Fixed build for Lunar

CMakeLists.txt

@@ -171,9 +171,11 @@ FIND_PACKAGE(OpenCV REQUIRED QUIET)
 FIND_PACKAGE(PCL 1.7 REQUIRED QUIET)
 FIND_PACKAGE(ZLIB REQUIRED QUIET)
 
-# fix libproj.so not found on Xenial
 if(NOT "${PCL_LIBRARIES}" STREQUAL "")
+   # fix libproj.so not found on Xenial
    list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
+   # fix libmpi.so not found on Zesty
+   list(REMOVE_ITEM PCL_LIBRARIES "/usr/lib/libmpi.so")
 endif()
 
 # OpenMP ("-fopenmp" should be added for flann included in PCL)
@@ -214,12 +216,12 @@ IF(WITH_QT)
     IF("${VTK_MAJOR_VERSION}" GREATER 5)
         FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
         IF(Qt5_FOUND)
-             FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg)
+             FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OPTIONAL_COMPONENTS Svg)
         ENDIF(Qt5_FOUND)
     ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
 
     IF(NOT Qt5_FOUND)
-        FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
+        FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
     ENDIF(NOT Qt5_FOUND)
         
     IF(QT4_FOUND OR Qt5_FOUND)

app/src/CMakeLists.txt

@@ -74,7 +74,11 @@ ELSE()
 ENDIF()
 TARGET_LINK_LIBRARIES(rtabmap rtabmap_core rtabmap_gui rtabmap_utilite ${LIBRARIES})
 IF(Qt5_FOUND)
+    IF(Qt5Svg_FOUND)
         QT5_USE_MODULES(rtabmap Widgets Core Gui Svg PrintSupport)
+    ELSE()
+        QT5_USE_MODULES(rtabmap Widgets Core Gui PrintSupport)
+    ENDIF()
 ENDIF(Qt5_FOUND)
 
 IF(APPLE AND BUILD_AS_BUNDLE)

corelib/src/Parameters.cpp

@@ -811,7 +811,7 @@ void Parameters::readINI(const std::string & configFile, ParametersMap & paramet
 	{
 		ULOGGER_WARN("Section \"Core\" in %s doesn't exist... "
 				    "Ignore this warning if the ini file does not exist yet. "
-				    "The ini file will be automatically created when this node will close.", configFile.c_str());
+				    "The ini file will be automatically created when rtabmap will close.", configFile.c_str());
 	}
 }
 

guilib/src/CMakeLists.txt

@@ -161,7 +161,11 @@ ADD_LIBRARY(rtabmap_gui ${SRC_FILES})
 
 TARGET_LINK_LIBRARIES(rtabmap_gui rtabmap_core rtabmap_utilite ${LIBRARIES})
 IF(Qt5_FOUND)
+    IF(Qt5Svg_FOUND)
         QT5_USE_MODULES(rtabmap_gui Widgets Core Gui Svg PrintSupport)
+    ELSE()
+        QT5_USE_MODULES(rtabmap_gui Widgets Core Gui PrintSupport)
+    ENDIF()
 ENDIF(Qt5_FOUND)
 
 SET_TARGET_PROPERTIES(

guilib/src/GraphViewer.cpp

@@ -37,7 +37,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtGui/QDesktopServices>
 #include <QtGui/QContextMenuEvent>
 #include <QColorDialog>
+#ifdef QT_SVG_LIB
 #include <QtSvg/QSvgGenerator>
+#endif
 #include <QInputDialog>
 #include <QMessageBox>
 
@@ -1233,6 +1235,9 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
 	QMenu menu;
 	QAction * aScreenShotPNG = menu.addAction(tr("Take a screenshot (PNG)"));
 	QAction * aScreenShotSVG = menu.addAction(tr("Take a screenshot (SVG)"));
+#ifndef QT_SVG_LIB
+	aScreenShotSVG->setEnabled(false);
+#endif
 	menu.addSeparator();
 
 	QAction * aChangeNodeColor = menu.addAction(createIcon(_nodeColor), tr("Set node color..."));
@@ -1422,6 +1427,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
 			}
 			else
 			{
+#ifdef QT_SVG_LIB
 				QSvgGenerator svgGen;
 
 				svgGen.setFileName( targetDir + name );
@@ -1433,6 +1439,9 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
 				QPainter painter( &svgGen );
 
 				this->scene()->render(&painter);
+#else
+				UERROR("RTAB-MAp is not built with Qt's SVG library, cannot save picture in svg format.");
+#endif
 			}
 
 			//reset scale