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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(foveated_stereo_ros)
find_package(PkgConfig)
pkg_check_modules(BFL REQUIRED orocos-bfl)
include_directories(${BFL_INCLUDE_DIRS})
link_directories(${BFL_LIBRARY_DIRS})
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
cv_bridge
geometry_msgs
message_filters
roscpp
sensor_msgs
std_msgs
tf
image_transport
pcl_ros
#rviz_visual_tools
tf_conversions
message_generation
nodelet
actionlib_msgs
moveit_core
moveit_ros_planning
moveit_ros_planning_interface
vizzy_msgs
pose_cov_ops
)
find_package(PCL)
find_package(OpenCV REQUIRED)
#find_package(CUDA)
add_compile_options(-std=c++11)
add_message_files(
FILES
Covariance.msg
Information.msg
PointClouds.msg
StereoData.msg
EgoData.msg
)
generate_messages(
DEPENDENCIES
std_msgs
sensor_msgs
geometry_msgs
actionlib_msgs
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES foveated_stereo_ros
# CATKIN_DEPENDS cv_bridge geometry_msgs message_filters roscpp sensor_msgs std_msgs tf
# DEPENDS system_lib
CATKIN_DEPENDS message_runtime
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
#${CUDA_INCLUDE_DIRS}
)
## foveated stereo lib
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/lib/foveated_stereo)
include_directories(lib/foveated_stereo/src)
####################
# NODE EXECUTABLES #
####################
## Declare a cpp executable
add_executable(conventional_stereo_ros_node src/ConventionalStereoRos.cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(conventional_stereo_ros_node
${PCL_LIBRARIES}
${catkin_LIBRARIES}
foveated_stereo_lib
${OpenCV_LIBRARIES}
)
add_dependencies(conventional_stereo_ros_node foveated_stereo_ros_gencpp)
## Declare a cpp executable
add_executable(peripheral_stereo_ros_node src/PeripheralStereoRos.cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(peripheral_stereo_ros_node
${PCL_LIBRARIES}
${catkin_LIBRARIES}
foveated_stereo_lib
${OpenCV_LIBRARIES}
)
add_dependencies(peripheral_stereo_ros_node foveated_stereo_ros_gencpp)
## Declare a cpp executable
add_executable(peripheral_foveal_stereo_ros_node src/PeripheralFovealStereoRos.cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(peripheral_foveal_stereo_ros_node
${PCL_LIBRARIES}
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
foveated_stereo_lib
)
add_dependencies(peripheral_foveal_stereo_ros_node foveated_stereo_ros_gencpp)
## Declare a cpp executable
add_executable(ego_sphere_manager_ros_node src/EgoSphereManagerRos.cpp src/DecisionMaking.cpp src/ExpectedImprovement.cpp src/ProbabilityOfImprovement.cpp src/UpperConfidenceBound.cpp src/AcquisitionFunction.cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(ego_sphere_manager_ros_node
${PCL_LIBRARIES}
${catkin_LIBRARIES}
foveated_stereo_lib
${OpenCV_LIBRARIES}
)
add_dependencies(ego_sphere_manager_ros_node foveated_stereo_ros_gencpp)
add_executable(teste src/teste.cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(teste
${PCL_LIBRARIES}
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
)
#####################
# NODELET LIBRARIES #
#####################
# Nodelet library
add_library(conventional_stereo_ros_nodelet src/ConventionalStereoRos.cpp src/nodelets/ConventionalStereoRosNodelet.cpp)
target_link_libraries(conventional_stereo_ros_nodelet
${PCL_LIBRARIES}
${catkin_LIBRARIES}
foveated_stereo_lib
${OpenCV_LIBRARIES})
install(TARGETS conventional_stereo_ros_nodelet
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
# Nodelet library
add_library(peripheral_stereo_ros_nodelet src/PeripheralStereoRos.cpp src/nodelets/PeripheralStereoRosNodelet.cpp)
target_link_libraries(peripheral_stereo_ros_nodelet
${PCL_LIBRARIES}
${catkin_LIBRARIES}
foveated_stereo_lib
${OpenCV_LIBRARIES})
add_dependencies(peripheral_stereo_ros_nodelet foveated_stereo_ros_gencpp)
install(TARGETS peripheral_stereo_ros_nodelet
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
# Nodelet library
add_library(peripheral_foveal_stereo_ros_nodelet src/PeripheralStereoRos.cpp src/nodelets/PeripheralFovealStereoRosNodelet.cpp)
target_link_libraries(peripheral_foveal_stereo_ros_nodelet
${PCL_LIBRARIES}
${catkin_LIBRARIES}
foveated_stereo_lib
${OpenCV_LIBRARIES})
add_dependencies(peripheral_foveal_stereo_ros_nodelet foveated_stereo_ros_gencpp)
install(TARGETS peripheral_foveal_stereo_ros_nodelet
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
# Nodelet library
add_library(ego_sphere_manager_ros_nodelet src/EgoSphereManagerRos.cpp src/DecisionMaking.cpp src/nodelets/EgoSphereManagerRosNodelet.cpp)
target_link_libraries(ego_sphere_manager_ros_nodelet
${PCL_LIBRARIES}
${catkin_LIBRARIES}
foveated_stereo_lib
${OpenCV_LIBRARIES})
add_dependencies(ego_sphere_manager_ros_nodelet foveated_stereo_ros_gencpp)
install(TARGETS ego_sphere_manager_ros_nodelet
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(FILES foveated_stereo_nodelets.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#add_executable(tracker_test2 src/tracker_test/tracker.cpp src/tracker_test/nonlinearanalyticconditionalgaussianodo.cpp src/tracker_test/tracker_node.cpp)
#target_link_libraries(tracker_test2 ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${BFL_LIBRARIES})
#add_dependencies(tracker_test2 foveated_stereo_ros_generate_messages_cpp)
#add_library(3D_point_estimation_ekf src/bayesian_filtering/customparticlefilter.cpp src/bayesian_filtering/nonlinearanalyticconditionalgaussian3D.cpp src/bayesian_filtering/nonlinearsystempdf.cpp src/bayesian_filtering/nonlinearmeasurementpdf.cpp)
#add_executable(tracker_test src/bayesian_filtering/test/test_nonlinear_kalman.cpp src/bayesian_filtering/test/mobile_robot.cpp)
#target_link_libraries(tracker_test 3D_point_estimation_ekf ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${BFL_LIBRARIES})
#add_executable(tracker_node src/bayesian_filtering/test/BayesianFilterNode.cpp)
#target_link_libraries(tracker_node 3D_point_estimation_ekf ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${BFL_LIBRARIES})