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unified opencv components at the same place

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matlabbe
2026-07-09 04:29:13 +00:00
parent 206d1dc0e4
commit 3002d4f345
1 changed files with 13 additions and 9 deletions
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CMakeLists.txt
+13 -9
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@@ -241,11 +241,17 @@ option(BUILD_WITH_RPATH_NOT_RUNPATH "Explicitly disable usage of RUNPATH for the
set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)
# Try OpenCV 5 first (calib3d was split into "calib" + "geometry" modules in OpenCV 5)
FIND_PACKAGE(OpenCV 5 QUIET COMPONENTS core calib imgproc highgui stitching photo video videoio geometry OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc)
# OpenCV components. calib3d was split into "calib" + "geometry" in OpenCV 5.
# These lists are reused below to generate RTABMapConfig.cmake so downstream
# find_package(RTABMap) requests the same components this build used.
SET(RTABMAP_OpenCV_COMPONENTS_5 core imgproc highgui stitching photo video videoio calib geometry)
SET(RTABMAP_OpenCV_COMPONENTS_4 core imgproc highgui stitching photo video videoio calib3d)
SET(RTABMAP_OpenCV_OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc)
# Try OpenCV 5 first, fall back to OpenCV < 5.
FIND_PACKAGE(OpenCV 5 QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_5} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS})
IF(NOT OpenCV_FOUND)
# Fall back to OpenCV < 5 (calib3d module)
FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d cudaoptflow cudaimgproc)
FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4} OPTIONAL_COMPONENTS ${RTABMAP_OpenCV_OPTIONAL_COMPONENTS})
ENDIF()
IF(WITH_QT)
@@ -1325,14 +1331,12 @@ install(EXPORT rtabmapTargets
####
# Setup RTABMapConfig.cmake
####
# OpenCV split calib3d into "calib"+"geometry" in version 5; record the
# components this build used so downstream find_package(RTABMap) requests a
# matching set for the same OpenCV major version.
IF(OpenCV_VERSION_MAJOR GREATER 4)
SET(CONF_OPENCV_COMPONENTS "core calib imgproc highgui stitching photo video geometry")
SET(CONF_OPENCV_COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_5})
ELSE()
SET(CONF_OPENCV_COMPONENTS "core calib3d imgproc highgui stitching photo video")
SET(CONF_OPENCV_COMPONENTS ${RTABMAP_OpenCV_COMPONENTS_4})
ENDIF()
STRING(REPLACE ";" " " CONF_OPENCV_COMPONENTS "${CONF_OPENCV_COMPONENTS}")
include(CMakePackageConfigHelpers)
write_basic_package_version_file(
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"