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#############################################################################
#
# ViSP, open source Visual Servoing Platform software.
# Copyright (C) 2005 - 2025 by Inria. All rights reserved.
#
# This software is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
# See the file LICENSE.txt at the root directory of this source
# distribution for additional information about the GNU GPL.
#
# For using ViSP with software that can not be combined with the GNU
# GPL, please contact Inria about acquiring a ViSP Professional
# Edition License.
#
# See https://visp.inria.fr for more information.
#
# This software was developed at:
# Inria Rennes - Bretagne Atlantique
# Campus Universitaire de Beaulieu
# 35042 Rennes Cedex
# France
#
# If you have questions regarding the use of this file, please contact
# Inria at visp@inria.fr
#
# This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
# WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
#
# Description:
# Try to find OpenCV framework.
#
# OpenCV_FOUND
# OpenCV_INCLUDE_DIRS (only for naoqi)
# OpenCV_LIBRARIES
# OpenCV_VERSION_MAJOR
# OpenCV_VERSION_MINOR
# OpenCV_VERSION_PATCH
# OpenCV_VERSION
#
#############################################################################
# Parse FILENAME in order to find the cxx macro DEFINE
# and get its value in VAR.
# Useful to get the value of CV_VERSION_MAJOR, CV_VERSION_MINOR, CV_VERSION_REVISION
macro(vp_get_opencv_version_from_hpp FILENAME DEFINE VAR)
if(EXISTS "${FILENAME}")
file(STRINGS ${FILENAME} __matches REGEX "#define ${DEFINE}")
vp_create_list_from_string(${__matches} __list)
list(LENGTH __list __length)
if(__length EQUAL 3)
list(REVERSE __list)
list(GET __list 0 ${VAR})
else()
message("Warning: OpenCV macro ${DEFINE} not found in ${FILENAME}. The following var ${VAR} is set to 0. This may produce build issues.")
set(${__var} 0)
endif()
else()
message("Warning: Cannot retrieve OpenCV version from non existing file ${FILENAME}. This may produce build issues.")
set(${__var} 0)
endif()
endmacro()
macro(find_package_naoqi module)
set(${module}_FOUND FALSE)
set(${module}_INCLUDE_DIRS "")
set(${module}_LIBRARIES "")
set(${module}_DEPS "")
set(${module}_DEPS_PROCESSED "")
_find_package_naoqi_internal(${module})
# remove allready treated deps
foreach(__d ${${module}_DEPS_PROCESSED})
list(FIND ${module}_DEPS ${__d} __index)
if(NOT __index LESS 0)
list(REMOVE_AT ${module}_DEPS ${__index})
endif()
endforeach()
# hack for ctc-linux??-atom-2.3.1.23 where alsa module required by ffmpeg is not a dependency
string(FIND "${TOOLCHAIN_ROOT_DIR}" "-atom-2.3" __apply_hack)
if(__apply_hack GREATER 0)
list(APPEND ${module}_DEPS ALSA)
endif()
while(${module}_DEPS)
vp_list_pop_front(${module}_DEPS __d)
string(TOUPPER "${__d}" __upper_d)
_find_package_naoqi_internal(${__upper_d})
if(${__upper_d}_FOUND)
if(${__upper_d}_INCLUDE_DIRS)
list(APPEND ${module}_INCLUDE_DIRS "${${__upper_d}_INCLUDE_DIRS}")
endif()
if(${__upper_d}_LIBRARIES)
list(APPEND ${module}_LIBRARIES "${${__upper_d}_LIBRARIES}")
endif()
list(APPEND ${module}_DEPS_PROCESSED ${__upper_d})
if(${__upper_d}_DEPS)
vp_list_unique(${__upper_d}_DEPS)
# add only deps if not already processed
foreach(__new_d ${${__upper_d}_DEPS})
list(FIND ${module}_DEPS_PROCESSED ${__new_d} __index)
if(__index LESS 0)
list(APPEND ${module}_DEPS ${__new_d})
endif()
endforeach()
endif()
vp_list_unique(${module}_DEPS)
endif()
endwhile()
vp_list_unique(${module}_INCLUDE_DIRS)
vp_list_unique(${module}_LIBRARIES)
endmacro()
macro(_find_package_naoqi_internal module)
string(TOLOWER "${module}" __lower_module)
file(GLOB __submodule RELATIVE "${TOOLCHAIN_ROOT_DIR}/${__lower_module}/share/cmake" "${TOOLCHAIN_ROOT_DIR}/${__lower_module}/share/cmake/*")
foreach(__s ${__submodule})
set(${__s}_DIR "${TOOLCHAIN_ROOT_DIR}/${__lower_module}/share/cmake/${__s}")
find_package(${__s})
if(${__s}_FOUND)
set(${module}_FOUND TRUE)
string(TOUPPER "${__s}" __upper_s)
if(${__upper_s}_INCLUDE_DIRS)
list(APPEND ${module}_INCLUDE_DIRS ${${__upper_s}_INCLUDE_DIRS})
endif()
if(${__upper_s}_LIBRARIES)
list(APPEND ${module}_LIBRARIES ${${__upper_s}_LIBRARIES})
endif()
if(${__upper_s}_DEPENDS)
list(APPEND ${module}_DEPS ${${__upper_s}_DEPENDS})
endif()
list(APPEND ${module}_DEPS_PROCESSED ${__upper_s})
endif()
unset(${__s}_DIR)
endforeach()
if(${module}_FOUND)
# check if there are not other libs that are not submodule and append
file(GLOB __libs "${TOOLCHAIN_ROOT_DIR}/${__lower_module}/lib/lib*.so")
foreach(__l ${__libs})
list(FIND ${module}_LIBRARIES ${__l} __index)
if(__index LESS 0)
list(APPEND ${module}_LIBRARIES ${__l})
endif()
endforeach()
vp_list_unique(${lower_submodule}_LIBRARIES)
endif()
endmacro()
if(APPLE_FRAMEWORK)
find_library(OpenCV_FRAMEWORK opencv2)
if(OpenCV_FRAMEWORK)
set(OpenCV_FOUND TRUE)
set(OpenCV_LIBRARIES ${OpenCV_FRAMEWORK})
file(GLOB_RECURSE opencv_version_file "${OpenCV_FRAMEWORK}/Headers/core/version.hpp")
vp_get_opencv_version_from_hpp(${opencv_version_file} "CV_VERSION_MAJOR" OpenCV_VERSION_MAJOR)
vp_get_opencv_version_from_hpp(${opencv_version_file} "CV_VERSION_MINOR" OpenCV_VERSION_MINOR)
vp_get_opencv_version_from_hpp(${opencv_version_file} "CV_VERSION_REVISION" OpenCV_VERSION_PATCH)
set(OpenCV_VERSION "${OpenCV_VERSION_MAJOR}.${OpenCV_VERSION_MINOR}.${OpenCV_VERSION_PATCH}")
else()
set(OpenCV_FOUND FALSE)
endif()
mark_as_advanced(OpenCV_FRAMEWORK)
endif()
# Detect if the toolchain is for Aldebaran naoqi
if(CMAKE_TOOLCHAIN_FILE AND I_AM_A_ROBOT)
find_package_naoqi(OpenCV)
if(OpenCV_FOUND)
file(GLOB_RECURSE opencv_version_file "${TOOLCHAIN_ROOT_DIR}/opencv/include/opencv2/core/version.hpp")
# check if old version like 2.4.5 has CV_VERSION_EPOCH
vp_get_opencv_version_from_hpp(${opencv_version_file} "CV_VERSION_EPOCH" OpenCV_VERSION_MAJOR)
if(OpenCV_VERSION_MAJOR EQUAL 0)
vp_get_opencv_version_from_hpp(${opencv_version_file} "CV_VERSION_MAJOR" OpenCV_VERSION_MAJOR)
vp_get_opencv_version_from_hpp(${opencv_version_file} "CV_VERSION_MINOR" OpenCV_VERSION_MINOR)
vp_get_opencv_version_from_hpp(${opencv_version_file} "CV_VERSION_REVISION" OpenCV_VERSION_PATCH)
else()
vp_get_opencv_version_from_hpp(${opencv_version_file} "CV_VERSION_MAJOR" OpenCV_VERSION_MINOR)
vp_get_opencv_version_from_hpp(${opencv_version_file} "CV_VERSION_MINOR" OpenCV_VERSION_PATCH)
endif()
set(OpenCV_VERSION "${OpenCV_VERSION_MAJOR}.${OpenCV_VERSION_MINOR}.${OpenCV_VERSION_PATCH}")
# check if nonfree module exists
foreach(__l ${OpenCV_LIBRARIES})
string(REGEX MATCH "^.*opencv_nonfree" has_nonfree ${__l})
if(has_nonfree)
set(OPENCV_NONFREE_FOUND TRUE)
break()
endif()
endforeach()
endif()
endif()
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