mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-08 12:30:20 +08:00
updated FindOpenCV.cmake
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@305 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
+19
-220
@@ -47,244 +47,41 @@
|
||||
#
|
||||
#----------------------------------------------------------
|
||||
|
||||
# typical root dirs of installations, exactly one of them is used
|
||||
SET (OpenCV_POSSIBLE_ROOT_DIRS
|
||||
"$ENV{OpenCV_DIR}"
|
||||
/usr/local
|
||||
/usr/opt
|
||||
/usr
|
||||
)
|
||||
SET(OpenCV_DIR "$ENV{OpenCV_DIR}")
|
||||
|
||||
# Add ROS OpenCV directory if ROS is installed
|
||||
FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)
|
||||
IF(ROSPACK_EXEC)
|
||||
MESSAGE(STATUS "Found rospack executable : ${ROSPACK_EXEC}")
|
||||
if(NOT OpenCV_DIR)
|
||||
# Add ROS OpenCV directory if ROS is installed
|
||||
FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)
|
||||
IF(ROSPACK_EXEC)
|
||||
#MESSAGE(STATUS "Found rospack executable : ${ROSPACK_EXEC}")
|
||||
EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find opencv2
|
||||
OUTPUT_VARIABLE OPENCV_ROS_PATH
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
WORKING_DIRECTORY "./"
|
||||
)
|
||||
IF(OPENCV_ROS_PATH)
|
||||
MESSAGE(STATUS "Found OpenCV ROS pkg : ${OPENCV_ROS_PATH}")
|
||||
SET(OpenCV_POSSIBLE_ROOT_DIRS
|
||||
${OPENCV_ROS_PATH}/opencv
|
||||
${OpenCV_POSSIBLE_ROOT_DIRS}
|
||||
)
|
||||
#MESSAGE(STATUS "Found OpenCV ROS pkg : ${OPENCV_ROS_PATH}")
|
||||
SET(OpenCV_DIR ${OPENCV_ROS_PATH}/opencv/share/opencv)
|
||||
ENDIF(OPENCV_ROS_PATH)
|
||||
ENDIF(ROSPACK_EXEC)
|
||||
|
||||
find_path(OpenCV_DIR "OpenCVConfig.cmake" HINTS ${OpenCV_POSSIBLE_ROOT_DIRS} DOC "Root directory of OpenCV")
|
||||
if(NOT EXISTS "${OpenCV_DIR}")
|
||||
if(NOT WIN32)
|
||||
find_path(OpenCV_DIR "share/opencv/OpenCVConfig.cmake" HINTS ${OpenCV_POSSIBLE_ROOT_DIRS} DOC "Root directory of OpenCV")
|
||||
if(NOT OpenCV_DIR)
|
||||
include(FindPkgConfig)
|
||||
if(PKG_CONFIG_FOUND)
|
||||
pkg_check_modules(OPENCV_PKGCONF opencv)
|
||||
set(OpenCV_DIR ${OPENCV_PKGCONF_PREFIX})
|
||||
endif(PKG_CONFIG_FOUND)
|
||||
endif(NOT OpenCV_DIR)
|
||||
else()
|
||||
set(OpenCV_DIR "$ENV{OpenCV_DIR}")
|
||||
endif ()
|
||||
endif(NOT EXISTS "${OpenCV_DIR}")
|
||||
ENDIF(ROSPACK_EXEC)
|
||||
endif(NOT OpenCV_DIR)
|
||||
|
||||
##====================================================
|
||||
## Find OpenCV libraries
|
||||
##----------------------------------------------------
|
||||
if(EXISTS "${OpenCV_DIR}")
|
||||
|
||||
set(OpenCV_configScript "${OpenCV_DIR}/OpenCVConfig.cmake")
|
||||
if(NOT EXISTS "${OpenCV_configScript}")
|
||||
set(OpenCV_configScript "${OpenCV_DIR}/share/opencv/OpenCVConfig.cmake")
|
||||
endif(NOT EXISTS "${OpenCV_configScript}")
|
||||
|
||||
|
||||
#When its possible to use the Config script use it.
|
||||
if(EXISTS "${OpenCV_configScript}")
|
||||
|
||||
MESSAGE(STATUS "OpenCV: using configuration file ${OpenCV_configScript}")
|
||||
|
||||
## Include the standard CMake script
|
||||
include("${OpenCV_configScript}")
|
||||
include("${OpenCV_DIR}/OpenCVConfig.cmake")
|
||||
|
||||
## Search for a specific version
|
||||
if(WIN32 OR NOT PKG_CONFIG_FOUND)
|
||||
set(CVLIB_SUFFIX "${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}")
|
||||
endif(WIN32 OR NOT PKG_CONFIG_FOUND)
|
||||
|
||||
##Boris:TODO: check for correct OpenCV version in pkg-config case !!!
|
||||
|
||||
|
||||
#Otherwise it try to guess it.
|
||||
else(EXISTS "${OpenCV_configScript}")
|
||||
|
||||
|
||||
find_path(OpenCV_INCLUDE_DIR "cv.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "")
|
||||
if(EXISTS ${OpenCV_INCLUDE_DIR})
|
||||
include_directories(${OpenCV_INCLUDE_DIR})
|
||||
endif(EXISTS ${OpenCV_INCLUDE_DIR})
|
||||
|
||||
if(NOT EXISTS ${VERSION_FILE_DIR}) #may alreay be in cache
|
||||
|
||||
#Find OpenCV version by looking at cvver.h or core/version.hpp
|
||||
find_path(VERSION_FILE_DIR "version.hpp" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" "include/opencv2" "include/opencv2/core" DOC "")
|
||||
if(NOT EXISTS ${VERSION_FILE_DIR})
|
||||
find_path(VERSION_FILE_DIR "cvver.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "")
|
||||
if(NOT EXISTS ${VERSION_FILE_DIR})
|
||||
message(FATAL_ERROR "OpenCV version file not found")
|
||||
else(NOT EXISTS ${VERSION_FILE_DIR})
|
||||
set(VERSION_FILE ${VERSION_FILE_DIR}/cvver.h)
|
||||
endif(NOT EXISTS ${VERSION_FILE_DIR})
|
||||
|
||||
else(NOT EXISTS ${VERSION_FILE_DIR})
|
||||
set(VERSION_FILE ${VERSION_FILE_DIR}/version.hpp)
|
||||
|
||||
endif(NOT EXISTS ${VERSION_FILE_DIR})
|
||||
|
||||
#file(STRINGS ${OpenCV_INCLUDE_DIR}/cvver.h OpenCV_VERSIONS_TMP REGEX "^#define CV_[A-Z]+_VERSION[ \t]+[0-9]+$")
|
||||
file(STRINGS ${VERSION_FILE} OpenCV_VERSIONS_TMP REGEX "^#define CV_[A-Z]+_VERSION[ \t]+[0-9]+$")
|
||||
|
||||
string(REGEX REPLACE ".*#define CV_MAJOR_VERSION[ \t]+([0-9]+).*" "\\1" OpenCV_VERSION_MAJOR ${OpenCV_VERSIONS_TMP})
|
||||
string(REGEX REPLACE ".*#define CV_MINOR_VERSION[ \t]+([0-9]+).*" "\\1" OpenCV_VERSION_MINOR ${OpenCV_VERSIONS_TMP})
|
||||
string(REGEX REPLACE ".*#define CV_SUBMINOR_VERSION[ \t]+([0-9]+).*" "\\1" OpenCV_VERSION_PATCH ${OpenCV_VERSIONS_TMP})
|
||||
set(OpenCV_VERSION ${OpenCV_VERSION_MAJOR}.${OpenCV_VERSION_MINOR}.${OpenCV_VERSION_PATCH} CACHE STRING "" FORCE)
|
||||
|
||||
if(WIN32 OR NOT PKG_CONFIG_FOUND)
|
||||
set(CVLIB_SUFFIX "${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}")
|
||||
endif(WIN32 OR NOT PKG_CONFIG_FOUND)
|
||||
|
||||
##Boris:TODO: check for correct OpenCV version in pklg-config case !!!
|
||||
|
||||
|
||||
endif(NOT EXISTS ${VERSION_FILE_DIR})
|
||||
|
||||
if(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
|
||||
set(OPENCV_LIB_COMPONENTS calib3d contrib core features2d ffmpeg flann gpu highgui imgproc legacy ml objdetect ts video)
|
||||
|
||||
#Add parent directory of ${OpenCV_INCLUDE_DIR} to ${OpenCV_INCLUDE_DIR} itself
|
||||
#to be able to do both
|
||||
#include <cv.h> and #include <opencv2/core/core.hpp>
|
||||
get_filename_component(PARENT_DIR ${OpenCV_INCLUDE_DIR} PATH)
|
||||
set(OpenCV_INCLUDE_DIR "${OpenCV_INCLUDE_DIR};${PARENT_DIR}")
|
||||
|
||||
else(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
|
||||
set(OPENCV_LIB_COMPONENTS cxcore cv ml highgui cvaux)
|
||||
endif(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
|
||||
|
||||
endif(EXISTS "${OpenCV_configScript}")
|
||||
|
||||
|
||||
if(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
|
||||
|
||||
set(CVLIB_SUFFIX ".${OpenCV_VERSION}")
|
||||
if(WIN32 OR NOT PKG_CONFIG_FOUND)
|
||||
set(CVLIB_SUFFIX "${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}")
|
||||
endif(WIN32 OR NOT PKG_CONFIG_FOUND)
|
||||
|
||||
## Initiate the variable before the loop
|
||||
set(OpenCV_LIBS "")
|
||||
set(OpenCV_FOUND_TMP true)
|
||||
|
||||
## Loop over each components
|
||||
foreach(__CVLIB ${OPENCV_LIB_COMPONENTS})
|
||||
|
||||
find_library(OpenCV_${__CVLIB}_LIBRARY_DEBUG NAMES "${__CVLIB}${CVLIB_SUFFIX}d" "lib${__CVLIB}${CVLIB_SUFFIX}d" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
|
||||
find_library(OpenCV_${__CVLIB}_LIBRARY_RELEASE NAMES "${__CVLIB}${CVLIB_SUFFIX}" "lib${__CVLIB}${CVLIB_SUFFIX}" "opencv_${__CVLIB}${CVLIB_SUFFIX}" "opencv_${__CVLIB}" "${__CVLIB}" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
|
||||
|
||||
#On MacOSX libraries are named: libopencv_${__CVLIB}${CVLIB_SUFFIX}.dylib
|
||||
#On Linux libraries are named: libopencv_${__CVLIB}.so${CVLIB_SUFFIX}
|
||||
# but with pkg-config ${OPENCV_LIB_COMPONENTS} are already prefixed with opencv_ ?
|
||||
|
||||
#we add: "opencv_${__CVLIB}${CVLIB_SUFFIX}" for MacOSX
|
||||
#we add: "${__CVLIB}" for linux (but version is not checked !)
|
||||
|
||||
|
||||
#Remove the cache value
|
||||
set(OpenCV_${__CVLIB}_LIBRARY "" CACHE STRING "" FORCE)
|
||||
|
||||
#both debug/release
|
||||
if(OpenCV_${__CVLIB}_LIBRARY_DEBUG AND OpenCV_${__CVLIB}_LIBRARY_RELEASE)
|
||||
set(OpenCV_${__CVLIB}_LIBRARY debug ${OpenCV_${__CVLIB}_LIBRARY_DEBUG} optimized ${OpenCV_${__CVLIB}_LIBRARY_RELEASE} CACHE STRING "" FORCE)
|
||||
|
||||
#only debug
|
||||
elseif(OpenCV_${__CVLIB}_LIBRARY_DEBUG)
|
||||
set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_DEBUG} CACHE STRING "" FORCE)
|
||||
|
||||
#only release
|
||||
elseif(OpenCV_${__CVLIB}_LIBRARY_RELEASE)
|
||||
set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_RELEASE} CACHE STRING "" FORCE)
|
||||
|
||||
#no library found
|
||||
else()
|
||||
set(OpenCV_FOUND_TMP false)
|
||||
|
||||
endif()
|
||||
|
||||
|
||||
#Add to the general list
|
||||
if(OpenCV_${__CVLIB}_LIBRARY)
|
||||
set(OpenCV_LIBS ${OpenCV_LIBS} ${OpenCV_${__CVLIB}_LIBRARY})
|
||||
endif(OpenCV_${__CVLIB}_LIBRARY)
|
||||
|
||||
endforeach(__CVLIB)
|
||||
|
||||
|
||||
set(OpenCV_FOUND ${OpenCV_FOUND_TMP} CACHE BOOL "" FORCE)
|
||||
|
||||
|
||||
else(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
|
||||
|
||||
|
||||
## Initiate the variable before the loop
|
||||
set(OpenCV_LIBS "")
|
||||
set(OpenCV_FOUND_TMP true)
|
||||
|
||||
## Loop over each components
|
||||
foreach(__CVLIB ${OPENCV_LIB_COMPONENTS})
|
||||
|
||||
find_library(OpenCV_${__CVLIB}_LIBRARY_DEBUG NAMES "${__CVLIB}${CVLIB_SUFFIX}d" "lib${__CVLIB}${CVLIB_SUFFIX}d" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
|
||||
find_library(OpenCV_${__CVLIB}_LIBRARY_RELEASE NAMES "${__CVLIB}${CVLIB_SUFFIX}" "lib${__CVLIB}${CVLIB_SUFFIX}" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
|
||||
|
||||
|
||||
|
||||
#Remove the cache value
|
||||
set(OpenCV_${__CVLIB}_LIBRARY "" CACHE STRING "" FORCE)
|
||||
|
||||
#both debug/release
|
||||
if(OpenCV_${__CVLIB}_LIBRARY_DEBUG AND OpenCV_${__CVLIB}_LIBRARY_RELEASE)
|
||||
set(OpenCV_${__CVLIB}_LIBRARY debug ${OpenCV_${__CVLIB}_LIBRARY_DEBUG} optimized ${OpenCV_${__CVLIB}_LIBRARY_RELEASE} CACHE STRING "" FORCE)
|
||||
|
||||
#only debug
|
||||
elseif(OpenCV_${__CVLIB}_LIBRARY_DEBUG)
|
||||
set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_DEBUG} CACHE STRING "" FORCE)
|
||||
|
||||
#only release
|
||||
elseif(OpenCV_${__CVLIB}_LIBRARY_RELEASE)
|
||||
set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_RELEASE} CACHE STRING "" FORCE)
|
||||
|
||||
#no library found
|
||||
else()
|
||||
set(OpenCV_FOUND_TMP false)
|
||||
|
||||
endif()
|
||||
|
||||
#Add to the general list
|
||||
if(OpenCV_${__CVLIB}_LIBRARY)
|
||||
set(OpenCV_LIBS ${OpenCV_LIBS} ${OpenCV_${__CVLIB}_LIBRARY})
|
||||
endif(OpenCV_${__CVLIB}_LIBRARY)
|
||||
|
||||
|
||||
endforeach(__CVLIB)
|
||||
|
||||
|
||||
set(OpenCV_FOUND ${OpenCV_FOUND_TMP} CACHE BOOL "" FORCE)
|
||||
|
||||
endif(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
|
||||
|
||||
if(OpenCV_INCLUDE_DIRS AND OpenCV_LIBS)
|
||||
set(OpenCV_FOUND true)
|
||||
endif(OpenCV_INCLUDE_DIRS AND OpenCV_LIBS)
|
||||
|
||||
else(EXISTS "${OpenCV_DIR}")
|
||||
set(ERR_MSG "Please specify OpenCV directory using OpenCV_DIR env. variable")
|
||||
set(ERR_MSG "Please specify OpenCV directory using OpenCV_DIR env. variable (the folder containing OpenCVConfig.cmake)")
|
||||
endif(EXISTS "${OpenCV_DIR}")
|
||||
##====================================================
|
||||
|
||||
@@ -302,17 +99,19 @@ if(NOT OpenCV_FOUND)
|
||||
endif(NOT OpenCV_FIND_QUIETLY)
|
||||
else()
|
||||
if(NOT OpenCV_FIND_QUIETLY)
|
||||
message(STATUS "Found OpenCV ${OpenCV_VERSION}")
|
||||
message(STATUS "Found OpenCV ${OpenCV_VERSION} : ${OpenCV_DIR}")
|
||||
endif(NOT OpenCV_FIND_QUIETLY)
|
||||
endif()
|
||||
##====================================================
|
||||
|
||||
|
||||
##====================================================
|
||||
## Backward compatibility
|
||||
## Backward compatibility ${OpenCV_POSSIBLE_ROOT_DIRS}
|
||||
|
||||
##----------------------------------------------------
|
||||
if(OpenCV_FOUND)
|
||||
set(OpenCV_INCLUDE_DIRS "${OpenCV_INCLUDE_DIR}")
|
||||
set(OpenCV_LIBRARIES "${OpenCV_LIBS}")
|
||||
#option(OpenCV_BACKWARD_COMPA "Add some variable to make this script compatible with the other version of FindOpenCV.cmake" false)
|
||||
#if(OpenCV_BACKWARD_COMPA)
|
||||
# find_path(OpenCV_INCLUDE_DIRS "cv.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "Include directory")
|
||||
|
||||
Reference in New Issue
Block a user