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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(mo_tracker)
set(CMAKE_CXX_FLAGS "-std=c++11 -fomit-frame-pointer -fno-operator-names -march=native -mssse3 -msse2 -mfpmath=sse -fexcess-precision=fast -fno-strict-aliasing")
if(CMAKE_BUILD_TYPE)
message("Build Type = ${CMAKE_BUILD_TYPE}")
else(CMAKE_BUILD_TYPE)
message("Build Type not specified! Use command \"catkin_make -DCMAKE_BUILD_TYPE=Release\". ")
endif(CMAKE_BUILD_TYPE)
find_package(Boost REQUIRED COMPONENTS thread date_time filesystem program_options)
find_package(catkin REQUIRED COMPONENTS roscpp std_msgs geometry_msgs message_generation tf)
find_package(PkgConfig REQUIRED)
find_package(OpenCV REQUIRED)
add_message_files(
FILES
Tracker.msg
Trackers.msg
Obstacle.msg
Obstacles.msg
)
generate_messages(DEPENDENCIES std_msgs geometry_msgs)
if (DEFINED ENV{FLTKDIR})
message("FLTKDIR = $ENV{FLTKDIR}")
set(FLTKDIR $ENV{FLTKDIR})
else (DEFINED ENV{FLTKDIR})
message("FLTKDIR is not specified. Using installed path.")
set(FLTKDIR /usr/local/include)
endif (DEFINED ENV{FLTKDIR})
include_directories(include ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${FLTKDIR} )
link_directories(${FLTKDIR}/lib)
set(FLTK_LIBRARIES fltk2 Xi Xext X11 Xft Xinerama Xrender fontconfig)
catkin_package(
INCLUDE_DIRS include
LIBRARIES mo_tracker
CATKIN_DEPENDS roscpp std_msgs geometry_msgs message_runtime tf
DEPENDS ${FLTK_LIBRARIES}
)
add_library(mo_tracker STATIC
src/CascadedCoords.cpp
src/CascadedVec.cpp
src/ColorCout.cpp
src/Coordinates.cpp
src/CvLRFViewer.cpp
# src/LibSVM.cpp
src/LMS100Source.cpp
src/LRFSensor.cpp
src/LRFSource.cpp
src/MatrixFuncs.cpp
src/mmtimer.cpp
src/MOTracker.cpp
src/MOTrackerFramework.cpp
src/MovingObject.cpp
src/NHSensorFromFile.cpp
src/NHSensorManager.cpp
src/NHUtil.cpp
src/observer.cpp
src/PolarVec.cpp
src/PolygonalRegion.cpp
src/SensorManagerGrabber.cpp
src/SerialControlUnix.cpp
src/SocketUnix.cpp
# src/svm.cpp
src/TrackerConfig.cpp
src/TrackerLogger.cpp
src/URGSource.cpp
)
add_executable(mo_tracker_node
src/FLTKPresenter.cpp
src/GridViewer.cpp
src/JPDAEllipseFilter.cpp
src/JPDAFilter.cpp
src/JPDARectangleFilter.cpp
src/JPDATracker.cpp
src/main.cpp
src/ROSMessageSender.cpp
src/ROSGrabber.cpp
src/SimpleClassification.cpp
src/SJPDATrackerConfig.cpp
# src/SVMDataProcessing.cpp
src/TrackInitialization.cpp
src/TrackInitializationPassThrough.cpp
src/TrackInitializationUsingGrid.cpp
src/TrackInitializationUsingPolarGrid.cpp
)
target_link_libraries(mo_tracker_node mo_tracker ${FLTK_LIBRARIES} ${Boost_LIBRARIES} ${OpenCV_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(mo_tracker_node mo_tracker mo_tracker_generate_messages_cpp)
add_executable(tracker_convertor src/tracker_convertor.cpp)
target_link_libraries(tracker_convertor ${catkin_LIBRARIES})
add_dependencies(tracker_convertor mo_tracker_generate_messages_cpp)
add_executable(obstacle_box_array_visualizer src/obstacle_box_array_visualizer.cpp)
target_link_libraries(obstacle_box_array_visualizer ${catkin_LIBRARIES})
add_dependencies(obstacle_box_array_visualizer mo_tracker_generate_messages_cpp)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS mo_tracker mo_tracker_node
# 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_mo_tracker.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)