From b16de6688f5af4a9099f42cc3057ebb27b4e8022 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Wed, 27 Apr 2022 18:13:42 +0200
Subject: [PATCH 01/12] Make the same adapations as in core and imu

---
 CMakeLists.txt                          | 65 ++++++++++-------
 cmake_modules/wolfvisionConfig.cmake    | 94 -------------------------
 cmake_modules/wolfvisionConfig.cmake.in | 17 +++++
 3 files changed, 56 insertions(+), 120 deletions(-)
 delete mode 100644 cmake_modules/wolfvisionConfig.cmake
 create mode 100644 cmake_modules/wolfvisionConfig.cmake.in

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 22e48a94..267dab43 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Pre-requisites about cmake itself
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
 
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0005 NEW) 
@@ -10,13 +10,12 @@ SET(CMAKE_MACOSX_RPATH true)
 
 # The project name
 PROJECT(vision)
-set(PLUGIN_NAME wolf${PROJECT_NAME})
+set(PLUGIN_NAME "wolf${PROJECT_NAME}")
 
 MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
 
-SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
-SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
-SET(CMAKE_INSTALL_PREFIX /usr/local)
+set(INCLUDE_INSTALL_DIR include/iri-algorithms/wolf)
+set(LIB_INSTALL_DIR lib/)
 
 IF (NOT CMAKE_BUILD_TYPE)
   SET(CMAKE_BUILD_TYPE "DEBUG")
@@ -81,8 +80,7 @@ option(_WOLF_TRACE "Enable wolf tracing macro" ON)
 
 # ============ DEPENDENCIES ==================
 FIND_PACKAGE(wolfcore REQUIRED)
-FIND_PACKAGE(vision_utils REQUIRED)
-SET(PRINT_INFO_VU false)
+# SET(PRINT_INFO_VU false)
 FIND_PACKAGE(OpenCV REQUIRED)
 
 # ============ config.h ==================
@@ -107,9 +105,6 @@ message("CONFIG DIRECTORY ${PROJECT_BINARY_DIR}")
 include_directories("${PROJECT_BINARY_DIR}/conf")
 
 # ============ INCLUDES ==================
-INCLUDE_DIRECTORIES(${wolfcore_INCLUDE_DIRS})
-INCLUDE_DIRECTORIES(${vision_utils_INCLUDE_DIR})
-INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(BEFORE "include")
 
 # ============ HEADERS ============ 
@@ -197,9 +192,9 @@ endif()
 
 #Link the created libraries
 #===============EXAMPLE=========================
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES})
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${OpenCV_LIBS})
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${vision_utils_LIBRARY})
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} wolfcore)
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} OpenCV)
+# TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${vision_utils_LIBRARY})
 
 #Build demos
 #===============EXAMPLE=========================
@@ -222,30 +217,48 @@ INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
       LIBRARY DESTINATION lib
       ARCHIVE DESTINATION lib)
 
+# Configure the package installation
+include(CMakePackageConfigHelpers)
+configure_package_config_file(
+  ${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
+  INSTALL_DESTINATION ${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake
+  PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
+)
+
+install(
+  FILES 
+  ${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
+  DESTINATION 
+  ${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake
+)
+
+# Specifies include directories to use when compiling the plugin target
+# This way, include_directories does not need to be called in plugins depending on this one
+target_include_directories(${PLUGIN_NAME} INTERFACE
+  $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
+)
+
+
 install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
 #install headers
 INSTALL(FILES ${HDRS_CAPTURE}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/capture)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/capture)
 INSTALL(FILES ${HDRS_FACTOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/factor)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/factor)
 INSTALL(FILES ${HDRS_FEATURE}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/feature)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/feature)
 INSTALL(FILES ${HDRS_LANDMARK}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/landmark)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/landmark)
 INSTALL(FILES ${HDRS_MATH}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/math)
 INSTALL(FILES ${HDRS_PROCESSOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/processor)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/processor)
 INSTALL(FILES ${HDRS_SENSOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/sensor)
 
-FILE(WRITE ${PROJECT_NAME}.found "")
-INSTALL(FILES ${PROJECT_NAME}.found
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME})
 INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal)
-
-INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
+  DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/internal)
 
 INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
 
diff --git a/cmake_modules/wolfvisionConfig.cmake b/cmake_modules/wolfvisionConfig.cmake
deleted file mode 100644
index 935cc70e..00000000
--- a/cmake_modules/wolfvisionConfig.cmake
+++ /dev/null
@@ -1,94 +0,0 @@
-#edit the following line to add the librarie's header files
-FIND_PATH(
-    wolfvision_INCLUDE_DIRS
-    NAMES vision.found
-    PATHS /usr/local/include/iri-algorithms/wolf/plugin_vision)
-IF(wolfvision_INCLUDE_DIRS)
-  MESSAGE("Found vision include dirs: ${wolfvision_INCLUDE_DIRS}")
-ELSE(wolfvision_INCLUDE_DIRS)
-  MESSAGE("Couldn't find vision include dirs")
-ENDIF(wolfvision_INCLUDE_DIRS)
-
-FIND_LIBRARY(
-    wolfvision_LIBRARIES
-    NAMES libwolfvision.so libwolfvision.dylib
-    PATHS /usr/local/lib)
-IF(wolfvision_LIBRARIES)
-  MESSAGE("Found vision lib: ${wolfvision_LIBRARIES}")
-ELSE(wolfvision_LIBRARIES)
-  MESSAGE("Couldn't find wolf vision lib")
-ENDIF(wolfvision_LIBRARIES)
-
-IF (wolfvision_INCLUDE_DIRS AND wolfvision_LIBRARIES)
-   SET(wolfvision_FOUND TRUE)
- ELSE(wolfvision_INCLUDE_DIRS AND wolfvision_LIBRARIES)
-   set(wolfvision_FOUND FALSE)
-ENDIF (wolfvision_INCLUDE_DIRS AND wolfvision_LIBRARIES)
-
-IF (wolfvision_FOUND)
-   IF (NOT wolfvision_FIND_QUIETLY)
-      MESSAGE(STATUS "Found vision: ${wolfvision_LIBRARIES}")
-   ENDIF (NOT wolfvision_FIND_QUIETLY)
-ELSE (wolfvision_FOUND)
-   IF (wolfvision_FIND_REQUIRED)
-      MESSAGE(FATAL_ERROR "Could not find wolf vision")
-   ENDIF (wolfvision_FIND_REQUIRED)
-ENDIF (wolfvision_FOUND)
-
-
-macro(wolf_report_not_found REASON_MSG)
-  set(wolfvision_FOUND FALSE)
-  unset(wolfvision_INCLUDE_DIRS)
-  unset(wolfvision_LIBRARIES)
-
-  # Reset the CMake module path to its state when this script was called.
-  set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
-
-  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
-  # FindPackage() use the camelcase library name, not uppercase.
-  if (wolfvision_FIND_QUIETLY)
-    message(STATUS "Failed to find wolfvision- " ${REASON_MSG} ${ARGN})
-  elseif (wolfvision_FIND_REQUIRED)
-    message(FATAL_ERROR "Failed to find wolfvision - " ${REASON_MSG} ${ARGN})
-  else()
-    # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
-    # that prevents generation, but continues configuration.
-    message(SEND_ERROR "Failed to find wolfvision - " ${REASON_MSG} ${ARGN})
-  endif ()
-  return()
-endmacro(wolf_report_not_found)
-
-if(NOT wolfvision_FOUND)
-  wolf_report_not_found("Something went wrong while setting up wolf vision.")
-endif(NOT wolfvision_FOUND)
-# Set the include directories for wolf (itself).
-set(wolfvision_FOUND TRUE)
-
-# Now we gather all the required dependencies for Wolf Laser
-
-FIND_PACKAGE(vision_utils REQUIRED)
-list(APPEND wolfvision_INCLUDE_DIRS ${vision_utils_INCLUDE_DIR})
-list(APPEND wolfvision_LIBRARIES ${vision_utils_LIBRARY})
-
-FIND_PACKAGE(OpenCV REQUIRED)
-list(APPEND wolfvision_INCLUDE_DIRS ${OpenCV_INCLUDE_DIRS})
-list(APPEND wolfvision_LIBRARIES ${OpenCV_LIBS})
-
-#Making sure wolf is looked for
-if(NOT wolf_FOUND)
-  FIND_PACKAGE(wolfcore REQUIRED)
-
-  #We reverse in order to insert at the start
-  list(REVERSE wolfvision_INCLUDE_DIRS)
-  list(APPEND wolfvision_INCLUDE_DIRS ${wolfcore_INCLUDE_DIRS})
-  list(REVERSE wolfvision_INCLUDE_DIRS)
-
-  list(REVERSE wolfvision_LIBRARIES)
-  list(APPEND wolfvision_LIBRARIES ${wolfcore_LIBRARIES})
-  list(REVERSE wolfvision_LIBRARIES)
-endif()
-
-# provide both INCLUDE_DIR and INCLUDE_DIRS
-SET(wolfvision_INCLUDE_DIR ${wolfvision_INCLUDE_DIRS})
-# provide both LIBRARY and LIBRARIES 
-SET(wolfvision_LIBRARY ${wolfvision_LIBRARIES})
\ No newline at end of file
diff --git a/cmake_modules/wolfvisionConfig.cmake.in b/cmake_modules/wolfvisionConfig.cmake.in
new file mode 100644
index 00000000..6f428e25
--- /dev/null
+++ b/cmake_modules/wolfvisionConfig.cmake.in
@@ -0,0 +1,17 @@
+set(@PLUGIN_NAME@_VERSION 0.0.1)
+
+
+@PACKAGE_INIT@
+
+set_and_check(@PLUGIN_NAME@_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
+set(@PLUGIN_NAME@_INCLUDE_DIRS @PLUGIN_NAME@_INCLUDE_DIR)
+set_and_check(@PLUGIN_NAME@_LIB_INSTALL_DIR "@PACKAGE_LIB_INSTALL_DIR@")
+set(@PLUGIN_NAME@_LIB_INSTALL_DIRS @PLUGIN_NAME@_LIB_INSTALL_DIR)
+
+# forwards the correct parameters given to FIND_DEPENDENCIES
+include(CMakeFindDependencyMacro)
+FIND_DEPENDENCY(OpenCV REQUIRED)
+
+include("${CMAKE_CURRENT_LIST_DIR}/@PLUGIN_NAME@Targets.cmake")
+
+check_required_components(@PLUGIN_NAME@)
\ No newline at end of file
-- 
GitLab


From 375b7932b10507b82a32c609efe9c818ea4c904e Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Fri, 29 Apr 2022 11:25:17 +0200
Subject: [PATCH 02/12] Tested with the new dependencies found in new visual
 odometry implementation (no visual_utils)

---
 CMakeLists.txt       | 8 +++++++-
 demos/CMakeLists.txt | 5 +++++
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 267dab43..c157c0c0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,6 +14,9 @@ set(PLUGIN_NAME "wolf${PROJECT_NAME}")
 
 MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
 
+# Paths
+SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
 set(INCLUDE_INSTALL_DIR include/iri-algorithms/wolf)
 set(LIB_INSTALL_DIR lib/)
 
@@ -193,8 +196,12 @@ endif()
 #Link the created libraries
 #===============EXAMPLE=========================
 TARGET_LINK_LIBRARIES(${PLUGIN_NAME} wolfcore)
+<<<<<<< Updated upstream
 TARGET_LINK_LIBRARIES(${PLUGIN_NAME} OpenCV)
 # TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${vision_utils_LIBRARY})
+=======
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${OpenCV_LIBRARIES})
+>>>>>>> Stashed changes
 
 #Build demos
 #===============EXAMPLE=========================
@@ -240,7 +247,6 @@ target_include_directories(${PLUGIN_NAME} INTERFACE
 )
 
 
-install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
 #install headers
 INSTALL(FILES ${HDRS_CAPTURE}
   DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}/capture)
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index 42a4d304..08e1123d 100644
--- a/demos/CMakeLists.txt
+++ b/demos/CMakeLists.txt
@@ -1,3 +1,4 @@
+<<<<<<< Updated upstream
 
 if (OpenCV_FOUND) 
   if (${OpenCV_VERSION_MAJOR} GREATER 1)
@@ -14,5 +15,9 @@ endif(OpenCV_FOUND)
 
 ADD_EXECUTABLE(demo_processor_bundle_adjustment demo_processor_bundle_adjustment.cpp)
 TARGET_LINK_LIBRARIES(demo_processor_bundle_adjustment ${PLUGIN_NAME} ${OpenCV_LIBS})
+=======
+ADD_EXECUTABLE(demo_visual_odometry demo_visual_odometry.cpp)
+TARGET_LINK_LIBRARIES(demo_visual_odometry ${PLUGIN_NAME} ${OpenCV_LIBS})
+>>>>>>> Stashed changes
 
 
-- 
GitLab


From 1e142f67b40ab00781525c914659155c0c742c46 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Tue, 3 May 2022 19:24:06 +0200
Subject: [PATCH 03/12] Fix: Link with OpenCV using COMPONENTS

---
 CMakeLists.txt                          | 29 +++++++++++++++++++++----
 include/vision/factor/factor_pixel_hp.h |  6 -----
 2 files changed, 25 insertions(+), 10 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 86e5e79b..d0982431 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -83,8 +83,10 @@ option(_WOLF_TRACE "Enable wolf tracing macro" ON)
 
 # ============ DEPENDENCIES ==================
 FIND_PACKAGE(wolfcore REQUIRED)
-SET(PRINT_INFO_VU false)
-FIND_PACKAGE(OpenCV REQUIRED)
+FIND_PACKAGE(OpenCV REQUIRED 
+  COMPONENTS core imgcodecs highgui features2d calib3d video
+)
+
 
 # ============ config.h ==================
 string(TOUPPER ${PROJECT_NAME} UPPER_NAME)
@@ -184,10 +186,29 @@ elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
   # using GCC
 endif()
 
-#Link the created libraries
+# Link the created libraries
 #===============EXAMPLE=========================
 TARGET_LINK_LIBRARIES(${PLUGIN_NAME} wolfcore)
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} OpenCV)
+# For OpenCV, link with respect to each required components, found in the find_package command
+# The required components have the same name as the include files e.g. <opencv2/core.hpp>
+# or the opencv2 subdirectory in which they are found, e.g. <opencv2/video/tracking.hpp>
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} 
+  opencv_core
+  opencv_imgcodecs
+  opencv_highgui
+  opencv_features2d
+  opencv_calib3d
+  opencv_video
+)
+
+
+# # TARGET_LINK_LIBRARIES(${PLUGIN_NAME} opencv)
+# get_target_property(toto wolfcore INCLUDE_DIRECTORIES)
+# message(WARNING ${toto})
+# get_target_property(toto wolfcore INTERFACE_INCLUDE_DIRECTORIES)
+# message(WARNING ${toto})
+# get_target_property(toto wolfcore INTERFACE_SYSTEM_INCLUDE_DIRECTORIES)
+# message(WARNING ${toto})
 
 #Build demos
 #===============EXAMPLE=========================
diff --git a/include/vision/factor/factor_pixel_hp.h b/include/vision/factor/factor_pixel_hp.h
index 8693b5f7..fc92af15 100644
--- a/include/vision/factor/factor_pixel_hp.h
+++ b/include/vision/factor/factor_pixel_hp.h
@@ -99,15 +99,9 @@ inline FactorPixelHp::FactorPixelHp(const FeatureBasePtr&   _ftr_ptr,
 
 inline Eigen::VectorXd FactorPixelHp::expectation() const
 {
-<<<<<<< HEAD
-    FrameBasePtr    frm = getFeature()->getCapture()->getFrame();
-    SensorBasePtr   sen = getFeature()->getCapture()->getSensor();
-    LandmarkBasePtr lmk = getLandmarkOther();
-=======
     auto frm  = getFeature()->getCapture()->getFrame();
     auto sen  = getFeature()->getCapture()->getSensor();
     auto lmk  = getLandmarkOther();
->>>>>>> devel
 
     const Eigen::MatrixXd frame_pos     = frm->getP()->getState();
     const Eigen::MatrixXd frame_ori     = frm->getO()->getState();
-- 
GitLab


From 245ef65171b705c8920d70f7d33c82f9f33d2b19 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Tue, 3 May 2022 19:26:15 +0200
Subject: [PATCH 04/12] Remove useless include

---
 include/vision/processor/processor_visual_odometry.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/include/vision/processor/processor_visual_odometry.h b/include/vision/processor/processor_visual_odometry.h
index 9cf5b016..ae8c9425 100644
--- a/include/vision/processor/processor_visual_odometry.h
+++ b/include/vision/processor/processor_visual_odometry.h
@@ -41,7 +41,6 @@
 // Opencv includes
 #include <opencv2/core.hpp>
 #include <opencv2/imgcodecs.hpp>
-#include <opencv2/highgui.hpp>
 #include <opencv2/features2d.hpp>
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/video/tracking.hpp>
-- 
GitLab


From 0b99e0b97b354a9604334bc469dfe2e669ae5111 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Wed, 4 May 2022 16:50:35 +0200
Subject: [PATCH 05/12] Adapt gtest CMakeLists.txt fix JoanV fix in core

---
 test/CMakeLists.txt       |  28 +---------
 test/gtest/CMakeLists.txt | 115 +++++++++++++++++++++-----------------
 2 files changed, 66 insertions(+), 77 deletions(-)

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index ffd3390d..7e2209c5 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,38 +1,12 @@
 # Retrieve googletest from github & compile
 add_subdirectory(gtest)
 
-
-# Include gtest directory.
-include_directories(${GTEST_INCLUDE_DIRS})
-
 wolf_add_gtest(gtest_pinhole gtest_pinhole.cpp)
-target_link_libraries(gtest_pinhole ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_capture_image gtest_capture_image.cpp)
-target_link_libraries(gtest_capture_image ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_feature_point_image gtest_feature_point_image.cpp)
-target_link_libraries(gtest_feature_point_image ${PLUGIN_NAME})
-
 
 wolf_add_gtest(gtest_sensor_camera gtest_sensor_camera.cpp)
-target_link_libraries(gtest_sensor_camera ${PLUGIN_NAME})
-
-wolf_add_gtest(gtest_processor_visual_odometry gtest_processor_visual_odometry.cpp)
-target_link_libraries(gtest_processor_visual_odometry ${PLUGIN_NAME})
-
-# # FactorTrifocal test
-# wolf_add_gtest(gtest_factor_trifocal gtest_factor_trifocal.cpp)
-# target_link_libraries(gtest_factor_trifocal ${PLUGIN_NAME})
-
-# # FactorFeatureEpipolar test
-# wolf_add_gtest(gtest_factor_epipolar gtest_factor_epipolar.cpp)
-# target_link_libraries(gtest_factor_epipolar ${PLUGIN_NAME})
-
-# # ProcessorBundleAdjustment test
-# wolf_add_gtest(gtest_processor_bundle_adjustment gtest_processor_bundle_adjustment.cpp)
-# target_link_libraries(gtest_processor_bundle_adjustment ${PLUGIN_NAME})
 
-# # FactorPixelHp test -> depends on processor_bundle_adjustment.cpp
-# wolf_add_gtest(gtest_factor_pixel_hp gtest_factor_pixel_hp.cpp)
-# target_link_libraries(gtest_factor_pixel_hp ${PLUGIN_NAME})
+wolf_add_gtest(gtest_processor_visual_odometry gtest_processor_visual_odometry.cpp)
\ No newline at end of file
diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
index 559756b0..0fe7d7a0 100644
--- a/test/gtest/CMakeLists.txt
+++ b/test/gtest/CMakeLists.txt
@@ -1,65 +1,80 @@
-cmake_minimum_required(VERSION 2.8.8)
-project(gtest_builder C CXX)
+if(${CMAKE_VERSION} VERSION_LESS "3.11.0") 
+  message("CMake version less than 3.11.0")
 
-# We need thread support
-#find_package(Threads REQUIRED)
+  # Enable ExternalProject CMake module
+  include(ExternalProject)
 
-# Enable ExternalProject CMake module
-include(ExternalProject)
+  set(GTEST_FORCE_SHARED_CRT ON)
+  set(GTEST_DISABLE_PTHREADS OFF)
 
-set(GTEST_FORCE_SHARED_CRT ON)
-set(GTEST_DISABLE_PTHREADS OFF)
+  # For some reason I need to disable PTHREADS
+  # with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
+  # This is a known issue for MinGW :
+  # https://github.com/google/shaderc/pull/174
+  #if(MINGW)
+  #    set(GTEST_DISABLE_PTHREADS ON)
+  #endif()
 
-# For some reason I need to disable PTHREADS
-# with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
-# This is a known issue for MinGW :
-# https://github.com/google/shaderc/pull/174
-#if(MINGW)
-    set(GTEST_DISABLE_PTHREADS ON)
-#endif()
+  # Download GoogleTest
+  ExternalProject_Add(googletest
+      GIT_REPOSITORY https://github.com/google/googletest.git
+      GIT_TAG        v1.8.x
+      # TIMEOUT 1 # We'll try this
+      CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
+      -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
+      -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
+      -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
+      -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
+      -DBUILD_GTEST=ON
+      PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
+      # Disable install step
+      INSTALL_COMMAND ""
+      UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
+  )
 
-# Download GoogleTest
-ExternalProject_Add(googletest
-    GIT_REPOSITORY https://github.com/google/googletest.git
-    GIT_TAG        v1.8.x
-    # TIMEOUT 1 # We'll try this
-    CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
-    -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
-    -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
-    -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
-    -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
-    -DBUILD_GTEST=ON
-    PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
-    # Disable install step
-    INSTALL_COMMAND ""
-    UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
-)
+  # Get GTest source and binary directories from CMake project
 
-# Get GTest source and binary directories from CMake project
+  # Specify include dir
+  ExternalProject_Get_Property(googletest source_dir)
+  set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
 
-# Specify include dir
-ExternalProject_Get_Property(googletest source_dir)
-set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
+  # Specify MainTest's link libraries
+  ExternalProject_Get_Property(googletest binary_dir)
+  set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
 
-# Specify MainTest's link libraries
-ExternalProject_Get_Property(googletest binary_dir)
-set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
+  # Create a libgtest target to be used as a dependency by test programs
+  add_library(libgtest IMPORTED STATIC GLOBAL)
+  add_dependencies(libgtest googletest)
 
-# Create a libgtest target to be used as a dependency by test programs
-add_library(libgtest IMPORTED STATIC GLOBAL)
-add_dependencies(libgtest googletest)
+  # Set libgtest properties
+  set_target_properties(libgtest PROPERTIES
+      "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
+      "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
+  )
 
-# Set libgtest properties
-set_target_properties(libgtest PROPERTIES
-    "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
-    "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
-)
+else()
 
+  message("CMake version equal or greater than 3.11.0")
+
+  include(FetchContent)
+
+  FetchContent_Declare(
+    googletest
+    GIT_REPOSITORY https://github.com/google/googletest.git 
+    GIT_TAG main)
+
+  FetchContent_MakeAvailable(googletest)
+    
+endif()
+  
 function(wolf_add_gtest target)
   add_executable(${target} ${ARGN})
-  add_dependencies(${target} libgtest)
-  target_link_libraries(${target} libgtest)
-
-  #WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/bin
+  if(${CMAKE_VERSION} VERSION_LESS "3.11.0") 
+    add_dependencies(${target} libgtest)
+    target_link_libraries(${target} libgtest ${PLUGIN_NAME})
+    target_include_directories(${target} PUBLIC ${GTEST_INCLUDE_DIRS})
+  else()
+    target_link_libraries(${target} PUBLIC gtest_main ${PLUGIN_NAME})
+  endif()
   add_test(NAME ${target} COMMAND ${target})
 endfunction()
-- 
GitLab


From f8def9d0e7a4e4c7d6e7bd8a7e8c49557b5974ca Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Wed, 4 May 2022 17:36:20 +0200
Subject: [PATCH 06/12] Fix: forgot to tinstall the wolfvisionTargets.cmake
 file

---
 CMakeLists.txt | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 00500347..b0002389 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -218,9 +218,12 @@ ENDIF(BUILD_TESTS)
 #install library
 #=============================================================
 INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
-      RUNTIME DESTINATION bin
-      LIBRARY DESTINATION lib
-      ARCHIVE DESTINATION lib)
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION ${LIB_INSTALL_DIR}
+  ARCHIVE DESTINATION ${LIB_INSTALL_DIR}
+)
+install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/${PLUGIN_NAME}/cmake)
+
 
 # Configure the package installation
 include(CMakePackageConfigHelpers)
-- 
GitLab


From 84a1c1207a6bc4c2313a581032570a6cd2c38e68 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Wed, 4 May 2022 18:03:39 +0200
Subject: [PATCH 07/12] Remove useless cmake_policy command

---
 CMakeLists.txt | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b0002389..a0cf6993 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,10 +1,6 @@
 # Pre-requisites about cmake itself
 CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
 
-if(COMMAND cmake_policy)
-  cmake_policy(SET CMP0005 NEW) 
-  cmake_policy(SET CMP0003 NEW)
-endif(COMMAND cmake_policy)
 # MAC OSX RPATH
 SET(CMAKE_MACOSX_RPATH true)
 
-- 
GitLab


From cdee0d6007490f51a022777400b293f787da5610 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Fri, 6 May 2022 14:12:37 +0200
Subject: [PATCH 08/12] Fix config file creation after having broken it

---
 CMakeLists.txt       | 7 ++-----
 internal/config.h.in | 6 +++---
 2 files changed, 5 insertions(+), 8 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a0cf6993..e72e49be 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -66,10 +66,6 @@ if(BUILD_TESTS)
     enable_testing()
 endif()
 
-#CMAKE modules
-SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
-MESSAGE(STATUS ${CMAKE_MODULE_PATH})
-
 # Some wolf compilation options
 IF((CMAKE_BUILD_TYPE MATCHES DEBUG) OR (CMAKE_BUILD_TYPE MATCHES debug) OR (CMAKE_BUILD_TYPE MATCHES Debug))
   set(_WOLF_DEBUG true)
@@ -85,8 +81,9 @@ FIND_PACKAGE(OpenCV REQUIRED
 
 
 # ============ config.h ==================
-string(TOUPPER ${PROJECT_NAME} UPPER_NAME)
 set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
+# variable used to compile the config.h.in file
+string(TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
 
 # Define the directory where will be the configured config.h
 SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/${PROJECT_NAME}/internal)
diff --git a/internal/config.h.in b/internal/config.h.in
index 7014ca32..35f34683 100644
--- a/internal/config.h.in
+++ b/internal/config.h.in
@@ -24,13 +24,13 @@
 //            which will be added to the include path for compilation,
 //            and installed with the public wolf headers.
 
-#ifndef WOLF_INTERNAL_${UPPER_NAME}_CONFIG_H_
-#define WOLF_INTERNAL_${UPPER_NAME}_CONFIG_H_
+#ifndef WOLF_INTERNAL_${PROJECT_NAME_UPPER}_CONFIG_H_
+#define WOLF_INTERNAL_${PROJECT_NAME_UPPER}_CONFIG_H_
 
 #cmakedefine _WOLF_DEBUG
 
 #cmakedefine _WOLF_TRACE
 
-#define _WOLF_${UPPER_NAME}_ROOT_DIR "${_WOLF_ROOT_DIR}"
+#define _WOLF_${PROJECT_NAME_UPPER}_ROOT_DIR "${_WOLF_ROOT_DIR}"
 
 #endif /* WOLF_INTERNAL_CONFIG_H_ */
-- 
GitLab


From 6278c83c7be1736cfaa5e428283d8ee2abeb1eda Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Thu, 12 May 2022 15:52:50 +0200
Subject: [PATCH 09/12] [skip-ci] Specify MODULE or CONFIG in find_package

---
 CMakeLists.txt | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 570ffaf8..f89a00ef 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -74,8 +74,8 @@ ENDIF()
 option(_WOLF_TRACE "Enable wolf tracing macro" ON)
 
 # ============ DEPENDENCIES ==================
-FIND_PACKAGE(wolfcore REQUIRED)
-FIND_PACKAGE(OpenCV REQUIRED 
+FIND_PACKAGE(wolfcore REQUIRED CONFIG)
+FIND_PACKAGE(OpenCV REQUIRED CONFIG
   COMPONENTS core imgcodecs highgui features2d calib3d video
 )
 IF(OpenCV_FOUND)
@@ -269,7 +269,7 @@ INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
 
 export(PACKAGE ${PLUGIN_NAME})
 
-FIND_PACKAGE(Doxygen)
+FIND_PACKAGE(Doxygen MODULE)
 
 FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
 IF (IRI_DOC_DIR)
-- 
GitLab


From 8eb91c6b5d4a432ce66550ca59fbf3ef76ce315a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Mon, 16 May 2022 13:31:41 +0200
Subject: [PATCH 10/12] [skip ci] print variables

---
 .gitlab-ci.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 950e7bf0..7e0b7129 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -5,6 +5,7 @@ stages:
 ############ YAML ANCHORS ############
 .print_variables_template: &print_variables_definition
   # Print variables
+  - echo $WOLF_CORE_BRANCH
   - echo $CI_COMMIT_BRANCH
   - echo $WOLF_VISION_BRANCH
 
-- 
GitLab


From 071f18087d759c0f55d31d7ad3ae179c16e6e4b5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 17 May 2022 14:17:50 +0200
Subject: [PATCH 11/12] disabling gtest pthreads in cmake<3.11

---
 test/CMakeLists.txt       |  7 +++++++
 test/gtest/CMakeLists.txt | 18 ++++++++----------
 2 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 7e2209c5..7beb4a96 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,6 +1,13 @@
 # Retrieve googletest from github & compile
 add_subdirectory(gtest)
 
+############# USE THIS TEST AS AN EXAMPLE #################
+#                                                         #
+# Create a specific test executable for gtest_example     #
+# wolf_add_gtest(gtest_example gtest_example.cpp)         #
+#                                                         #
+###########################################################
+
 wolf_add_gtest(gtest_pinhole gtest_pinhole.cpp)
 
 wolf_add_gtest(gtest_capture_image gtest_capture_image.cpp)
diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
index 0fe7d7a0..d7b68ba0 100644
--- a/test/gtest/CMakeLists.txt
+++ b/test/gtest/CMakeLists.txt
@@ -5,15 +5,7 @@ if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
   include(ExternalProject)
 
   set(GTEST_FORCE_SHARED_CRT ON)
-  set(GTEST_DISABLE_PTHREADS OFF)
-
-  # For some reason I need to disable PTHREADS
-  # with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
-  # This is a known issue for MinGW :
-  # https://github.com/google/shaderc/pull/174
-  #if(MINGW)
-  #    set(GTEST_DISABLE_PTHREADS ON)
-  #endif()
+  set(GTEST_DISABLE_PTHREADS ON) # without this in ubuntu 18.04 we get linking errors
 
   # Download GoogleTest
   ExternalProject_Add(googletest
@@ -63,7 +55,13 @@ else()
     GIT_REPOSITORY https://github.com/google/googletest.git 
     GIT_TAG main)
 
-  FetchContent_MakeAvailable(googletest)
+  #FetchContent_MakeAvailable(googletest)
+  # Disable installation of googletest: https://stackoverflow.com/questions/65527126/disable-install-for-fetchcontent
+  FetchContent_GetProperties(googletest)
+  if(NOT googletest_POPULATED)
+    FetchContent_Populate(googletest)
+    add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR} EXCLUDE_FROM_ALL)
+  endif()
     
 endif()
   
-- 
GitLab


From 3a5f9101038f1aa6b17ac2641860abd0cadde143 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 17 May 2022 15:51:37 +0200
Subject: [PATCH 12/12] simpler way of disabling gtest installation

---
 test/gtest/CMakeLists.txt | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
index d7b68ba0..2cae2569 100644
--- a/test/gtest/CMakeLists.txt
+++ b/test/gtest/CMakeLists.txt
@@ -55,13 +55,8 @@ else()
     GIT_REPOSITORY https://github.com/google/googletest.git 
     GIT_TAG main)
 
-  #FetchContent_MakeAvailable(googletest)
-  # Disable installation of googletest: https://stackoverflow.com/questions/65527126/disable-install-for-fetchcontent
-  FetchContent_GetProperties(googletest)
-  if(NOT googletest_POPULATED)
-    FetchContent_Populate(googletest)
-    add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR} EXCLUDE_FROM_ALL)
-  endif()
+  SET(INSTALL_GTEST OFF) # Disable installation of googletest
+  FetchContent_MakeAvailable(googletest)
     
 endif()
   
-- 
GitLab