Update CMakeLists.txt to account for forked M3T

CMakeLists.txt

@@ -2,12 +2,23 @@ cmake_minimum_required(VERSION 3.11)
 project(pym3t LANGUAGES CXX)
 
 option(USE_AZURE_KINECT "Use Azure Kinect" OFF)
-option(USE_REALSENSE "Use RealSense D435" ON)
+option(USE_REALSENSE "Use RealSense D435" OFF)
 option(USE_GTEST "Use gtest" OFF)
+option(USE_XFEATURES2D "Use OpenCV xfeatures2d" OFF)
 
-cmake_policy(SET CMP0148 OLD) # required for current pybind11
+if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.27.0")
+  cmake_policy(SET CMP0148 OLD) # required for current pybind11
+endif()
 
-# set(CMAKE_BUILD_TYPE "RELEASE") set(CMAKE_BUILD_TYPE "DEBUG")
+# Fix this error:
+# /usr/bin/ld: libm3t_ext.a(dummy_camera.cpp.o): relocation R_X86_64_PC32 against symbol
+# `_ZSt4cerr@@GLIBCXX_3.4' can not be used when making a shared object; recompile with -fPIC
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+IF(USE_REALSENSE)
+  ADD_DEFINITIONS(-DPYM3T_WITH_REALSENSE)
+  LIST(APPEND CFLAGS_DEPENDENCIES "-DPYM3T_WITH_REALSENSE")
+ENDIF(USE_REALSENSE)
 
 include(FetchContent)
 FetchContent_Declare(
@@ -16,10 +27,10 @@ FetchContent_Declare(
   GIT_TAG "v2.11.1")
 FetchContent_Declare(
   m3t
-  GIT_REPOSITORY "https://github.com/DLR-RM/3DObjectTracking.git"
+  GIT_REPOSITORY "https://github.com/agimus-project/3DObjectTracking"
   GIT_TAG "master"
   SOURCE_SUBDIR "M3T" CMAKE_ARGS "-DUSE_AZURE_KINECT=${USE_AZURE_KINECT}"
-  "-DUSE_REALSENSE=${USE_REALSENSE}" "-DUSE_GTEST=${USE_GTEST}")
+  "-DUSE_REALSENSE=${USE_REALSENSE}" "-DUSE_GTEST=${USE_GTEST}" "-DUSE_XFEATURES2D=${USE_XFEATURES2D}")
 FetchContent_MakeAvailable(pybind11 m3t)
 
 # Create library for the extensions to m3t

src/pym3t.cpp

@@ -14,7 +14,11 @@
 // M3T
 #include <m3t/common.h>
 #include <m3t/camera.h>
+
+#ifdef PYM3T_WITH_REALSENSE
 #include <m3t/realsense_camera.h>
+#endif
+
 #include <m3t/renderer_geometry.h>
 #include <m3t/basic_depth_renderer.h>
 #include <m3t/silhouette_renderer.h>
@@ -38,13 +42,6 @@ using namespace pybind11::literals;  // to use "arg"_a shorthand
 using namespace m3t;
 using namespace Eigen;
 
-/**
- * TODO: 
- * - Read the flag USE_REALSENSE to decide whether or not to create bindings
- * */ 
-
-
-
 PYBIND11_MODULE(_pym3t_mod, m) {
 
     // Tracker: main interface with m3t
@@ -119,6 +116,7 @@ PYBIND11_MODULE(_pym3t_mod, m) {
     // DepthCamera -> not constructible, just to enable automatic downcasting and binding of child classes
     py::class_<DepthCamera, Camera, std::shared_ptr<DepthCamera>>(m, "DepthCamera");
 
+#ifdef PYM3T_WITH_REALSENSE
     // RealSenseColorCamera
     py::class_<RealSenseColorCamera, ColorCamera, std::shared_ptr<RealSenseColorCamera>>(m, "RealSenseColorCamera")
         .def(py::init<const std::string &, bool>(), "name"_a, "use_depth_as_world_frame"_a=false)
@@ -128,6 +126,7 @@ PYBIND11_MODULE(_pym3t_mod, m) {
     py::class_<RealSenseDepthCamera, DepthCamera, std::shared_ptr<RealSenseDepthCamera>>(m, "RealSenseDepthCamera")
         .def(py::init<const std::string &, bool>(), "name"_a, "use_color_as_world_frame"_a=true)
         ;
+#endif
 
     // DummyColorCamera
     py::class_<DummyColorCamera, ColorCamera, std::shared_ptr<DummyColorCamera>>(m, "DummyColorCamera")
@@ -444,4 +443,12 @@ PYBIND11_MODULE(_pym3t_mod, m) {
         .def_property("tikhonov_parameter_translation", &Optimizer::tikhonov_parameter_translation, &Optimizer::set_tikhonov_parameter_translation)
         ;
 
+    // Constants
+    m.attr("WITH_REALSENSE") = 
+#ifdef PYM3T_WITH_REALSENSE
+      py::bool_(true);
+#else
+      py::bool_(false);
+#endif
+
 }

src/pym3t/__init__.py

@@ -1,6 +1,5 @@
 from ._pym3t_mod import Tracker
 from ._pym3t_mod import RendererGeometry
-from ._pym3t_mod import RealSenseColorCamera, RealSenseDepthCamera
 from ._pym3t_mod import Intrinsics, IDType
 from ._pym3t_mod import DummyColorCamera, DummyDepthCamera
 from ._pym3t_mod import NormalColorViewer, NormalDepthViewer
@@ -10,10 +9,13 @@
 from ._pym3t_mod import RegionModel, DepthModel
 from ._pym3t_mod import RegionModality, DepthModality, TextureModality
 from ._pym3t_mod import Optimizer
+from ._pym3t_mod import WITH_REALSENSE
+
+if WITH_REALSENSE:
+    from ._pym3t_mod import RealSenseColorCamera, RealSenseDepthCamera
 
 __all__ = ['Tracker', 
-           'RendererGeometry', 
-           'RealSenseColorCamera', 'RealSenseDepthCamera', 
+           'RendererGeometry',
            'Intrinsics', 'IDType',
            'DummyColorCamera', 'DummyDepthCamera', 
            'NormalColorViewer', 'NormalDepthViewer', 
@@ -23,3 +25,6 @@
            'RegionModel', 'DepthModel', 
            'RegionModality', 'DepthModality', 'TextureModality' 
            'Optimizer',] 
+
+if WITH_REALSENSE:
+    __all__.append(['RealSenseColorCamera', 'RealSenseDepthCamera'])