make g2o optional for building

wg-perception · Jan 17, 2013 · 4984189 · 4984189
1 parent bfdf116
commit 4984189
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Showing 4 changed files with 21 additions and 24 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8)
 project(opencv_candidate)
 
 find_package(catkin REQUIRED)
-find_package(libg2o)
+find_package(libg2o QUIET)
 find_package(OpenCV)
 find_library(DEPTH_SENSE_LIBRARIES DepthSense /opt/DepthSenseSDK/lib)
 
@@ -13,13 +13,17 @@ else()
 endif()
 
 if (${catkin_VERSION} VERSION_GREATER "0.5.28")
+if (libg2o_FOUND)
+  set(EXTRA_DEPENDS libg2o)
+  set(EXTRA_LIBRARIES opencv_candidate_reconst3d)
+endif()
 catkin_package(CFG_EXTRAS depends.cmake
-               DEPENDS OpenCV libg2o
+               DEPENDS OpenCV ${EXTRA_DEPENDS}
                INCLUDE_DIRS include
                LIBRARIES opencv_candidate
                          ${OPENCV_CREATIVE}
                          opencv_rgbd
-                         opencv_candidate_reconst3d
+                         ${opencv_candidate_reconst3d}
 )
 else()
 catkin_stack()

diff --git a/src/reconst3d/CMakeLists.txt b/src/reconst3d/CMakeLists.txt
@@ -1,3 +1,9 @@
+find_package(libg2o QUIET)
+
+if (NOT libg2o_FOUND)
+return()
+endif()
+
 find_package(OpenCV REQUIRED)
 
 # Model capture stuff
@@ -25,3 +31,11 @@ target_link_libraries(opencv_candidate_reconst3d ${catkin_LIBRARIES}
                                                  cxsparse
 )
 set_target_properties(opencv_candidate_reconst3d PROPERTIES COMPILE_FLAGS "-fopenmp" LINK_FLAGS "-fopenmp")
+
+# add model capture sample
+add_executable(model_capture samples/model_capture.cpp)
+target_link_libraries(model_capture ${OpenCV_LIBRARIES}
+                                    opencv_rgbd
+                                    opencv_candidate_reconst3d
+)
+set_target_properties(model_capture PROPERTIES COMPILE_FLAGS "-fopenmp" LINK_FLAGS "-fopenmp")
diff --git a/src/rgbd/samples/model_capture.cpp → src/reconst3d/samples/model_capture.cpp b/src/rgbd/samples/model_capture.cpp → src/reconst3d/samples/model_capture.cpp
diff --git a/src/rgbd/CMakeLists.txt b/src/rgbd/CMakeLists.txt
@@ -45,24 +45,3 @@ target_link_libraries(rgbd_tests ${OpenCV_LIBRARIES}
 )
 
 add_test(rgbd_tests rgbd_tests)
-
-# Model capture stuff
-find_package(PCL REQUIRED COMPONENTS io filters visualization features segmentation surface)
-include_directories(SYSTEM ${PCL_INCLUDE_DIRS}
-                           /usr/include/suitesparse
-)
-
-# Find Eigen3
-FIND_PACKAGE(Eigen)
-find_package(libg2o)
-
-include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
-
-# add model capture sample
-include_directories(${reconst3d_dir}/include)
-add_executable(model_capture samples/model_capture.cpp)
-target_link_libraries(model_capture ${OpenCV_LIBRARIES}
-                                    opencv_rgbd
-                                    opencv_candidate_reconst3d
-)
-set_target_properties(model_capture PROPERTIES COMPILE_FLAGS "-fopenmp" LINK_FLAGS "-fopenmp")