From 2cfd21269cad6cf032dfd23f94e42f48f8ec2276 Mon Sep 17 00:00:00 2001
From: Alexey Rogachevskiy <sfalexrog@gmail.com>
Date: Wed, 28 Oct 2020 13:47:00 +0300
Subject: [PATCH] aruco_pose: Make sure there are no undefined symbols

Also, compile in apriltag_quad_thresh.cpp - it contains some of the functions referenced
in aruco.cpp, which would otherwise be undefined.
---
 aruco_pose/CMakeLists.txt            | 7 +++++++
 aruco_pose/vendor/VendorOpenCV.cmake | 1 +
 2 files changed, 8 insertions(+)

diff --git a/aruco_pose/CMakeLists.txt b/aruco_pose/CMakeLists.txt
index 2fe4a530..70e9aa3d 100644
--- a/aruco_pose/CMakeLists.txt
+++ b/aruco_pose/CMakeLists.txt
@@ -180,6 +180,13 @@ target_link_libraries(aruco_pose
   ${OpenCV_LIBRARIES}
 )
 
+# Prevent aruco_pose from having undefined symbols
+set_property(TARGET aruco_pose
+  APPEND
+  PROPERTY LINK_FLAGS
+  -Wl,--no-undefined
+)
+
 #############
 ## Install ##
 #############
diff --git a/aruco_pose/vendor/VendorOpenCV.cmake b/aruco_pose/vendor/VendorOpenCV.cmake
index fc0bac5f..568b03cb 100644
--- a/aruco_pose/vendor/VendorOpenCV.cmake
+++ b/aruco_pose/vendor/VendorOpenCV.cmake
@@ -7,6 +7,7 @@ endif()
 
 message(STATUS "Adding vendored aruco_pose OpenCV module")
 add_library(_opencv_aruco STATIC
+  vendor/aruco/src/apriltag_quad_thresh.cpp
   vendor/aruco/src/aruco.cpp
   vendor/aruco/src/charuco.cpp
   vendor/aruco/src/dictionary.cpp