Make OpenCV dependency optional

jhu-saw · Jul 19, 2024 · 44b81dd · 44b81dd
1 parent 344ba11
commit 44b81dd
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Showing 3 changed files with 41 additions and 14 deletions.
diff --git a/core/components/CMakeLists.txt b/core/components/CMakeLists.txt
@@ -48,8 +48,6 @@ if (cisst_FOUND_AS_REQUIRED)
     endif ()
   endif ()
 
-  find_package(OpenCV REQUIRED)
-
   # catkin/ROS paths
   cisst_set_output_path ()
 
@@ -88,17 +86,31 @@ if (cisst_FOUND_AS_REQUIRED)
 
     cisst_add_config_files (sawAtracsysFusionTrack)
 
-    add_library (sawAtracsysFusionTrack ${IS_SHARED}
+    set (sawAtracsysFusionTrack_SOURCES
       ${sawAtracsysFusionTrack_HEADER_DIR}/sawAtracsysFusionTrackExport.h
       code/mtsAtracsysFusionTrack.cpp
-      code/mtsAtracsysStereo.cpp
       ${sawAtracsysFusionTrack_HEADER_DIR}/mtsAtracsysFusionTrack.h
-      ${sawAtracsysFusionTrack_HEADER_DIR}/mtsAtracsysStereo.h)
+    )
+
+    find_package(OpenCV)
+    if (OpenCV_FOUND)
+      set (sawAtracsysFusionTrack_SOURCES ${sawAtracsysFusionTrack_SOURCES}
+        code/mtsAtracsysStereo.cpp
+        ${sawAtracsysFusionTrack_HEADER_DIR}/mtsAtracsysStereo.h
+      )
+    endif (OpenCV_FOUND)
+
+    add_library (sawAtracsysFusionTrack ${IS_SHARED} ${sawAtracsysFusionTrack_SOURCES})
     set_target_properties (sawAtracsysFusionTrack PROPERTIES
       VERSION ${sawAtracsysFusionTrack_VERSION}
       FOLDER "sawAtracsysFusionTrack")
     cisst_target_link_libraries (sawAtracsysFusionTrack ${REQUIRED_CISST_LIBRARIES})
     target_link_libraries (sawAtracsysFusionTrack ${AtracsysSDK_LIBRARIES})
+
+    if (OpenCV_FOUND)
+      target_link_libraries (sawAtracsysFusionTrack ${OpenCV_LIBS})
+    endif (OpenCV_FOUND)
+
     target_link_libraries (sawAtracsysFusionTrack ${OpenCV_LIBS})
 
     configure_file (

diff --git a/ros/CMakeLists.txt b/ros/CMakeLists.txt
@@ -70,8 +70,6 @@ if (cisst_FOUND_AS_REQUIRED)
   # sawAtracsysFusionTrack has been compiled within cisst, we should find it automatically
   find_package (sawAtracsysFusionTrack 1.1.0)
 
-  find_package(OpenCV REQUIRED)
-
   if (sawAtracsysFusionTrack_FOUND)
 
     # sawAtracsysFusionTrack configuration
@@ -81,8 +79,14 @@ if (cisst_FOUND_AS_REQUIRED)
     add_executable (atracsys src/atracsys.cpp src/atracsys_bridge.cpp src/atracsys_bridge.h)
     target_link_libraries (atracsys
       ${sawAtracsysFusionTrack_LIBRARIES}
-      ${catkin_LIBRARIES}
-      ${OpenCV_LIBS})
+      ${catkin_LIBRARIES})
+
+    find_package(OpenCV)
+    if (OpenCV_FOUND)
+      target_link_libraries (atracsys ${OpenCV_LIBS})
+    endif (OpenCV_FOUND)
+    target_compile_definitions(atracsys PRIVATE OpenCV_AVAILABLE=${OpenCV_FOUND})
+
     cisst_target_link_libraries (atracsys ${REQUIRED_CISST_LIBRARIES})
 
     install (TARGETS atracsys

diff --git a/ros/src/atracsys.cpp b/ros/src/atracsys.cpp
@@ -23,9 +23,12 @@ no warranty.  The complete license can be found in license.txt and
 #include <cisstMultiTask/mtsTaskManager.h>
 #include <cisstParameterTypes/prmPositionCartesianGetQtWidgetFactory.h>
 #include <sawAtracsysFusionTrack/mtsAtracsysFusionTrack.h>
-#include <sawAtracsysFusionTrack/mtsAtracsysStereo.h>
 #include <sawAtracsysFusionTrack/mtsAtracsysFusionTrackStrayMarkersQtWidget.h>
 
+#if OpenCV_AVAILABLE
+#include <sawAtracsysFusionTrack/mtsAtracsysStereo.h>
+#endif
+
 #include "atracsys_bridge.h"
 
 #include <QApplication>
@@ -39,7 +42,7 @@ int main(int argc, char * argv[])
     cmnLogger::SetMaskFunction(CMN_LOG_ALLOW_ALL);
     cmnLogger::SetMaskDefaultLog(CMN_LOG_ALLOW_ALL);
     cmnLogger::SetMaskClassMatching("mtsAtracsysFusionTrack", CMN_LOG_ALLOW_ALL);
-    cmnLogger::SetMaskClassMatching("mtsAtracsysStereo", CMN_LOG_ALLOW_ALL);
+    cmnLogger::SetMaskClassMatching("mtsAtracsysSteasdsreo", CMN_LOG_ALLOW_ALL);
     cmnLogger::AddChannel(std::cerr, CMN_LOG_ALLOW_ERRORS_AND_WARNINGS);
 
     // create ROS node handle
@@ -86,22 +89,30 @@ int main(int argc, char * argv[])
         return -1;
     }
 
-    mtsAtracsysStereo * stereo = new mtsAtracsysStereo("stereo", tracker->GetName());
-    stereo->Configure(jsonConfigFile);
-
     // add the components to the component manager
     mtsManagerLocal * componentManager = mtsComponentManager::GetInstance();
     componentManager->AddComponent(tracker);
+
+#if OpenCV_AVAILABLE
+    mtsAtracsysStereo * stereo = new mtsAtracsysStereo("stereo", tracker->GetName());
+    stereo->Configure(jsonConfigFile);
+
     componentManager->AddComponent(stereo);
     componentManager->Connect(tracker->GetName(), "StereoRaw",
                               stereo->GetName(), "StereoRaw");
+#else
+    std::cout << "OpenCV not available, so no stereo processing" << std::endl;
+#endif
 
     // ROS CRTK bridge
     atracsys_bridge * bridge = new atracsys_bridge("atracsys_bridge", rosNode, rosPeriod, tfPeriod);
     componentManager->AddComponent(bridge);
 
     bridge->bridge_controller(tracker->GetName(), "Controller");
+
+#if OpenCV_AVAILABLE
     bridge->bridge_stereo(stereo->GetName(), "stereo", tracker->GetName() + "/stereo");
+#endif
 
     bridge->Connect();