[build] openMVG_camera module does not longer depends on openMVG_mult…

…iview. openMVG#1293 - nor on pre-compiled openMVG_geometry (only the header only geometry/pose3.hpp file is used)
Vargrul · Jun 14, 2018 · 6bf97a2 · 6bf97a2
1 parent 6b6980a
commit 6bf97a2
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Showing 2 changed files with 13 additions and 16 deletions.
diff --git a/src/openMVG/cameras/CMakeLists.txt b/src/openMVG/cameras/CMakeLists.txt
@@ -4,24 +4,24 @@ set_property(TARGET openMVG_camera APPEND PROPERTY
   INTERFACE_INCLUDE_DIRECTORIES "$<INSTALL_INTERFACE:include>")
 
 target_compile_features(openMVG_camera INTERFACE ${CXX11_FEATURES})
-target_link_libraries(openMVG_camera INTERFACE openMVG_numeric openMVG_geometry)
+target_link_libraries(openMVG_camera INTERFACE openMVG_numeric)
 install(TARGETS openMVG_camera DESTINATION lib EXPORT openMVG-targets)
 
-add_library(openMVG_camera_test INTERFACE)
-target_link_libraries(openMVG_camera_test INTERFACE openMVG_camera openMVG_multiview)
-target_include_directories(openMVG_camera_test
-  INTERFACE $<BUILD_INTERFACE:${CEREAL_INCLUDE_DIRS}>)
+UNIT_TEST(openMVG Camera_Pinhole openMVG_camera)
 
-UNIT_TEST(openMVG Camera_IO "openMVG_camera_test;${STLPLUS_LIBRARY}")
+UNIT_TEST(openMVG Camera_Pinhole_Radial openMVG_camera)
 
-UNIT_TEST(openMVG Camera_Pinhole "openMVG_camera_test")
+UNIT_TEST(openMVG Camera_Pinhole_Brown openMVG_camera)
 
-UNIT_TEST(openMVG Camera_Pinhole_Radial "openMVG_camera_test")
+UNIT_TEST(openMVG Camera_Pinhole_Fisheye openMVG_camera)
 
-UNIT_TEST(openMVG Camera_Pinhole_Brown "openMVG_camera_test")
+UNIT_TEST(openMVG Camera_Spherical openMVG_camera)
 
-UNIT_TEST(openMVG Camera_Pinhole_Fisheye "openMVG_camera_test")
+UNIT_TEST(openMVG Camera_Subset_Parametrization openMVG_camera)
 
-UNIT_TEST(openMVG Camera_Spherical "openMVG_camera_test")
+add_library(openMVG_camera_test INTERFACE)
+target_link_libraries(openMVG_camera_test INTERFACE openMVG_camera)
+target_include_directories(openMVG_camera_test
+  INTERFACE $<BUILD_INTERFACE:${CEREAL_INCLUDE_DIRS}>)
 
-UNIT_TEST(openMVG Camera_Subset_Parametrization "openMVG_camera_test")
+UNIT_TEST(openMVG Camera_IO "openMVG_camera_test;${STLPLUS_LIBRARY}")
diff --git a/src/openMVG/cameras/Camera_Pinhole.hpp b/src/openMVG/cameras/Camera_Pinhole.hpp
@@ -14,7 +14,6 @@
 #include "openMVG/cameras/Camera_Common.hpp"
 #include "openMVG/cameras/Camera_Intrinsics.hpp"
 #include "openMVG/geometry/pose3.hpp"
-#include "openMVG/multiview/projection.hpp"
 #include "openMVG/numeric/eigen_alias_definition.hpp"
 
 namespace openMVG
@@ -205,9 +204,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     */
     Mat34 get_projective_equivalent( const geometry::Pose3 & pose ) const override
     {
-      Mat34 P;
-      P_From_KRt( K(), pose.rotation(), pose.translation(), &P );
-      return P;
+      return K_ * (Mat34() << pose.rotation(), pose.translation()).finished();
     }