Merge pull request #12 from jmirabel/master

Minor fixes
agimus · Jan 30, 2020 · fcea7cd · fcea7cd
2 parents cdd3d34 + 79bef28
commit fcea7cd
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Showing 4 changed files with 30 additions and 16 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -13,6 +13,8 @@ INCLUDE(cmake/cxx11.cmake)
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
+OPTION(COMPILE_AND_INSTALL_BINARIES "Set this to OFF to install only message and service files" ON)
+
 ## Compile as C++11, supported in ROS Kinetic and newer
 CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
 if(NOT COMPILER_SUPPORTS_CXX11)
@@ -36,7 +38,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(OpenCV REQUIRED)
 
-ADD_REQUIRED_DEPENDENCY(visp)
+ADD_REQUIRED_DEPENDENCY("visp >= 3.2.0")
 
 add_message_files(
   FILES
@@ -60,23 +62,25 @@ generate_messages(
 
 catkin_package()
 
-add_subdirectory(src/tracker_object)
-##add_subdirectory(src/extrinsic_calibration)
-add_subdirectory(tests)
+if(COMPILE_AND_INSTALL_BINARIES)
+  add_subdirectory(src/tracker_object)
+  ##add_subdirectory(src/extrinsic_calibration)
+  add_subdirectory(tests)
+
+  SET(${PROJECT_NAME}_HEADERS
+    include/agimus_vision/extrinsic_calibration/extrinsic_calibration.hpp
+    include/agimus_vision/extrinsic_calibration/node.hpp
 
-SET(${PROJECT_NAME}_HEADERS
-  include/agimus_vision/extrinsic_calibration/extrinsic_calibration.hpp
-  include/agimus_vision/extrinsic_calibration/node.hpp
+    include/agimus_vision/tracker_object/detector.hpp
+    include/agimus_vision/tracker_object/detector_apriltag.hpp
+    include/agimus_vision/tracker_object/detector_chessboard.hpp
+    include/agimus_vision/tracker_object/node.hpp
+    )
 
-  include/agimus_vision/tracker_object/detector.hpp
-  include/agimus_vision/tracker_object/detector_apriltag.hpp
-  include/agimus_vision/tracker_object/detector_chessboard.hpp
-  include/agimus_vision/tracker_object/node.hpp
-  )
+  catkin_install_python(PROGRAMS scripts/simulate.py scripts/calibrate_real_joint.py scripts/publish_real_joint.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+endif(COMPILE_AND_INSTALL_BINARIES)
 
 install(DIRECTORY objects launch config data
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
-
-catkin_install_python(PROGRAMS scripts/simulate.py scripts/calibrate_real_joint.py scripts/publish_real_joint.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/src/tracker_object/CMakeLists.txt b/src/tracker_object/CMakeLists.txt
@@ -11,6 +11,7 @@ target_include_directories(${PROJECT_NAME}_tracker_object_lib SYSTEM PUBLIC
   ${catkin_INCLUDE_DIRS}
   ${OPENCV_INCLUDE_DIRS}
 )
+PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME}_tracker_object_lib visp)
 
 target_link_libraries(${PROJECT_NAME}_tracker_object_lib
   ${catkin_LIBRARIES}

diff --git a/src/tracker_object/node.cpp b/src/tracker_object/node.cpp
@@ -187,7 +187,6 @@ void Node::imageProcessing()
 
         if( _broadcast_topic )
           _publisherVision.publish( cMo_msg );
-        cMo_msg.child_frame_id += _broadcast_tf_postfix;
         if( _broadcast_tf )
           broadcaster.sendTransform( cMo_msg );
       }

diff --git a/src/tracker_object/tracker.cpp b/src/tracker_object/tracker.cpp
@@ -248,7 +248,17 @@ ModelBased::ModelBased(int trackerType,
 {
   tracker().setTrackerType(trackerType);
   if (!configFile.empty())
+#if VISP_VERSION_INT >= VP_VERSION_INT(3,2,1)
     tracker().loadConfigFile(configFile);
+#else
+#define _STRINGIFY(x) #x
+#define _TOSTRING(x) _STRINGIFY(x)
+    std::cerr << "Cannot load ViSP config file " << configFile << " because "
+      "installed ViSP version (" _TOSTRING(VISP_VERSION) ") is inferior to 3.2.1."
+      << std::endl;
+#undef _TOSTRING
+#undef _STRINGIFY
+#endif
 
   // camera calibration params
   tracker().setCameraParameters(cam);