Use cvnp in bindings of PerceptionInterface only if pybind11 is at le…

…ast v2.7.0
ami-iit · Jul 6, 2023 · bae99cd · bae99cd
1 parent 6b0fcaf
commit bae99cd
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Showing 2 changed files with 41 additions and 12 deletions.
diff --git a/bindings/python/RobotInterface/CMakeLists.txt b/bindings/python/RobotInterface/CMakeLists.txt
@@ -20,21 +20,32 @@ if(TARGET BipedalLocomotion::RobotInterface
     AND TARGET BipedalLocomotion::RobotInterfaceYarpImplementation
     AND TARGET BipedalLocomotion::PerceptionInterfaceYarpImplementation)
 
-  FetchContent_Declare(
-    cvnp
-    GIT_REPOSITORY https://github.com/pthom/cvnp
-    GIT_TAG        e91b2f04e7b7e8c2858ef4d45b434591aa6c0e25
-    )
-
-  FetchContent_MakeAvailable(cvnp)
+  set(cvnp_target_link )
+
+  # This compiles only if pybind11 is at least v2.7.0
+  # Indeed we need a feature in pybind that has been introduced by this commit
+  # https://github.com/pybind/pybind11/commit/74a767d42921001fc4569ecee3b8726383c42ad4
+  # https://github.com/pybind/pybind11/pull/2864
+  if (${pybind11_VERSION} VERSION_GREATER_EQUAL "2.7.0")
+    FetchContent_Declare(
+      cvnp
+      GIT_REPOSITORY https://github.com/pthom/cvnp
+      GIT_TAG        e91b2f04e7b7e8c2858ef4d45b434591aa6c0e25
+      )
+    FetchContent_MakeAvailable(cvnp)
+    set(cvnp_target_link cvnp)
+  endif()
 
   set(H_PREFIX include/BipedalLocomotion/bindings/RobotInterface)
 
   add_bipedal_locomotion_python_module(
     NAME PerceptionInterfaceBindings
     SOURCES src/PerceptionModule.cpp src/CameraBridge.cpp
     HEADERS ${H_PREFIX}/PerceptionModule.h ${H_PREFIX}/CameraBridge.h
-    LINK_LIBRARIES BipedalLocomotion::PerceptionInterface BipedalLocomotion::PerceptionInterfaceYarpImplementation cvnp
+    LINK_LIBRARIES BipedalLocomotion::PerceptionInterface BipedalLocomotion::PerceptionInterfaceYarpImplementation ${cvnp_target_link}
+    ADDITIONAL_COMPILE_DEFINITIONS pybind11_VERSION_MAJOR=${pybind11_VERSION_MAJOR}
+                                   pybind11_VERSION_MINOR=${pybind11_VERSION_MINOR}
+                                   pybind11_VERSION_PATCH=${pybind11_VERSION_PATCH}
     )
 
 endif()
diff --git a/bindings/python/RobotInterface/src/CameraBridge.cpp b/bindings/python/RobotInterface/src/CameraBridge.cpp
@@ -5,8 +5,21 @@
  * distributed under the terms of the BSD-3-Clause license.
  */
 
+#define PYBIND_VERSION_AT_LEAST(x, y, z)                                \
+    ((pybind11_VERSION_MAJOR > x)                                       \
+     || ((pybind11_VERSION_MAJOR >= x) && (pybind11_VERSION_MINOR > y)) \
+     || ((pybind11_VERSION_MAJOR >= x) && (pybind11_VERSION_MINOR >= y) \
+         && (pybind11_VERSION_PATCH > z)))
+
 // NumPy/OpenCV compatibility
+
+// This compiles only if pybind11 is at least v2.7.0
+// Indeed we need a feature in pybind that has been introduced by this commit
+// https://github.com/pybind/pybind11/commit/74a767d42921001fc4569ecee3b8726383c42ad4
+// https://github.com/pybind/pybind11/pull/2864
+#if PYBIND_VERSION_AT_LEAST(2, 7, 0)
 #include <cvnp/cvnp.h>
+#endif // PYBIND_VERSION_AT_LEAST(2, 7, 0)
 
 #include <pybind11/eigen.h>
 #include <pybind11/pybind11.h>
@@ -50,13 +63,19 @@ void CreateICameraBridge(pybind11::module& module)
         .def_readwrite("sensors_list", &CameraBridgeMetaData::sensorsList)
         .def_readwrite("bridge_options", &CameraBridgeMetaData::bridgeOptions);
 
-    py::class_<ICameraBridge>(module, "ICameraBridge")
+    py::class_<ICameraBridge> iCameraBridge(module, "ICameraBridge");
+    iCameraBridge
         .def(
             "initialize",
             [](ICameraBridge& impl, std::shared_ptr<const IParametersHandler> handler) -> bool {
                 return impl.initialize(handler);
             },
             py::arg("handler"))
+        .def("get_meta_data", &ICameraBridge::getMetaData)
+        .def("is_valid", &ICameraBridge::isValid);
+
+#if PYBIND_VERSION_AT_LEAST(2, 7, 0)
+    iCameraBridge
         .def(
             "get_color_image",
             [](ICameraBridge& impl, const std::string& camName) {
@@ -72,9 +91,8 @@ void CreateICameraBridge(pybind11::module& module)
                 ret.first = impl.getDepthImage(camName, ret.second);
                 return ret;
             },
-            py::arg("cam_name"))
-        .def("get_meta_data", &ICameraBridge::getMetaData)
-        .def("is_valid", &ICameraBridge::isValid);
+            py::arg("cam_name"));
+#endif // PYBIND_VERSION_AT_LEAST(2, 7, 0)
 }
 
 void CreateYarpCameraBridge(pybind11::module& module)