Fix OpenCV 4.0+ dep in CMake, log algorithm type

Author: PeterBowman

programs/sceneReconstruction/CMakeLists.txt

@@ -1,13 +1,13 @@
 if(NOT DEFINED ENABLE_sceneReconstruction OR ENABLE_sceneReconstruction)
-    if(NOT TARGET opencv_rgbd)
-        message(WARNING "OpenCV/rgbd module not found, disabling sceneReconstruction program")
+    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")
     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;YARP_cv_FOUND" OFF)
+                       "TARGET opencv_rgbd;OpenCV_VERSION VERSION_GREATER_EQUAL 4.0;YARP_cv_FOUND" OFF)
 
 if(ENABLE_sceneReconstruction)
 

programs/sceneReconstruction/DynaFu.cpp

@@ -15,6 +15,8 @@ std::unique_ptr<KinectFusion> makeDynaFu(const yarp::os::Searchable & config, co
 
     auto params = Params::defaultParams();
 
+    CD_INFO("algorithm: DynaFu\n");
+
     params->frameSize = cv::Size(width, height);
     CD_INFO("dimensions: width = %d, height = %d\n", width, height);
 

programs/sceneReconstruction/KinFu.cpp

@@ -28,6 +28,8 @@ std::unique_ptr<KinectFusion> makeKinFu(const yarp::os::Searchable & config, con
 
     auto params = Params::defaultParams();
 
+    CD_INFO("algorithm: KinFu\n");
+
     params->frameSize = cv::Size(width, height);
     CD_INFO("dimensions: width = %d, height = %d\n", width, height);