From aaa409602452f1e4e9cb5a8a2a28b531cb6efcfd Mon Sep 17 00:00:00 2001
From: Jeremie Deray <todo@stuff.com>
Date: Sat, 15 Jul 2017 11:32:34 +0200
Subject: [PATCH] fix compilation without opencv
---
src/CMakeLists.txt | 12 ++++++++----
src/ceres_wrapper/create_auto_diff_cost_function.cpp | 10 +++++++---
src/examples/CMakeLists.txt | 6 ++++--
src/test/CMakeLists.txt | 7 ++++---
4 files changed, 23 insertions(+), 12 deletions(-)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 4bebb8f68..0ddae8bea 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -199,7 +199,6 @@ SET(HDRS
constraint_container.h
constraint_corner_2D.h
constraint_epipolar.h
- constraint_AHP.h
constraint_imu.h
constraint_fix.h
constraint_fix_3D.h
@@ -222,7 +221,6 @@ SET(HDRS
frame_imu.h
landmark_corner_2D.h
landmark_container.h
- landmark_point_3d.h
landmark_line_2D.h
landmark_polyline_2D.h
local_parametrization_polyline_extreme.h
@@ -291,7 +289,6 @@ SET(SRCS
frame_imu.cpp
landmark_corner_2D.cpp
landmark_container.cpp
- landmark_point_3d.cpp
landmark_line_2D.cpp
landmark_polyline_2D.cpp
local_parametrization_polyline_extreme.cpp
@@ -373,8 +370,10 @@ IF (OpenCV_FOUND)
SET(HDRS ${HDRS}
active_search.h
capture_image.h
+ constraint_AHP.h
feature_point_image.h
landmark_AHP.h
+ landmark_point_3d.h
processor_image_feature.h
processor_image_landmark.h
)
@@ -383,6 +382,7 @@ IF (OpenCV_FOUND)
capture_image.cpp
feature_point_image.cpp
landmark_AHP.cpp
+ landmark_point_3d.cpp
processor_image_feature.cpp
processor_image_landmark.cpp
)
@@ -401,7 +401,6 @@ IF(YAMLCPP_FOUND)
# sources
SET(SRCS ${SRCS}
- yaml/processor_image_yaml.cpp
yaml/processor_odom_3D_yaml.cpp
yaml/sensor_camera_yaml.cpp
yaml/sensor_odom_3D_yaml.cpp
@@ -411,6 +410,11 @@ IF(YAMLCPP_FOUND)
yaml/sensor_laser_2D_yaml.cpp
)
ENDIF(laser_scan_utils_FOUND)
+ IF(OpenCV_FOUND)
+ SET(SRCS ${SRCS}
+ yaml/processor_image_yaml.cpp
+ )
+ ENDIF(OpenCV_FOUND)
ENDIF(YAMLCPP_FOUND)
# create the shared library
diff --git a/src/ceres_wrapper/create_auto_diff_cost_function.cpp b/src/ceres_wrapper/create_auto_diff_cost_function.cpp
index 545f03166..4c93aae48 100644
--- a/src/ceres_wrapper/create_auto_diff_cost_function.cpp
+++ b/src/ceres_wrapper/create_auto_diff_cost_function.cpp
@@ -20,7 +20,11 @@
#include "../constraint_point_2D.h"
#include "../constraint_point_to_line_2D.h"
#include "../constraint_container.h"
-#include "../constraint_AHP.h"
+
+#ifdef CV_VERSION
+ #include "../constraint_AHP.h"
+#endif
+
#include "../constraint_imu.h"
// Wolf and ceres auto_diff creators
@@ -98,7 +102,7 @@ ceres::CostFunction* createAutoDiffCostFunction(ConstraintBasePtr _ctr_ptr, bool
return createAutoDiffCostFunctionWrapper<ConstraintPointToLine2D>(_ctr_ptr);
else
return createAutoDiffCostFunctionCeres<ConstraintPointToLine2D>(_ctr_ptr);
-
+#ifdef CV_VERSION
case CTR_EPIPOLAR:
if (_use_wolf_autodiff)
return createAutoDiffCostFunctionWrapper<ConstraintAHP>(_ctr_ptr);
@@ -110,7 +114,7 @@ ceres::CostFunction* createAutoDiffCostFunction(ConstraintBasePtr _ctr_ptr, bool
return createAutoDiffCostFunctionWrapper<ConstraintAHP>(_ctr_ptr);
else
return createAutoDiffCostFunctionCeres<ConstraintAHP>(_ctr_ptr);
-
+#endif
case CTR_IMU:
if (_use_wolf_autodiff)
return createAutoDiffCostFunctionWrapper<ConstraintIMU>(_ctr_ptr);
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index f898a9d3b..3aadcc853 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -137,8 +137,10 @@ ENDIF(OpenCV_FOUND)
IF(Ceres_FOUND)
# Simple AHP test
- ADD_EXECUTABLE(test_simple_AHP test_simple_AHP.cpp)
- TARGET_LINK_LIBRARIES(test_simple_AHP ${PROJECT_NAME})
+ IF(OpenCV_FOUND)
+ ADD_EXECUTABLE(test_simple_AHP test_simple_AHP.cpp)
+ TARGET_LINK_LIBRARIES(test_simple_AHP ${PROJECT_NAME})
+ ENDIF(OpenCV_FOUND)
ENDIF(Ceres_FOUND)
# Processor Tracker Feature test
diff --git a/src/test/CMakeLists.txt b/src/test/CMakeLists.txt
index 895990fb0..7680d9f62 100644
--- a/src/test/CMakeLists.txt
+++ b/src/test/CMakeLists.txt
@@ -111,6 +111,7 @@ wolf_add_gtest(gtest_odom_3D gtest_odom_3D.cpp)
target_link_libraries(gtest_odom_3D ${PROJECT_NAME})
# ROI test
-wolf_add_gtest(gtest_roi_ORB gtest_roi_ORB.cpp)
-target_link_libraries(gtest_roi_ORB ${PROJECT_NAME})
-
+IF(OpenCV_FOUND)
+ wolf_add_gtest(gtest_roi_ORB gtest_roi_ORB.cpp)
+ target_link_libraries(gtest_roi_ORB ${PROJECT_NAME})
+ENDIF(OpenCV_FOUND)
--
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