Missing File - WITH_SIFTGPU Off

[CWallbridge]

While trying to build this project while WITH_SIFTGPU is set to Off I am getting the following error:

<v4r directory>/modules/features/src/sift_local_estimator.cpp:11:54: fatal error: v4r/features/opencv_sift_local_estimator.h: No such file or directory
compilation terminated.
modules/features/CMakeFiles/v4r_features.dir/build.make:206: recipe for target 'modules/features/CMakeFiles/v4r_features.dir/src/sift_local_estimator.cpp.o' failed
make[2]: *** [modules/features/CMakeFiles/v4r_features.dir/src/sift_local_estimator.cpp.o] Error 1
CMakeFiles/Makefile2:1420: recipe for target 'modules/features/CMakeFiles/v4r_features.dir/all' failed
make[1]: *** [modules/features/CMakeFiles/v4r_features.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

Taking a quick look in sift_local_estimator.cpp you can see that the program is looking for opencv_sift_local_estimator.h based on HAVE_SIFTGPU:

#ifdef HAVE_SIFTGPU
#include <v4r/features/sift_local_estimator.h>
#include <GL/glut.h>
#else
#include <v4r/features/opencv_sift_local_estimator.h>
#endif

Looking in the appropriate folder opencv_sift_local_estimator.h is indeed missing. It is also not in this repository. I decided to take a quick look in sift_local_estimator.h where there is also a decision based on HAVE_SIFTGPU:

#ifdef HAVE_SIFTGPU
#include <SiftGPU/SiftGPU.h>
#else
#include <opencv2/nonfree/features2d.hpp> // requires OpenCV non-free module
#endif

So it might be that it has been updated to use sift_local_estimator.h in both cases at some point? I will see if modifying the code helps and see if I run into further issues.

[mzillich]

Why would you want to compile without SiftGPU? We do have GPUs in the robots.

[CWallbridge]

I am currently trying to install on a machine without a working GPU to explore this project until my new one arrives. Is installation without SIFTGPU no longer supported?

[mzillich]

Ah ok. In this case you have to install opencv from source, includng the nonfree parts (wich are not in the ubuntu standard opencv package)

[CWallbridge]

Well, really the issue is that, if HAVE_SIFTGPU is false, they we are supposed to include a header (<v4r/features/opencv_sift_local_estimator.h>) that does not exist:

#ifdef HAVE_SIFTGPU
#include <v4r/features/sift_local_estimator.h>
#include <GL/glut.h>
#else
#include <v4r/features/opencv_sift_local_estimator.h>
#endif

[mzillich]

Ha, that is odd. I do have that file in my version of the repo. You installed the debian v4r package?

[CWallbridge]

No, as I am actually trying this in Ubuntu 16.04, which you don't have a debian package for yet, so I am going from this source repository.