0,0 +1,165 @@
+#-------------------------------------------------------------------
+# This file is part of the CMake build system for OGRE
+#     (Object-oriented Graphics Rendering Engine)
+# For the latest info, see http://www.ogre3d.org/
+#
+# The contents of this file are placed in the public domain. Feel
+# free to make use of it in any way you like.
+#-------------------------------------------------------------------
+
+##################################################################
+# Provides some common functionality for the FindPackage modules
+##################################################################
+
+# Begin processing of package
+macro(findpkg_begin PREFIX)
+  if (NOT ${PREFIX}_FIND_QUIETLY)
+    message(STATUS "Looking for ${PREFIX}...")
+  endif ()
+endmacro(findpkg_begin)
+
+# Display a status message unless FIND_QUIETLY is set
+macro(pkg_message PREFIX)
+  if (NOT ${PREFIX}_FIND_QUIETLY)
+    message(STATUS ${ARGN})
+  endif ()
+endmacro(pkg_message)
+
+# Get environment variable, define it as ENV_$var and make sure backslashes are converted to forward slashes
+macro(getenv_path VAR)
+   set(ENV_${VAR} $ENV{${VAR}})
+   # replace won't work if var is blank
+   if (ENV_${VAR})
+     string( REGEX REPLACE "\\\\" "/" ENV_${VAR} ${ENV_${VAR}} )
+   endif ()
+endmacro(getenv_path)
+
+# Construct search paths for includes and libraries from a PREFIX_PATH
+macro(create_search_paths PREFIX PATH_SUFFIX)
+  foreach(dir ${${PREFIX}_PREFIX_PATH})
+    set(${PREFIX}_INC_SEARCH_PATH ${${PREFIX}_INC_SEARCH_PATH}
+      ${dir}/include ${dir}/Include ${dir}/include/${PREFIX}${PATH_SUFFIX} ${dir}/Headers)
+    set(${PREFIX}_LIB_SEARCH_PATH ${${PREFIX}_LIB_SEARCH_PATH}
+      ${dir}/lib ${dir}/Lib ${dir}/lib/${PREFIX}${PATH_SUFFIX} ${dir}/Libs)
+    set(${PREFIX}_BIN_SEARCH_PATH ${${PREFIX}_BIN_SEARCH_PATH}
+      ${dir}/bin)
+  endforeach(dir)
+  if(ANDROID)
+	set(${PREFIX}_LIB_SEARCH_PATH ${${PREFIX}_LIB_SEARCH_PATH} ${OGRE_DEPENDENCIES_DIR}/lib/${ANDROID_ABI})
+  endif()
+  set(${PREFIX}_FRAMEWORK_SEARCH_PATH ${${PREFIX}_PREFIX_PATH})
+endmacro(create_search_paths)
+
+# clear cache variables if a certain variable changed
+macro(clear_if_changed TESTVAR)
+  # test against internal check variable
+  # HACK: Apparently, adding a variable to the cache cleans up the list
+  # a bit. We need to also remove any empty strings from the list, but
+  # at the same time ensure that we are actually dealing with a list.
+  list(APPEND ${TESTVAR} "")
+  list(REMOVE_ITEM ${TESTVAR} "")
+  if (NOT "${${TESTVAR}}" STREQUAL "${${TESTVAR}_INT_CHECK}")
+    message(STATUS "${TESTVAR} changed.")
+    foreach(var ${ARGN})
+      set(${var} "NOTFOUND" CACHE STRING "x" FORCE)
+    endforeach(var)
+  endif ()
+  set(${TESTVAR}_INT_CHECK ${${TESTVAR}} CACHE INTERNAL "x" FORCE)
+endmacro(clear_if_changed)
+
+# Try to get some hints from pkg-config, if available
+macro(use_pkgconfig PREFIX PKGNAME)
+  if(NOT ANDROID)
+    find_package(PkgConfig)
+    if (PKG_CONFIG_FOUND)
+      pkg_check_modules(${PREFIX} ${PKGNAME})
+    endif ()
+  endif()
+endmacro (use_pkgconfig)
+
+# Couple a set of release AND debug libraries (or frameworks)
+macro(make_library_set PREFIX)
+  if (${PREFIX}_FWK)
+    set(${PREFIX} ${${PREFIX}_FWK})
+  elseif (${PREFIX}_REL AND ${PREFIX}_DBG)
+    set(${PREFIX} optimized ${${PREFIX}_REL} debug ${${PREFIX}_DBG})
+  elseif (${PREFIX}_REL)
+    set(${PREFIX} ${${PREFIX}_REL})
+  elseif (${PREFIX}_DBG)
+    set(${PREFIX} ${${PREFIX}_DBG})
+  endif ()
+endmacro(make_library_set)
+
+# Generate debug names from given release names
+macro(get_debug_names PREFIX)
+  foreach(i ${${PREFIX}})
+    set(${PREFIX}_DBG ${${PREFIX}_DBG} ${i}d ${i}D ${i}_d ${i}_D ${i}_debug ${i})
+  endforeach(i)
+endmacro(get_debug_names)
+
+# Add the parent dir from DIR to VAR 
+macro(add_parent_dir VAR DIR)
+  get_filename_component(${DIR}_TEMP "${${DIR}}/.." ABSOLUTE)
+  set(${VAR} ${${VAR}} ${${DIR}_TEMP})
+endmacro(add_parent_dir)
+
+# Do the final processing for the package find.
+macro(findpkg_finish PREFIX)
+  # skip if already processed during this run
+  if (NOT ${PREFIX}_FOUND)
+    if (${PREFIX}_INCLUDE_DIR AND ${PREFIX}_LIBRARY)
+      set(${PREFIX}_FOUND TRUE)
+      set(${PREFIX}_INCLUDE_DIRS ${${PREFIX}_INCLUDE_DIR})
+      set(${PREFIX}_LIBRARIES ${${PREFIX}_LIBRARY})
+      if (NOT ${PREFIX}_FIND_QUIETLY)
+        message(STATUS "Found ${PREFIX}: ${${PREFIX}_LIBRARIES}")
+      endif ()
+    else ()
+      if (NOT ${PREFIX}_FIND_QUIETLY)
+        message(STATUS "Could not locate ${PREFIX}")
+      endif ()
+      if (${PREFIX}_FIND_REQUIRED)
+        message(FATAL_ERROR "Required library ${PREFIX} not found! Install the library (including dev packages) and try again. If the library is already installed, set the missing variables manually in cmake.")
+      endif ()
+    endif ()
+
+    mark_as_advanced(${PREFIX}_INCLUDE_DIR ${PREFIX}_LIBRARY ${PREFIX}_LIBRARY_REL ${PREFIX}_LIBRARY_DBG ${PREFIX}_LIBRARY_FWK)
+  endif ()
+endmacro(findpkg_finish)
+
+
+# Slightly customised framework finder
+macro(findpkg_framework fwk)
+  if(APPLE)
+    set(${fwk}_FRAMEWORK_PATH
+      ${${fwk}_FRAMEWORK_SEARCH_PATH}
+      ${CMAKE_FRAMEWORK_PATH}
+      ~/Library/Frameworks
+      /Library/Frameworks
+      /System/Library/Frameworks
+      /Network/Library/Frameworks
+      ${CMAKE_CURRENT_SOURCE_DIR}/lib/macosx/Release
+      ${CMAKE_CURRENT_SOURCE_DIR}/lib/macosx/Debug
+    )
+    # These could be arrays of paths, add each individually to the search paths
+    foreach(i ${OGRE_PREFIX_PATH})
+      set(${fwk}_FRAMEWORK_PATH ${${fwk}_FRAMEWORK_PATH} ${i}/lib/macosx/Release ${i}/lib/macosx/Debug)
+    endforeach(i)
+
+    foreach(i ${OGRE_PREFIX_BUILD})
+      set(${fwk}_FRAMEWORK_PATH ${${fwk}_FRAMEWORK_PATH} ${i}/lib/macosx/Release ${i}/lib/macosx/Debug)
+    endforeach(i)
+
+    foreach(dir ${${fwk}_FRAMEWORK_PATH})
+      set(fwkpath ${dir}/${fwk}.framework)
+      if(EXISTS ${fwkpath})
+        set(${fwk}_FRAMEWORK_INCLUDES ${${fwk}_FRAMEWORK_INCLUDES}
+          ${fwkpath}/Headers ${fwkpath}/PrivateHeaders)
+        set(${fwk}_FRAMEWORK_PATH ${dir})
+        if (NOT ${fwk}_LIBRARY_FWK)
+          set(${fwk}_LIBRARY_FWK "-framework ${fwk}")
+        endif ()
+      endif(EXISTS ${fwkpath})
+    endforeach(dir)
+  endif(APPLE)
+endmacro(findpkg_framework)