Require Eigen 3.2 Exact (Eigen 3.3+ not supported yet)

Removed OpenCV dependency

Author: cassinaj

CMakeLists.txt

@@ -1,10 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(dbot_ros)
 
-############################
-# Options                  #
-############################
-
 ############################
 # Flags                    #
 ############################
@@ -54,12 +50,13 @@ set(PROJECT_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
 set(CMAKE_MODULE_PATH ${PROJECT_MODULE_PATH})
 
 find_package(Boost REQUIRED)
-find_package(Eigen REQUIRED)
-find_package(OpenCV REQUIRED)
-
 include_directories(${Boost_INCLUDE_DIRS})
-include_directories(${Eigen_INCLUDE_DIRS})
-include_directories(${OpenCV_INCLUDE_DIRS})
+
+find_package(Eigen3 3.2 EXACT REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIR})
+
+# find_package(OpenCV REQUIRED)
+# include_directories(${OpenCV_INCLUDE_DIRS})
 
 ###################################
 ## catkin specific configuration ##
@@ -82,9 +79,7 @@ catkin_package(
     dbot
     dbot_ros_msgs
     interactive_markers
-  DEPENDS
-    OpenCV
-    eigen)
+    )
 
 ###########
 ## Build ##
@@ -116,7 +111,7 @@ add_dependencies(${PROJECT_NAME}
 
 target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
-  ${OpenCV_LIBRARIES})
+  )
 
 add_executable(particle_tracker
   source/${PROJECT_NAME}/tracker/particle_tracker_node.cpp)
@@ -125,7 +120,6 @@ add_dependencies(particle_tracker
 target_link_libraries(particle_tracker
   ${PROJECT_NAME}
   ${catkin_LIBRARIES}
-  ${OpenCV_LIBS}
   ${PCL_LIBRARIES}
   yaml-cpp)
 
@@ -136,7 +130,6 @@ add_dependencies(gaussian_tracker
 target_link_libraries(gaussian_tracker
   ${PROJECT_NAME}
   ${catkin_LIBRARIES}
-  ${OpenCV_LIBS}
   ${PCL_LIBRARIES}
   yaml-cpp)
 
@@ -147,7 +140,6 @@ add_dependencies(object_tracker_service
 target_link_libraries(object_tracker_service
   ${PROJECT_NAME}
   ${catkin_LIBRARIES}
-  ${OpenCV_LIBS}
   ${PCL_LIBRARIES}
   yaml-cpp)
 
@@ -158,7 +150,6 @@ add_dependencies(object_tracker_controller_service
 target_link_libraries(object_tracker_controller_service
   ${PROJECT_NAME}
   ${catkin_LIBRARIES}
-  ${OpenCV_LIBS}
   ${PCL_LIBRARIES}
   yaml-cpp)
 
@@ -168,5 +159,6 @@ add_executable(
 target_link_libraries(
   interactive_markers_initializer_node
   ${PROJECT_NAME}
-  ${catkin_LIBRARIES})
+  ${catkin_LIBRARIES}
+  )
 

cmake/FindEigen.cmake

@@ -0,0 +1,81 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+
+# Copyright (c) 2006, 2007 Montel Laurent, <[email protected]>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <[email protected]>
+# Copyright (c) 2009 Benoit Jacob <[email protected]>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
+  endif(NOT Eigen3_FIND_VERSION_MAJOR)
+  if(NOT Eigen3_FIND_VERSION_MINOR)
+    set(Eigen3_FIND_VERSION_MINOR 91)
+  endif(NOT Eigen3_FIND_VERSION_MINOR)
+  if(NOT Eigen3_FIND_VERSION_PATCH)
+    set(Eigen3_FIND_VERSION_PATCH 0)
+  endif(NOT Eigen3_FIND_VERSION_PATCH)
+
+  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK FALSE)
+  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK TRUE)
+  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+
+  if(NOT EIGEN3_VERSION_OK)
+
+    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+                   "but at least version ${Eigen3_FIND_VERSION} is required")
+  endif(NOT EIGEN3_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if (EIGEN3_INCLUDE_DIR)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+
+else (EIGEN3_INCLUDE_DIR)
+
+  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+      PATHS
+      ${CMAKE_INSTALL_PREFIX}/include
+      ${KDE4_INCLUDE_DIR}
+      PATH_SUFFIXES eigen3 eigen
+    )
+
+  if(EIGEN3_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif(EIGEN3_INCLUDE_DIR)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+  mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif(EIGEN3_INCLUDE_DIR)
+