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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:
# ViSP configuration file.
#
#############################################################################
# Add optional 3rd parties
set(opt_incs "")
set(opt_system_incs "")
set(opt_libs "")
set(opt_libs_private "")
if(USE_ZBAR)
list(APPEND opt_system_incs ${ZBAR_INCLUDE_DIRS})
list(APPEND opt_libs ${ZBAR_LIBRARIES})
endif()
if(USE_DMTX)
list(APPEND opt_system_incs ${DMTX_INCLUDE_DIRS})
list(APPEND opt_libs ${DMTX_LIBRARIES})
endif()
if(WITH_APRILTAG)
# April Tag is private
include_directories(SYSTEM ${APRILTAG_INCLUDE_DIRS})
set(opt_libs_private ${APRILTAG_LIBRARIES})
endif()
# TensorRT
if(USE_TENSORRT)
list(APPEND opt_system_incs ${TENSORRT_INCLUDE_DIRS})
list(APPEND opt_libs ${TENSORRT_LIBRARIES})
endif()
# OpenCV
if(USE_OPENCV)
# On win32 since OpenCV 2.4.7 and on OSX with OpenCV 2.4.10 we cannot use OpenCV_LIBS to set ViSP 3rd party libraries.
# Using OpenCV_LIBS works to build visp library, examples, demos and test thanks to the components,
# but not tutorials that are stand alone Cmake project that use ViSP as a 3rd party.
# To be clear OpenCV_LIBS contains opencv_core and not c:\...\opencv_core248.lib full path as requested
# to use ViSP. This was not the case with OpenCV 2.4.6.
# For the build of ViSP it works with OpenCV_LIBS: in that case thanks to opencv_core properties, CMake
# is able to find the real name and location of the libraries.
# But when ViSP is used as a 3rd party where it should import OpenCV libraries, it doesn't work with
# OpenCV_LIBS.
# The solution here is to get the real name of OpenCV libraries thanks to the properties and link
# with these names.
# An other way could be to include OpenCVConfig.cmake, but in that case, visp-config and visp.pc
# will be not able to give the names of OpenCV libraries when used without CMake.
#message("OpenCV_LIB_COMPONENTS: ${OpenCV_LIB_COMPONENTS}")
#message("OpenCV_LIBS: ${OpenCV_LIBS}")
#if(WIN32 AND OpenCV_LIB_COMPONENTS AND OpenCV_VERSION AND OpenCV_VERSION VERSION_GREATER 2.4.6.1)
if(OpenCV_LIB_COMPONENTS AND OpenCV_VERSION AND OpenCV_VERSION VERSION_GREATER 2.4.6.1)
# ReleaseWithDebugInfo was requested to detect libopencv-devel under Fedora 20
# RelWithDebugInfo was requested to detect ros-hydro-opencv2 2.4.9 under Ubuntu 12.04 LTS with ROS hydro
set(config_ "NONE" "RELEASE" "DEBUG" "RELEASEWITHDEBINFO" "RELWITHDEBINFO")
set(OpenCV_REQUIRED_LIB_COMPONENTS ${OpenCV_LIB_COMPONENTS})
vp_list_filterout(OpenCV_REQUIRED_LIB_COMPONENTS "opencv_*")
# We import only required OpenCV libraries
list(APPEND OpenCV_REQUIRED_LIB_COMPONENTS "opencv_objdetect")
if(OpenCV_VERSION AND ((OpenCV_VERSION VERSION_EQUAL 3.4.3) OR (OpenCV_VERSION VERSION_GREATER 3.4.3)))
list(APPEND OpenCV_REQUIRED_LIB_COMPONENTS "opencv_dnn")
endif()
if(OpenCV_VERSION AND ((OpenCV_VERSION GREATER_EQUAL 5.0.0)))
list(APPEND OpenCV_REQUIRED_LIB_COMPONENTS "opencv_xobjdetect")
endif()
if(USE_TENSORRT)
list(APPEND OpenCV_REQUIRED_LIB_COMPONENTS "opencv_cudaarithm" "opencv_cudawarping")
endif()
foreach(component_ ${OpenCV_REQUIRED_LIB_COMPONENTS})
string(TOUPPER "${component_}" component_UP)
if(${component_UP}_FOUND)
foreach(imp_config_ ${config_})
if(OpenCV_SHARED)
get_target_property(component_property_${imp_config_}_ ${component_} IMPORTED_IMPLIB_${imp_config_})
# particular case of opencv_ts that doesn't have an implib
if(NOT EXISTS "${component_property_${imp_config_}_}")
get_target_property(component_property_${imp_config_}_ ${component_} IMPORTED_LOCATION_${imp_config_})
endif()
else()
get_target_property(component_property_${imp_config_}_ ${component_} IMPORTED_LOCATION_${imp_config_})
endif()
get_target_property(component_property_3rdparty_${imp_config_}_ ${component_} IMPORTED_LINK_INTERFACE_LIBRARIES_${imp_config_})
#message("component_property_${imp_config_}_: ${component_property_${imp_config_}_}")
#message("component_property_3rdparty_${imp_config_}_: ${component_property_3rdparty_${imp_config_}_}")
# Under Unix, there is no specific suffix for OpenCV libraries. If one is found we add it
# Under Windows, we add the "optimized", "debug" specific keywords
if(WIN32 AND EXISTS "${component_property_${imp_config_}_}" AND "${imp_config_}" MATCHES "RELEASE") # also valid for RELEASEWITHDEBINFO
list(APPEND opt_libs optimized "${component_property_${imp_config_}_}")
elseif(WIN32 AND EXISTS "${component_property_${imp_config_}_}" AND "${imp_config_}" MATCHES "DEBUG")
list(APPEND opt_libs debug "${component_property_${imp_config_}_}")
elseif(EXISTS "${component_property_${imp_config_}_}")
list(APPEND opt_libs "${component_property_${imp_config_}_}")
endif()
if(EXISTS "${component_property_3rdparty_${imp_config_}_}")
foreach(3rdparty_ ${component_property_3rdparty_${imp_config_}_})
#message("3rdparty_ ${3rdparty_}")
list(FIND OpenCV_REQUIRED_LIB_COMPONENTS ${3rdparty_} 3rdparty_is_opencv_component_)
if(3rdparty_is_opencv_component_ LESS 0)
#message("${3rdparty_} is not an opencv component")
get_target_property(3rdparty_opt_location_ ${3rdparty_} IMPORTED_LOCATION_${imp_config_})
if(NOT EXISTS "${3rdparty_opt_location_}")
#message("3rdparty_: ${3rdparty_} location doesn't exist in ${imp_config_}")
get_target_property(3rdparty_opt_location_ ${3rdparty_} IMPORTED_LOCATION)
#message("3rdparty_: ${3rdparty_} location : ${3rdparty_opt_location_}")
endif()
if(EXISTS "${3rdparty_opt_location_}")
#message("3rdparty_opt_location_: ${3rdparty_opt_location_} with config ${imp_config_}")
if(WIN32 AND "${imp_config_}" MATCHES "RELEASE")
#message("is release")
list(APPEND opt_libs optimized ${3rdparty_opt_location_})
elseif(WIN32 AND "${imp_config_}" MATCHES "DEBUG")
list(APPEND opt_libs debug ${3rdparty_opt_location_})
else()
list(APPEND opt_libs ${3rdparty_opt_location_})
endif()
else()
find_library(3rdparty_location_ NAMES ${3rdparty_})
mark_as_advanced(3rdparty_location_)
if(3rdparty_location_)
#message(${3rdparty_location_})
list(APPEND opt_libs ${3rdparty_location_}) # should be a system dependency
else()
list(APPEND opt_libs ${3rdparty_}) # should be a system dependency
endif()
endif()
endif()
endforeach()
endif()
endforeach()
endif()
endforeach()
# elseif(APPLE_FRAMEWORK)
# # Add opencv framework
# list(APPEND opt_libs ${OpenCV_LIBRARIES}) # see FindMyOpenCV.cmake
# elseif(CMAKE_TOOLCHAIN_FILE AND I_AM_A_ROBOT)
# # Add opencv framework from naoqi atom toolchain
# list(APPEND opt_libs ${OpenCV_LIBRARIES}) # see FindMyOpenCV.cmake
# else()
# # this should be an old OpenCV version that doesn't have the previous behavior
# list(APPEND opt_libs ${OpenCV_LIBS})
endif()
if(OpenCV_INCLUDE_DIRS)
list(APPEND opt_system_incs ${OpenCV_INCLUDE_DIRS})
endif()
endif(USE_OPENCV)
vp_add_module(detection visp_core visp_vision PRIVATE_OPTIONAL ${opt_libs_private} WRAP java)
vp_glob_module_sources()
vp_module_include_directories(${opt_incs} SYSTEM ${opt_system_incs})
vp_create_module(${opt_libs})
set(opt_test_incs "")
set(opt_test_libs "")
if(WITH_CATCH2)
# catch2 is private
list(APPEND opt_test_incs ${CATCH2_INCLUDE_DIRS})
list(APPEND opt_test_libs ${CATCH2_LIBRARIES})
endif()
vp_add_tests(DEPENDS_ON visp_detection visp_gui visp_io PRIVATE_INCLUDE_DIRS ${opt_test_incs} PRIVATE_LIBRARIES ${opt_test_libs})
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