Ajout Readme + Modif mineures interface
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100 changed files with 298 additions and 63 deletions
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cmake_minimum_required(VERSION 2.8.3)
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project(asift_matching)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(cmake_modules)
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IF(cmake_modules_FOUND)
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find_package(Eigen REQUIRED)
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ELSE()
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find_package(Eigen3 REQUIRED)
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set(Eigen_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
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ENDIF()
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FIND_PACKAGE(OpenMP)
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if (OPENMP_FOUND)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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endif (OPENMP_FOUND)
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IF(MSVC)
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ADD_DEFINITIONS(/arch:SSE2)
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ENDIF(MSVC)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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tf
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rospy
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pcl_conversions
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pcl_ros
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sensor_msgs
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)
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#find_package(Eigen3 REQUIRED)
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#find_package(cmake_modules REQUIRED)
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## Compile as C++11, supported in ROS Kinetic and newer
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#add_compile_options(-std=c++11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -ftree-vectorize -funroll-loops -L/usr/X11R6/lib -lm -lpthread -lX11 -std=c++11")
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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#add_message_files(
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# FILES
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#)
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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#generate_messages(
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# DEPENDENCIES
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# std_msgs
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# geometry_msgs
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#)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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#CATKIN_DEPENDS roscpp tf message_runtime
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#INCLUDE_DIRS include
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)
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###########
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## Build ##
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###########
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set(ASIFT_srcs
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src/numerics1.cpp src/frot.cpp src/splines.cpp src/fproj.cpp
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src/library.cpp src/flimage.cpp src/filter.cpp
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src/demo_lib_sift.cpp src/compute_asift_keypoints.cpp
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src/compute_asift_matches.cpp
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src/orsa.cpp
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src/ASIFT_matcher.cpp
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src/ROS_matcher.cpp
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src/ROS_matcher_node.cpp
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)
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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.
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#include
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${catkin_INCLUDE_DIRS}
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${Eigen_INCLUDE_DIRS}
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)
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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add_executable(ASIFT_matcher ${ASIFT_srcs})
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target_link_libraries(ASIFT_matcher
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${catkin_LIBRARIES}
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${Eigen_LIBRARIES}
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X11
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)
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#add_custom_command(TARGET ASIFT_matcher PRE_BUILD
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# COMMAND ${CMAKE_COMMAND} -E copy_directory
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# ${CMAKE_SOURCE_DIR}/book_training $<TARGET_FILE_DIR:ASIFT_matcher>)
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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#add_dependencies(ASIFT_matcher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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#install(PROGRAMS
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#scripts/basic_controls.py
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#scripts/cube.py
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#scripts/menu.py
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#scripts/simple_marker.py
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#DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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#)
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## Mark executables and/or libraries for installation
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#install(TARGETS
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# ASIFT_matcher
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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#)
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_beginner_tutorials.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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