From 0f3da4c3068f17fc7b1ed578a695381ff38790a4 Mon Sep 17 00:00:00 2001
From: Lars Glud <larshg@gmail.com>
Date: Wed, 8 May 2024 15:03:03 +0200
Subject: [PATCH] Remove broken support for external metslib.

---
 CMakeLists.txt             | 13 -------------
 recognition/CMakeLists.txt | 31 ++++++++++++-------------------
 2 files changed, 12 insertions(+), 32 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1741d73e20e..a4d575a0261 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -349,19 +349,6 @@ PCL_ADD_GRABBER_DEPENDENCY("DSSDK" "DepthSense SDK support")
 PCL_ADD_GRABBER_DEPENDENCY("RSSDK" "RealSense SDK support")
 PCL_ADD_GRABBER_DEPENDENCY("RSSDK2" "RealSense SDK 2.0 (librealsense) support")
 
-# metslib
-if(PKG_CONFIG_FOUND)
-  pkg_check_modules(METSLIB metslib)
-  if(METSLIB_FOUND)
-    set(HAVE_METSLIB ON)
-    include_directories(SYSTEM ${METSLIB_INCLUDE_DIRS})
-  else()
-    include_directories(SYSTEM "${PCL_SOURCE_DIR}/recognition/include/pcl/recognition/3rdparty/")
-  endif()
-else()
-    include_directories(SYSTEM ${PCL_SOURCE_DIR}/recognition/include/pcl/recognition/3rdparty/)
-endif()
-
 # LibPNG
 option(WITH_PNG "PNG file support" TRUE)
 if(WITH_PNG)
diff --git a/recognition/CMakeLists.txt b/recognition/CMakeLists.txt
index 6f1ad46a9a3..6bb94c62853 100644
--- a/recognition/CMakeLists.txt
+++ b/recognition/CMakeLists.txt
@@ -141,21 +141,17 @@ set(srcs
   src/implicit_shape_model.cpp
 )
 
-if(HAVE_METSLIB)
-  set(metslib_incs "")
-else()
-  set(metslib_incs
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/abstract-search.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/local-search.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/mets.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/metslib_config.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/model.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/observer.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/simulated-annealing.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/tabu-search.hh"
-    "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/termination-criteria.hh"
-  )
-endif()
+set(metslib_incs
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/abstract-search.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/local-search.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/mets.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/metslib_config.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/model.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/observer.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/simulated-annealing.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/tabu-search.hh"
+  "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/termination-criteria.hh"
+)
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${face_detection_incs} ${ransac_based_incs} ${ransac_based_impl_incs} ${hv_incs} ${hv_impl_incs} ${cg_incs} ${cg_impl_incs} ${metslib_incs})
@@ -174,7 +170,4 @@ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/hv" ${hv_impl_incs})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/cg" ${cg_impl_incs})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/linemod" ${LINEMOD_INCLUDES})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/linemod" ${LINEMOD_IMPLS})
-
-if(NOT HAVE_METSLIB)
-  PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/3rdparty/metslib" ${metslib_incs})
-endif()
+PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/3rdparty/metslib" ${metslib_incs})