minimal opencv install of only xfeatures2d

cmake/FindOpenCV4.cmake

@@ -0,0 +1,108 @@
+
+# Find OpenCV installation
+find_package(OpenCV 4.0 REQUIRED)
+
+
+list(APPEND OpenCV_LIB_COMPONENTS "opencv_xfeatures2d")
+
+if(NOT CMAKE_VERSION VERSION_LESS "2.8.11")
+  # Target property INTERFACE_INCLUDE_DIRECTORIES available since 2.8.11:
+  # * http://www.cmake.org/cmake/help/v2.8.11/cmake.html#prop_tgt:INTERFACE_INCLUDE_DIRECTORIES
+  foreach(__component ${OpenCV_LIB_COMPONENTS})
+    if(TARGET ${__component})
+      set_target_properties(
+          ${__component}
+          PROPERTIES
+          INTERFACE_INCLUDE_DIRECTORIES "${OpenCV_INCLUDE_DIRS}"
+      )
+    endif()
+  endforeach()
+endif()
+
+# ==============================================================
+#  Form list of modules (components) to find
+# ==============================================================
+if(NOT OpenCV_FIND_COMPONENTS)
+  set(OpenCV_FIND_COMPONENTS ${OpenCV_LIB_COMPONENTS})
+  list(REMOVE_ITEM OpenCV_FIND_COMPONENTS opencv_java)
+  if(GTest_FOUND OR GTEST_FOUND)
+    list(REMOVE_ITEM OpenCV_FIND_COMPONENTS opencv_ts)
+  endif()
+endif()
+
+set(OpenCV_WORLD_COMPONENTS )
+
+# expand short module names and see if requested components exist
+foreach(__cvcomponent ${OpenCV_FIND_COMPONENTS})
+  # Store the name of the original component so we can set the
+  # OpenCV_<component>_FOUND variable which can be checked by the user.
+  set (__original_cvcomponent ${__cvcomponent})
+  if(NOT __cvcomponent MATCHES "^opencv_")
+    set(__cvcomponent opencv_${__cvcomponent})
+  endif()
+  list(FIND OpenCV_LIB_COMPONENTS ${__cvcomponent} __cvcomponentIdx)
+  if(__cvcomponentIdx LESS 0)
+    if(_OpenCV_HANDLE_COMPONENTS_MANUALLY)
+      # Either the component is required or the user did not set any components at
+      # all. In the latter case, the OpenCV_FIND_REQUIRED_<component> variable
+      # will not be defined since it is not set by this config. So let's assume
+      # the implicitly set components are always required.
+      if(NOT DEFINED OpenCV_FIND_REQUIRED_${__original_cvcomponent} OR
+          OpenCV_FIND_REQUIRED_${__original_cvcomponent})
+        message(FATAL_ERROR "${__cvcomponent} is required but was not found")
+      elseif(NOT OpenCV_FIND_QUIETLY)
+        # The component was marked as optional using OPTIONAL_COMPONENTS
+        message(WARNING "Optional component ${__cvcomponent} was not found")
+      endif()
+    endif(_OpenCV_HANDLE_COMPONENTS_MANUALLY)
+    #indicate that module is NOT found
+    string(TOUPPER "${__cvcomponent}" __cvcomponentUP)
+    set(${__cvcomponentUP}_FOUND "${__cvcomponentUP}_FOUND-NOTFOUND")
+    set(OpenCV_${__original_cvcomponent}_FOUND FALSE)
+  else()
+    # Not using list(APPEND) here, because OpenCV_LIBS may not exist yet.
+    # Also not clearing OpenCV_LIBS anywhere, so that multiple calls
+    # to find_package(OpenCV) with different component lists add up.
+    set(OpenCV_LIBS ${OpenCV_LIBS} "${__cvcomponent}")
+    #indicate that module is found
+    string(TOUPPER "${__cvcomponent}" __cvcomponentUP)
+    set(${__cvcomponentUP}_FOUND 1)
+    set(OpenCV_${__original_cvcomponent}_FOUND TRUE)
+  endif()
+  if(OpenCV_SHARED AND ";${OpenCV_WORLD_COMPONENTS};" MATCHES ";${__cvcomponent};" AND NOT TARGET ${__cvcomponent})
+    get_target_property(__implib_dbg opencv_world IMPORTED_IMPLIB_DEBUG)
+    get_target_property(__implib_release opencv_world  IMPORTED_IMPLIB_RELEASE)
+    get_target_property(__location_dbg opencv_world IMPORTED_LOCATION_DEBUG)
+    get_target_property(__location_release opencv_world  IMPORTED_LOCATION_RELEASE)
+    get_target_property(__include_dir opencv_world INTERFACE_INCLUDE_DIRECTORIES)
+    add_library(${__cvcomponent} SHARED IMPORTED)
+    set_target_properties(${__cvcomponent} PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${__include_dir}")
+    if(__location_dbg)
+      set_property(TARGET ${__cvcomponent} APPEND PROPERTY IMPORTED_CONFIGURATIONS DEBUG)
+      set_target_properties(${__cvcomponent} PROPERTIES
+        IMPORTED_IMPLIB_DEBUG "${__implib_dbg}"
+        IMPORTED_LINK_INTERFACE_LIBRARIES_DEBUG ""
+        IMPORTED_LOCATION_DEBUG "${__location_dbg}"
+      )
+    endif()
+    if(__location_release)
+      set_property(TARGET ${__cvcomponent} APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+      set_target_properties(${__cvcomponent} PROPERTIES
+        IMPORTED_IMPLIB_RELEASE "${__implib_release}"
+        IMPORTED_LINK_INTERFACE_LIBRARIES_RELEASE ""
+        IMPORTED_LOCATION_RELEASE "${__location_release}"
+      )
+    endif()
+  endif()
+  if(TARGET ${__cvcomponent})
+    ocv_map_imported_config(${__cvcomponent})
+  endif()
+endforeach()
+
+if(__remap_warnings AND NOT OpenCV_FIND_QUIETLY)
+  message("OpenCV: configurations remap warnings:\n${__remap_warnings}OpenCV: Check variable OPENCV_MAP_IMPORTED_CONFIG=${OPENCV_MAP_IMPORTED_CONFIG}")
+endif()
+
+# find_package(OpenCV 4 REQUIRED PATHS ${OpenCV_DIR_LOCAL})
+set(OpenCV_LIBRARIES ${OpenCV_LIBS})
+

localization/sparse_mapping/CMakeLists.txt

@@ -43,7 +43,7 @@ find_package(dbow2 REQUIRED)
 
 # Find OpenCV
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
-find_package(OpenCV 4.0 REQUIRED)
+find_package(OpenCV4 REQUIRED)
 
 
 catkin_package(

localization/vision_common/CMakeLists.txt

@@ -30,7 +30,8 @@ find_package(catkin2 REQUIRED COMPONENTS
 find_package(GTSAM REQUIRED)
 
 # Find OpenCV
-find_package(OpenCV 4.0 REQUIRED)
+LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
+find_package(OpenCV4 REQUIRED)
 
 find_package(Eigen3 REQUIRED)
 

scripts/setup/debians/build_opencv.sh

@@ -18,7 +18,7 @@
 # under the License.
 
 PACKAGE_NAME=libopencv
-ORIG_TAR=libopencv-local_4.2.0.orig.tar.gz
+ORIG_TAR=libopencv-xfeatures2d_4.2.0.orig.tar.gz
 DEB_DIR=opencv
 DIST=$(grep -oP "(?<=VERSION_CODENAME=).*" /etc/os-release)
 

scripts/setup/debians/opencv/changelog

@@ -1,4 +1,4 @@
-libopencv-local (4.2.0-1) unstable; urgency=low
+libopencv-xfeatures2d (4.2.0-1) unstable; urgency=low
 
   * Initial release.
 

scripts/setup/debians/opencv/control

@@ -1,4 +1,4 @@
-Source: libopencv-local
+Source: libopencv-xfeatures2d
 Priority: optional
 Section: devel
 Maintainer: Ubuntu Developers <[email protected]>
@@ -43,11 +43,11 @@ Vcs-Git: https://anonscm.debian.org/git/debian-science/packages/opencv.git
 Vcs-Browser: https://anonscm.debian.org/git/debian-science/packages/opencv.git
 Homepage: https://opencv.org
 
-Package: libopencv-local-dev
+Package: libopencv-xfeatures2d-dev
 Section: libdevel
 Architecture: any
 Depends:
- libopencv-local (= ${binary:Version}),
+ libopencv-xfeatures2d (= ${binary:Version}),
  pkg-config,
  ${misc:Depends},
  ${shlibs:Depends},
@@ -65,7 +65,7 @@ Description: development files for opencv
  analysis, structural analysis, motion analysis and object tracking, object
  recognition, camera calibration and 3D reconstruction.
 
-Package: libopencv-local
+Package: libopencv-xfeatures2d
 Section: libdevel
 Architecture: any
 Multi-Arch: same

scripts/setup/debians/opencv/libopencv-xfeatures2d-dev.dirs

@@ -0,0 +1,2 @@
+usr/include/opencv4/opencv2/xfeatures2d
+

scripts/setup/debians/opencv/libopencv-xfeatures2d-dev.install

@@ -0,0 +1,2 @@
+usr/include/opencv4/opencv2/xfeatures2d/*
+usr/include/opencv4/opencv2/*xfeatures2d*

scripts/setup/debians/opencv/libopencv-xfeatures2d.dirs

@@ -0,0 +1 @@
+usr/lib/x86_64-linux-gnu

scripts/setup/debians/opencv/libopencv-xfeatures2d.install

@@ -0,0 +1 @@
+usr/lib/x86_64-linux-gnu/*xfeatures2d*