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

@@ -1,4 +1,4 @@
-From 19361abfa1bf21bc9be911f6ffa97f1c43174d8d Mon Sep 17 00:00:00 2001
+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
@@ -58,23 +58,23 @@ Signed-off-by: Lukas Bulwahn <[email protected]>
  6 files changed, 6 insertions(+), 6 deletions(-)
 
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e5fd763..c658df5 100644
+index 0b4c1a33d..95e1d31e8 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -272,7 +272,7 @@ endif()
+@@ -277,7 +277,7 @@ endif()
 
  # Eigen (required)
  find_package(Eigen REQUIRED)
 -include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
 +include_directories(${EIGEN_INCLUDE_DIRS})
- add_definitions(-DEIGEN_USE_NEW_STDVECTOR
-                 -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET)
+
  # 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 9f772a4..bd36f3e 100644
+index 2c7b26eea..1e62c359b 100644
 --- a/cmake/Modules/FindOpenNI.cmake
 +++ b/cmake/Modules/FindOpenNI.cmake
-@@ -30,7 +30,7 @@ if(NOT WIN32)
+@@ -31,7 +31,7 @@ if(NOT WIN32)
      message(STATUS "OpenNI disabled because libusb-1.0 not found.")
      return()
    else()
@@ -84,10 +84,10 @@ index 9f772a4..bd36f3e 100644
  endif(NOT WIN32)
 
 diff --git a/cmake/Modules/FindOpenNI2.cmake b/cmake/Modules/FindOpenNI2.cmake
-index 713099a..8226895 100644
+index 037a9a399..cc1855e0f 100644
 --- a/cmake/Modules/FindOpenNI2.cmake
 +++ b/cmake/Modules/FindOpenNI2.cmake
-@@ -30,7 +30,7 @@ if(NOT WIN32)
+@@ -31,7 +31,7 @@ if(NOT WIN32)
      message(STATUS "OpenNI 2 disabled because libusb-1.0 not found.")
      return()
    else()
@@ -97,10 +97,10 @@ index 713099a..8226895 100644
  endif(NOT WIN32)
 
 diff --git a/cmake/pcl_find_boost.cmake b/cmake/pcl_find_boost.cmake
-index a3abe1c..c57b87d 100644
+index 6489f3954..0c170116d 100644
 --- a/cmake/pcl_find_boost.cmake
 +++ b/cmake/pcl_find_boost.cmake
-@@ -48,6 +48,6 @@ if(Boost_FOUND)
+@@ -49,6 +49,6 @@ if(Boost_FOUND)
    # Obtain diagnostic information about Boost's automatic linking outputted 
    # during compilation time.
    add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
@@ -109,11 +109,11 @@ index a3abe1c..c57b87d 100644
    link_directories(${Boost_LIBRARY_DIRS})
  endif(Boost_FOUND)
 diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
-index 691ead0..f730743 100644
+index 30696346f..bede67ffa 100644
 --- a/cmake/pcl_targets.cmake
 +++ b/cmake/pcl_targets.cmake
-@@ -858,7 +858,7 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description)
-         message(WARNING "${_description}: not building because ${_name} not found")
+@@ -864,7 +864,7 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description)
+         message(STATUS "${_description}: not building because ${_name} not found")
        else()
          set(HAVE_${_name_capitalized} TRUE)
 -        include_directories(SYSTEM "${${_name_capitalized}_INCLUDE_DIRS}")
@@ -122,10 +122,10 @@ index 691ead0..f730743 100644
      endif()
  endmacro(PCL_ADD_GRABBER_DEPENDENCY)
 diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
-index 3b3e2d7..342cb62 100644
+index 6a1d55d96..543c279ef 100644
 --- a/test/CMakeLists.txt
 +++ b/test/CMakeLists.txt
-@@ -17,7 +17,7 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS
+@@ -9,7 +9,7 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS
  if(build)
 
      find_package(Gtest REQUIRED)
@@ -134,6 +134,3 @@ index 3b3e2d7..342cb62 100644
 
      add_library(pcl_gtest STATIC ${GTEST_SRC_DIR}/src/gtest-all.cc)
 
--- 
-2.5.5
-

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"