If OpenCV nonfree module is not found, RTAB-Map will still build but with disabled SURF/SIFT options. Default BOW dictionary will be ORB in this case.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2071 f169173b-cf89-36c8-b27e-44dbe73f0c83

CMakeLists.txt

@@ -28,8 +28,6 @@ SET(PROJECT_VERSION_PATCH ${RTABMAP_PATCH_VERSION})
 
 SET(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
 
-CONFIGURE_FILE(Version.h.in ${PROJECT_SOURCE_DIR}/corelib/include/${PROJECT_PREFIX}/core/Version.h)
-
 ####### COMPILATION PARAMS #######
 # In case of Makefiles if the user does not setup CMAKE_BUILD_TYPE, assume it's Release:
 IF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
@@ -132,7 +130,13 @@ IF(APPLE)
 ENDIF(APPLE)
 
 ####### DEPENDENCIES #######
-FIND_PACKAGE(OpenCV REQUIRED core highgui flann features2d calib3d imgproc nonfree gpu)
+FIND_PACKAGE(OpenCV REQUIRED)
+IF(OPENCV_NONFREE_FOUND)
+  ADD_DEFINITIONS(-DWITH_NONFREE)
+  SET(NONFREE 1)
+ELSE()
+  SET(NONFREE 0)
+ENDIF()
 FIND_PACKAGE(PCL 1.7 REQUIRED)
 FIND_PACKAGE(VTK REQUIRED)
 IF("${VTK_MAJOR_VERSION}" EQUAL 5)
@@ -174,6 +178,8 @@ ENDIF(APPLE AND BUILD_AS_BUNDLE)
 
 
 ####### SOURCES (Projects) #######
+CONFIGURE_FILE(Version.h.in ${PROJECT_SOURCE_DIR}/corelib/include/${PROJECT_PREFIX}/core/Version.h)
+
 ADD_SUBDIRECTORY( utilite )
 ADD_SUBDIRECTORY( corelib )
 
@@ -321,6 +327,12 @@ IF(APPLE)
 MESSAGE(STATUS "  BUILD_AS_BUNDLE = ${BUILD_AS_BUNDLE}")
 ENDIF(APPLE)
 
+IF(OPENCV_NONFREE_FOUND)
+MESSAGE(STATUS "  With OpenCV nonfree module (SIFT/SURF) = YES")
+ELSE()
+MESSAGE(STATUS "  With OpenCV nonfree module (SIFT/SURF) = NO (not found)")
+ENDIF()
+
 IF(Freenect_FOUND)
 MESSAGE(STATUS "  With Freenect = YES")
 ELSE()