Test available non-free algorithms (KinFu)

Author: PeterBowman

programs/sceneReconstruction/CMakeLists.txt

@@ -1,13 +1,18 @@
+include(CheckCXXSymbolExists)
+set(CMAKE_REQUIRED_INCLUDES "${OpenCV_INCLUDE_DIRS}")
+set(CMAKE_REQUIRED_QUIET TRUE)
+check_cxx_symbol_exists(OPENCV_ENABLE_NONFREE opencv2/opencv_modules.hpp _opencv_nonfree)
+
 if(NOT DEFINED ENABLE_sceneReconstruction OR ENABLE_sceneReconstruction)
-    if(NOT TARGET opencv_rgbd OR NOT OpenCV_VERSION VERSION_GREATER_EQUAL 4.0)
-        message(WARNING "OpenCV 4.0+/rgbd module not found, disabling sceneReconstruction program")
+    if(NOT TARGET opencv_rgbd OR NOT OpenCV_VERSION VERSION_GREATER_EQUAL 4.0 OR NOT _opencv_nonfree)
+        message(WARNING "OpenCV 4.0+/rgbd module with non-free algorithms not found, disabling sceneReconstruction program")
     elseif(NOT YARP_cv_FOUND)
         message(WARNING "YARP_cv package not found, disabling sceneReconstruction program")
     endif()
 endif()
 
 cmake_dependent_option(ENABLE_sceneReconstruction "Enable/disable sceneReconstruction program" ON
-                       "TARGET opencv_rgbd;OpenCV_VERSION VERSION_GREATER_EQUAL 4.0;YARP_cv_FOUND" OFF)
+                       "TARGET opencv_rgbd;OpenCV_VERSION VERSION_GREATER_EQUAL 4.0;_opencv_nonfree;YARP_cv_FOUND" OFF)
 
 if(ENABLE_sceneReconstruction)