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Support AprilTAg library not built with aruco

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matlabbe
2026-05-14 22:13:30 -07:00
parent 531eee6357
commit 2e00532c7d
7 changed files with 170 additions and 60 deletions
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CMakeLists.txt
+12 -2
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@@ -870,7 +870,14 @@ ENDIF(WITH_FASTCV)
IF(WITH_APRILTAG)
FIND_PACKAGE(apriltag QUIET)
IF(apriltag_FOUND)
MESSAGE(STATUS "Found apriltag")
get_target_property(APRILTAG_LOCATION apriltag::apriltag LOCATION)
get_target_property(APRILTAG_INCLUDES apriltag::apriltag INTERFACE_INCLUDE_DIRECTORIES)
FIND_FILE(apriltag_aruco_4x4_50_header NAMES tagAruco4x4_50.h PATH_SUFFIXES aruco PATHS ${APRILTAG_INCLUDES} NO_DEFAULT_PATH)
SET(WITH_APRILTAG_ARUCO False)
IF(apriltag_aruco_4x4_50_header)
SET(WITH_APRILTAG_ARUCO True)
ENDIF()
MESSAGE(STATUS "Found apriltag (with aruco=${WITH_APRILTAG_ARUCO}): ${APRILTAG_LOCATION} ${APRILTAG_INCLUDES}")
ENDIF(apriltag_FOUND)
ENDIF(WITH_APRILTAG)
@@ -1076,7 +1083,10 @@ IF(NOT FastCV_FOUND)
ENDIF(NOT FastCV_FOUND)
IF(NOT apriltag_FOUND)
SET(APRILTAG "//")
ENDIF(NOT apriltag_FOUND)
SET(APRILTAG_ARUCO "//")
ELSEIF(NOT WITH_APRILTAG_ARUCO)
SET(APRILTAG_ARUCO "//")
ENDIF()
IF(NOT opengv_FOUND OR NOT WITH_OPENGV)
SET(OPENGV "//")
ENDIF(NOT opengv_FOUND OR NOT WITH_OPENGV)