Improve PCL 3rd-party detection

- vp_find_pcl() is now used in main CMakeLists.txt to avoid calling this macro 3 times in modules gui, sensor and mbt
- allows also to have VTK_FOUND var that can be used in main CMakeLists.txt

.github/workflows/ubuntu-dep-src.yml

@@ -128,7 +128,14 @@ jobs:
         cmake .. -DCMAKE_INSTALL_PREFIX=$(pwd)/install
         cat ViSP-third-party.txt
 
-    - name: Compile
+    - name: Build visp-config script
+      working-directory: build
+      run: |
+        make -j$(nproc) developer_scripts
+        ./bin/visp-config --cflags
+        ./bin/visp-config --libs
+
+    - name: Build and install ViSP
       working-directory: build
       run: |
         make -j$(nproc) install

CMakeLists.txt

@@ -600,6 +600,16 @@ endif()
 
 # Upgrade c++ standard to 14 for pcl 1.9.1.99 that enables by default c++ 14 standard
 if(USE_PCL)
+  # PCL is used in modules gui, sensor and mbt.
+  # In these modules we cannot directly use PCL_INCLUDE_DIRS and PCL_LIBRARIES using:
+  #   list(APPEND opt_incs ${PCL_INCLUDE_DIRS})
+  #   list(APPEND opt_libs ${PCL_LIBRARIES})
+  # Using PCL_LIBRARIES works to build visp libraries, embedded examples, demos, tests and tutorials thanks to the
+  # components. But when examples, demos, tests and tutorials are build outside ViSP workspace as independent projects
+  # that are using ViSP as 3rd-party we lead to build issues due to VTK headers and libraries that are not found.
+  # That's why here, we are using vp_find_pcl() macro that will set PCL_DEPS_INCLUDE_DIRS and PCL_DEPS_LIBRARIES
+  # that contains also VTK material location.
+  vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
   if(PCL_VERSION VERSION_GREATER 1.9.1)
     # pcl > 1.9.1 requires c++14
     # if c++14 option is OFF, force to c++14

cmake/PCLTools.cmake

@@ -37,6 +37,18 @@
 # IN: pcl_libraries
 # OUT: pcl_deps_include_dirs
 # OUT: pcl_deps_libraries
+#
+# PCL_LIBRARIES contains VTK 3rd party such as vtkalglib and not /usr/local/Cellar/vtk/6.3.0/lib/libvtkalglib-6.3.1.dylib
+# full path as requested to use ViSP as 3rd party. This is the case for all VTK libraries that are PCL dependencies.
+# The build of ViSP works with PCL_LIBRARIES since in that case thanks to vtkalglib properties, CMake
+# is able to find the real name and location of the libraries.
+# But when ViSP is used as a 3rd party where it should import PCL libraries, it doesn't work with
+# PCL_LIBRARIES and especially with VTK_LIBRARIES.
+# The solution here is to get the full location of VTK_LIBRARIES libraries thanks to the properties and link
+# with these names.
+# An other way could be to include PCLConfig.cmake, but in that case, visp-config and visp.pc
+# will be not able to give the names of PCL libraries when used without CMake.
+#
 macro(vp_find_pcl pcl_libraries pcl_deps_include_dirs pcl_deps_libraries)
   foreach(lib_ ${${pcl_libraries}})
     mark_as_advanced(${lib_}_LOCATION)

modules/gui/CMakeLists.txt

@@ -65,22 +65,8 @@ endif()
 
 if(USE_PCL)
   list(APPEND opt_incs ${PCL_INCLUDE_DIRS})
-
-  # list(APPEND opt_libs ${PCL_LIBRARIES})
-  # Using PCL_LIBRARIES works to build visp library, examples, demos and test thanks to the components,
-  # but not tutorials when they are build outside ViSP as they are stand alone CMake projects that use
-  # ViSP as a 3rd party.
-  # To be clear PCL_LIBRARIES contains VTK 3rd party such as vtkalglib and not /usr/local/Cellar/vtk/6.3.0/lib/libvtkalglib-6.3.1.dylib
-  # full path as requested to use ViSP as 3rd party. This is the case for all VTK libraries that are PCL dependencies.
-  # The build of ViSP works with PCL_LIBRARIES since in that case thanks to vtkalglib properties, CMake
-  # is able to find the real name and location of the libraries.
-  # But when ViSP is used as a 3rd party where it should import PCL libraries, it doesn't work with
-  # PCL_LIBRARIES and especially with VTK_LIBRARIES.
-  # The solution here is to get the full location of VTK_LIBRARIES libraries thanks to the properties and link
-  # with these names.
-  # An other way could be to include PCLConfig.cmake, but in that case, visp-config and visp.pc
-  # will be not able to give the names of PCL libraries when used without CMake.
-  vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
+  # To ensure to build with VTK and other PCL 3rd parties we are not using PCL_LIBRARIES but PCL_DEPS_INCLUDE_DIRS
+  # and PCL_DEPS_LIBRARIES instead
   list(APPEND opt_incs ${PCL_DEPS_INCLUDE_DIRS})
   list(APPEND opt_libs ${PCL_DEPS_LIBRARIES})
 endif()

modules/sensor/CMakeLists.txt

@@ -99,22 +99,8 @@ if(USE_FTIITSDK)
 endif()
 if(USE_PCL)
   list(APPEND opt_incs ${PCL_INCLUDE_DIRS})
-
-  # list(APPEND opt_libs ${PCL_LIBRARIES})
-  # Using PCL_LIBRARIES works to build visp library, examples, demos and test thanks to the components,
-  # but not tutorials when they are build outside ViSP as they are stand alone CMake projects that use
-  # ViSP as a 3rd party.
-  # To be clear PCL_LIBRARIES contains VTK 3rd party such as vtkalglib and not /usr/local/Cellar/vtk/6.3.0/lib/libvtkalglib-6.3.1.dylib
-  # full path as requested to use ViSP as 3rd party. This is the case for all VTK libraries that are PCL dependencies.
-  # The build of ViSP works with PCL_LIBRARIES since in that case thanks to vtkalglib properties, CMake
-  # is able to find the real name and location of the libraries.
-  # But when ViSP is used as a 3rd party where it should import PCL libraries, it doesn't work with
-  # PCL_LIBRARIES and especially with VTK_LIBRARIES.
-  # The solution here is to get the full location of VTK_LIBRARIES libraries thanks to the properties and link
-  # with these names.
-  # An other way could be to include PCLConfig.cmake, but in that case, visp-config and visp.pc
-  # will be not able to give the names of PCL libraries when used without CMake.
-  vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
+  # To ensure to build with VTK and other PCL 3rd parties we are not using PCL_LIBRARIES but PCL_DEPS_INCLUDE_DIRS
+  # and PCL_DEPS_LIBRARIES instead
   list(APPEND opt_incs ${PCL_DEPS_INCLUDE_DIRS})
   list(APPEND opt_libs ${PCL_DEPS_LIBRARIES})
 endif()

modules/tracker/mbt/CMakeLists.txt

@@ -108,22 +108,8 @@ endif()
 
 if(USE_PCL)
   list(APPEND opt_incs ${PCL_INCLUDE_DIRS})
-
-  # list(APPEND opt_libs ${PCL_LIBRARIES})
-  # Using PCL_LIBRARIES works to build visp library, examples, demos and test thanks to the components,
-  # but not tutorials when they are build outside ViSP as they are stand alone CMake projects that use
-  # ViSP as a 3rd party.
-  # To be clear PCL_LIBRARIES contains VTK 3rd party such as vtkalglib and not /usr/local/Cellar/vtk/6.3.0/lib/libvtkalglib-6.3.1.dylib
-  # full path as requested to use ViSP as 3rd party. This is the case for all VTK libraries that are PCL dependencies.
-  # The build of ViSP works with PCL_LIBRARIES since in that case thanks to vtkalglib properties, CMake
-  # is able to find the real name and location of the libraries.
-  # But when ViSP is used as a 3rd party where it should import PCL libraries, it doesn't work with
-  # PCL_LIBRARIES and especially with VTK_LIBRARIES.
-  # The solution here is to get the full location of VTK_LIBRARIES libraries thanks to the properties and link
-  # with these names.
-  # An other way could be to include PCLConfig.cmake, but in that case, visp-config and visp.pc
-  # will be not able to give the names of PCL libraries when used without CMake.
-  vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
+  # To ensure to build with VTK and other PCL 3rd parties we are not using PCL_LIBRARIES but PCL_DEPS_INCLUDE_DIRS
+  # and PCL_DEPS_LIBRARIES instead
   list(APPEND opt_incs ${PCL_DEPS_INCLUDE_DIRS})
   list(APPEND opt_libs ${PCL_DEPS_LIBRARIES})
 endif()