pcl: upgrade to 1.9.1

* resolves issues with newer CMake
  -- Performing Test HAVE_MM_MALLOC
  CMake Error: TRY_RUN() invoked in cross-compiling mode, please set the following cache variables appropriately:
     HAVE_MM_MALLOC_EXITCODE (advanced)
     HAVE_MM_MALLOC_EXITCODE__TRYRUN_OUTPUT (advanced)
  For details see pcl/1.8.0-r0/build/TryRunResults.cmake
  -- Performing Test HAVE_MM_MALLOC - Success
* should resolve the issues with memory usage during the build:
  PointCloudLibrary/pcl#2284 (comment)
  but it still triggers OOMK with -j8 on 32GB RAM builder, use at least
  -j4 to improve the build time a bit
* use git fetcher for sources, github archives can be regenerated
  from time to time with different checksums:
  ros#609
* 0001-make-the-pcl-library-compile-with-gcc6.patch is needed only
  with thud and older, with warrior it builds OK without this
  patch as well

Signed-off-by: Martin Jansa <[email protected]>

meta-ros-common/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch

@@ -0,0 +1,136 @@
+From 31f72094a309ef6845e5c6b0b989237b4b59973f Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <[email protected]>
+Date: Tue, 27 Sep 2016 14:05:22 +0200
+Subject: [PATCH] make the pcl library compile with gcc6
+
+With gcc6, compiling fails with `stdlib.h: No such file or directory`,
+as including '-isystem /usr/include' breaks with gcc6, cf.,
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
+
+As far as I can judge from the history, all uses of `SYSTEM` were
+added to avoid to show warnings from external libraries or were
+added without any further argumentation for the use of `SYSTEM` in
+the commit message. The detailed inspection of the git history is shown
+below.
+
+There are other better solutions to avoid to show warnings from
+external libraries without modifying the SYSTEM default directories.
+Hence, this commit replaces all occurrences of
+`include_directory(SYSTEM ...)` with `include_directory(...)`. After
+this change, the point cloud library compiles with gcc6 (in my setup).
+
+The inspection of the git history pointed the following relevant
+git commits:
+
+In commit 636c49a6 [1], Eigen, FLANN, and MPI include directories
+`are set as system to avoid warnings in those files`. The SYSTEM attribute
+in the Eigen include directory remained until now; the other two occurrences
+of the SYSTEM attribute have been dropped in commit 9003e42b [2] for FLANN
+during work on `fixing the USE_ROS flag` without further explanation,
+and in commit 582a1cff [3], which completely removed the whole MPI setup
+in the CMakeLists.txt.
+
+The commit ef3e489b [4] `set[ted] Boost libraries as system libraries`,
+probably with the same rationale as in commit 636c49a6, i.e., to avoid
+warnings in those files.
+
+The commit 55deacd7 [5] provided a generic cmake script for grabbers
+based on already pre-existing patterns in the CMakeLists.txt file.
+
+[1] https://github.com/PointCloudLibrary/pcl/commit/636c49a6ffe7ec8c5409803b137b9d77081b9f9b
+[2] https://github.com/PointCloudLibrary/pcl/commit/9003e42b7f648cd94ed817473c566cc97517ae08
+[3] https://github.com/PointCloudLibrary/pcl/commit/582a1cffd5f074135937bfdaeab01b4e6048ce32
+[4] https://github.com/PointCloudLibrary/pcl/commit/ef3e489ba7ef6fe3ef0319b15f5dc4b64b21ea32
+[5] https://github.com/PointCloudLibrary/pcl/commit/55deacd7b1bb3cc63ad19bef971b97f0777864d6
+
+Signed-off-by: Lukas Bulwahn <[email protected]>
+
+Upstream-Status: Inappropriate [openembedded specific]
+
+Signed-off-by: Lukas Bulwahn <[email protected]>
+---
+ CMakeLists.txt                  | 2 +-
+ cmake/Modules/FindOpenNI.cmake  | 2 +-
+ cmake/Modules/FindOpenNI2.cmake | 2 +-
+ cmake/pcl_find_boost.cmake      | 2 +-
+ cmake/pcl_targets.cmake         | 2 +-
+ test/CMakeLists.txt             | 2 +-
+ 6 files changed, 6 insertions(+), 6 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 0b4c1a33d..95e1d31e8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -277,7 +277,7 @@ endif()
+
+ # Eigen (required)
+ find_package(Eigen REQUIRED)
+-include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
++include_directories(${EIGEN_INCLUDE_DIRS})
+
+ # FLANN (required)
+ if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32))
+diff --git a/cmake/Modules/FindOpenNI.cmake b/cmake/Modules/FindOpenNI.cmake
+index 2c7b26eea..1e62c359b 100644
+--- a/cmake/Modules/FindOpenNI.cmake
++++ b/cmake/Modules/FindOpenNI.cmake
+@@ -31,7 +31,7 @@ if(NOT WIN32)
+     message(STATUS "OpenNI disabled because libusb-1.0 not found.")
+     return()
+   else()
+-    include_directories(SYSTEM ${USB_10_INCLUDE_DIR})
++    include_directories(${USB_10_INCLUDE_DIR})
+   endif()
+ endif(NOT WIN32)
+
+diff --git a/cmake/Modules/FindOpenNI2.cmake b/cmake/Modules/FindOpenNI2.cmake
+index 037a9a399..cc1855e0f 100644
+--- a/cmake/Modules/FindOpenNI2.cmake
++++ b/cmake/Modules/FindOpenNI2.cmake
+@@ -31,7 +31,7 @@ if(NOT WIN32)
+     message(STATUS "OpenNI 2 disabled because libusb-1.0 not found.")
+     return()
+   else()
+-    include_directories(SYSTEM ${USB_10_INCLUDE_DIR})
++    include_directories(${USB_10_INCLUDE_DIR})
+   endif()
+ endif(NOT WIN32)
+
+diff --git a/cmake/pcl_find_boost.cmake b/cmake/pcl_find_boost.cmake
+index 6489f3954..0c170116d 100644
+--- a/cmake/pcl_find_boost.cmake
++++ b/cmake/pcl_find_boost.cmake
+@@ -49,6 +49,6 @@ if(Boost_FOUND)
+   # Obtain diagnostic information about Boost's automatic linking outputted 
+   # during compilation time.
+   add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
+-  include_directories(SYSTEM ${Boost_INCLUDE_DIRS})
++  include_directories(${Boost_INCLUDE_DIRS})
+   link_directories(${Boost_LIBRARY_DIRS})
+ endif(Boost_FOUND)
+diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
+index 30696346f..bede67ffa 100644
+--- a/cmake/pcl_targets.cmake
++++ b/cmake/pcl_targets.cmake
+@@ -864,7 +864,7 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description)
+         message(STATUS "${_description}: not building because ${_name} not found")
+       else()
+         set(HAVE_${_name_capitalized} TRUE)
+-        include_directories(SYSTEM "${${_name_capitalized}_INCLUDE_DIRS}")
++        include_directories("${${_name_capitalized}_INCLUDE_DIRS}")
+       endif()
+     endif()
+ endmacro(PCL_ADD_GRABBER_DEPENDENCY)
+diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
+index 6a1d55d96..543c279ef 100644
+--- a/test/CMakeLists.txt
++++ b/test/CMakeLists.txt
+@@ -9,7 +9,7 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS
+ if(build)
+
+     find_package(Gtest REQUIRED)
+-    include_directories(SYSTEM ${GTEST_INCLUDE_DIRS} ${GTEST_SRC_DIR})
++    include_directories(${GTEST_INCLUDE_DIRS} ${GTEST_SRC_DIR})
+
+     add_library(pcl_gtest STATIC ${GTEST_SRC_DIR}/src/gtest-all.cc)
+

meta-ros-common/recipes-extended/pcl/pcl_git.bb

@@ -0,0 +1,46 @@
+DESCRIPTION = "The Point Cloud Library (or PCL) for point cloud processing."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=5b8a2a1aa14e6de44b4273134946a34c"
+
+DEPENDS = "boost libflann libeigen qhull"
+
+PV = "1.9.1+git${SRCPV}"
+SRCREV = "72f41b60a539cd1da67d1329b57222290122a0bb"
+SRC_URI = "git://github.com/PointCloudLibrary/pcl.git \
+    file://0001-make-the-pcl-library-compile-with-gcc6.patch \
+"
+
+S = "${WORKDIR}/git"
+
+EXTRA_OECMAKE += "\
+  -DCMAKE_SKIP_RPATH=ON \
+  -DHAVE_MM_MALLOC_EXITCODE=0 \
+  -DHAVE_POSIX_MEMALIGN_EXITCODE=0 \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.2", "-DHAVE_SSE4_2_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE4_2_EXTENSIONS_EXITCODE=1", d)} \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.1", "-DHAVE_SSE4_1_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE4_1_EXTENSIONS_EXITCODE=1", d)} \
+  -DHAVE_SSSE3_EXTENSIONS_EXITCODE=0 \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse3", "-DHAVE_SSE3_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE3_EXTENSIONS_EXITCODE=1", d)} \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse2", "-DHAVE_SSE2_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE2_EXTENSIONS_EXITCODE=1", d)} \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse", "-DHAVE_SSE_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE_EXTENSIONS_EXITCODE=1", d)} \
+  -DWITH_LIBUSB=FALSE \
+  -DWITH_PNG=FALSE \
+  -DWITH_QHULL=TRUE \
+  -DWITH_CUDA=FALSE \
+  -DWITH_QT=FALSE \
+  -DWITH_VTK=FALSE \
+  -DWITH_PCAP=FALSE \
+  -DWITH_OPENGL=FALSE \
+"
+
+#Setting -ffloat-store to alleviate 32bit vs 64bit discrepancies on non-SSE platforms.
+CXXFLAGS += "${@bb.utils.contains("TARGET_CC_ARCH", "-mfpmath=sse", "", "-ffloat-store", d)}"
+
+inherit cmake
+
+FILES_${PN}-dev += "${datadir}/${PN}-1.9/*.cmake ${datadir}/${PN}-1.9/Modules/*.cmake"
+
+# The build is really memory hungry (at least with gcc8), even with just -j 8 it triggers OOMK on system with 32GB ram
+# High memory needs mentioned in: https://github.com/PointCloudLibrary/pcl/issues/2284
+# Setting just empty doesn't work, ninja will by default use number of cores available
+PARALLEL_MAKE = "-j4"