196 lines
5.7 KiB
Text
196 lines
5.7 KiB
Text
|
cmake_minimum_required(VERSION 2.8.3)
|
||
|
|
project(asift_matching)
|
||
|
|
|
||
|
|
## Find catkin macros and libraries
|
||
|
|
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||
|
|
## is used, also find other catkin packages
|
||
|
|
find_package(cmake_modules)
|
||
|
|
IF(cmake_modules_FOUND)
|
||
|
|
find_package(Eigen REQUIRED)
|
||
|
|
ELSE()
|
||
|
|
find_package(Eigen3 REQUIRED)
|
||
|
|
set(Eigen_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
|
||
|
|
ENDIF()
|
||
|
|
|
||
|
|
FIND_PACKAGE(OpenMP)
|
||
|
|
if (OPENMP_FOUND)
|
||
|
|
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
|
||
|
|
endif (OPENMP_FOUND)
|
||
|
|
|
||
|
|
IF(MSVC)
|
||
|
|
ADD_DEFINITIONS(/arch:SSE2)
|
||
|
|
ENDIF(MSVC)
|
||
|
|
|
||
|
|
find_package(catkin REQUIRED COMPONENTS
|
||
|
|
roscpp
|
||
|
|
tf
|
||
|
|
rospy
|
||
|
|
pcl_conversions
|
||
|
|
pcl_ros
|
||
|
|
sensor_msgs
|
||
|
|
)
|
||
|
|
#find_package(Eigen3 REQUIRED)
|
||
|
|
#find_package(cmake_modules REQUIRED)
|
||
|
|
|
||
|
|
## Compile as C++11, supported in ROS Kinetic and newer
|
||
|
|
#add_compile_options(-std=c++11)
|
||
|
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -ftree-vectorize -funroll-loops -L/usr/X11R6/lib -lm -lpthread -lX11 -std=c++11")
|
||
|
|
|
||
|
|
################################################
|
||
|
|
## Declare ROS messages, services and actions ##
|
||
|
|
################################################
|
||
|
|
|
||
|
|
## To declare and build messages, services or actions from within this
|
||
|
|
## package, follow these steps:
|
||
|
|
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||
|
|
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||
|
|
## * In the file package.xml:
|
||
|
|
## * add a build_depend tag for "message_generation"
|
||
|
|
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
||
|
|
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
||
|
|
## but can be declared for certainty nonetheless:
|
||
|
|
## * add a exec_depend tag for "message_runtime"
|
||
|
|
## * In this file (CMakeLists.txt):
|
||
|
|
## * add "message_generation" and every package in MSG_DEP_SET to
|
||
|
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
||
|
|
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||
|
|
## catkin_package(CATKIN_DEPENDS ...)
|
||
|
|
## * uncomment the add_*_files sections below as needed
|
||
|
|
## and list every .msg/.srv/.action file to be processed
|
||
|
|
## * uncomment the generate_messages entry below
|
||
|
|
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
||
|
|
|
||
|
|
## Generate messages in the 'msg' folder
|
||
|
|
#add_message_files(
|
||
|
|
# FILES
|
||
|
|
#)
|
||
|
|
|
||
|
|
## Generate services in the 'srv' folder
|
||
|
|
# add_service_files(
|
||
|
|
# FILES
|
||
|
|
# Service1.srv
|
||
|
|
# Service2.srv
|
||
|
|
# )
|
||
|
|
|
||
|
|
## Generate actions in the 'action' folder
|
||
|
|
# add_action_files(
|
||
|
|
# FILES
|
||
|
|
# Action1.action
|
||
|
|
# Action2.action
|
||
|
|
# )
|
||
|
|
|
||
|
|
## Generate added messages and services with any dependencies listed here
|
||
|
|
#generate_messages(
|
||
|
|
# DEPENDENCIES
|
||
|
|
# std_msgs
|
||
|
|
# geometry_msgs
|
||
|
|
#)
|
||
|
|
|
||
|
|
###################################
|
||
|
|
## catkin specific configuration ##
|
||
|
|
###################################
|
||
|
|
## The catkin_package macro generates cmake config files for your package
|
||
|
|
## Declare things to be passed to dependent projects
|
||
|
|
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||
|
|
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||
|
|
## DEPENDS: system dependencies of this project that dependent projects also need
|
||
|
|
catkin_package(
|
||
|
|
#CATKIN_DEPENDS roscpp tf message_runtime
|
||
|
|
#INCLUDE_DIRS include
|
||
|
|
)
|
||
|
|
|
||
|
|
###########
|
||
|
|
## Build ##
|
||
|
|
###########
|
||
|
|
set(ASIFT_srcs
|
||
|
|
src/numerics1.cpp src/frot.cpp src/splines.cpp src/fproj.cpp
|
||
|
|
src/library.cpp src/flimage.cpp src/filter.cpp
|
||
|
|
src/demo_lib_sift.cpp src/compute_asift_keypoints.cpp
|
||
|
|
src/compute_asift_matches.cpp
|
||
|
|
src/orsa.cpp
|
||
|
|
src/ASIFT_matcher.cpp
|
||
|
|
src/ROS_matcher.cpp
|
||
|
|
src/ROS_matcher_node.cpp
|
||
|
|
)
|
||
|
|
|
||
|
|
## Specify additional locations of header files
|
||
|
|
## Your package locations should be listed before other locations
|
||
|
|
include_directories(
|
||
|
|
.
|
||
|
|
#include
|
||
|
|
${catkin_INCLUDE_DIRS}
|
||
|
|
${Eigen_INCLUDE_DIRS}
|
||
|
|
)
|
||
|
|
|
||
|
|
## Declare a C++ executable
|
||
|
|
## With catkin_make all packages are built within a single CMake context
|
||
|
|
## The recommended prefix ensures that target names across packages don't collide
|
||
|
|
add_executable(ASIFT_matcher ${ASIFT_srcs})
|
||
|
|
target_link_libraries(ASIFT_matcher
|
||
|
|
${catkin_LIBRARIES}
|
||
|
|
${Eigen_LIBRARIES}
|
||
|
|
X11
|
||
|
|
)
|
||
|
|
|
||
|
|
|
||
|
|
## Add cmake target dependencies of the executable
|
||
|
|
## same as for the library above
|
||
|
|
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||
|
|
#add_dependencies(ASIFT_matcher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||
|
|
|
||
|
|
## Specify libraries to link a library or executable target against
|
||
|
|
# target_link_libraries(${PROJECT_NAME}_node
|
||
|
|
# ${catkin_LIBRARIES}
|
||
|
|
# )
|
||
|
|
|
||
|
|
#############
|
||
|
|
## Install ##
|
||
|
|
#############
|
||
|
|
|
||
|
|
## Mark executable scripts (Python etc.) for installation
|
||
|
|
## in contrast to setup.py, you can choose the destination
|
||
|
|
|
||
|
|
#install(PROGRAMS
|
||
|
|
#scripts/basic_controls.py
|
||
|
|
#scripts/cube.py
|
||
|
|
#scripts/menu.py
|
||
|
|
#scripts/simple_marker.py
|
||
|
|
#DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||
|
|
#)
|
||
|
|
|
||
|
|
## Mark executables and/or libraries for installation
|
||
|
|
#install(TARGETS
|
||
|
|
# ASIFT_matcher
|
||
|
|
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||
|
|
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||
|
|
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||
|
|
#)
|
||
|
|
|
||
|
|
|
||
|
|
## Mark cpp header files for installation
|
||
|
|
# install(DIRECTORY include/${PROJECT_NAME}/
|
||
|
|
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||
|
|
# FILES_MATCHING PATTERN "*.h"
|
||
|
|
# PATTERN ".svn" EXCLUDE
|
||
|
|
# )
|
||
|
|
|
||
|
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||
|
|
# install(FILES
|
||
|
|
# # myfile1
|
||
|
|
# # myfile2
|
||
|
|
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||
|
|
# )
|
||
|
|
|
||
|
|
#############
|
||
|
|
## Testing ##
|
||
|
|
#############
|
||
|
|
|
||
|
|
## Add gtest based cpp test target and link libraries
|
||
|
|
# catkin_add_gtest(${PROJECT_NAME}-test test/test_beginner_tutorials.cpp)
|
||
|
|
# if(TARGET ${PROJECT_NAME}-test)
|
||
|
|
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||
|
|
# endif()
|
||
|
|
|
||
|
|
## Add folders to be run by python nosetests
|
||
|
|
# catkin_add_nosetests(test)
|