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labrobotica
algorithms
Falkolib
Commits
c23065b0
Commit
c23065b0
authored
Apr 25, 2022
by
Joan Vallvé Navarro
Browse files
Merge branch 'devel' into 'main'
Devel See merge request
!2
parents
4f15d722
6d124bc9
Changes
2
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README.md
View file @
c23065b0
# FALKOLib - Fast Adaptive Laser Keypoint Orientation-invariant
#### Copyright (C) 2016 Fabjan Kallasi and Dario Lodi Rizzini.
...
...
@@ -61,34 +60,38 @@ which has been included in folder EXTERNAL.
HOW TO COMPILE
-------------------------------------------------
Let ${falkolib_ROOT} be the install directory of your local copy
Let
`
${falkolib_ROOT}
`
be the install directory of your local copy
of library falkolib.
The following standard commands are required to compile it:
-
cd ${falkolib_ROOT}
-
mkdir build
-
cd build
-
cmake ..
-
make
```
sh
cd
${
falkolib_ROOT
}
mkdir
build
cd
build
cmake ..
make
```
You can also install the library into a system directory.
To change the install directory you must set cmake environment
variable ${CMAKE_INSTALL_PREFIX} (e.g. using command
"
ccmake ..
"
before calling
"
cmake ..
"
).
variable
`
${CMAKE_INSTALL_PREFIX}
`
(e.g. using command
`
ccmake ..
`
before calling
`
cmake ..
`
).
Its default value on UNIX-like/Linux systems is "/usr/local".
After compiling library falkolib, run the command:
-
sudo make install
```
sh
sudo
make
install
```
The command
"
sudo
"
is required only if ${CMAKE_INSTALL_PREFIX}
The command
`
sudo
`
is required only if
`
${CMAKE_INSTALL_PREFIX}
`
is a system diretory managed by administrator user root.
Such command copies:
-
header files of ${falkolib_ROOT}/include/falkolib to
${CMAKE_INSTALL_PREFIX}/include/falkolib/
-
library files ${falkolib_ROOT}/lib/libfalkolib.a to
${CMAKE_INSTALL_PREFIX}/lib/
-
cmake script ${falkolib_ROOT}/cmake_modules/falkolibConfig.cmake to
${CMAKE_INSTALL_PREFIX}/share/falkolib/
-
header files of
`
${falkolib_ROOT}/include/falkolib
`
to
`
${CMAKE_INSTALL_PREFIX}/include/falkolib/
`
-
library files
`
${falkolib_ROOT}/lib/libfalkolib.a
`
to
`
${CMAKE_INSTALL_PREFIX}/lib/
`
-
cmake script
`
${falkolib_ROOT}/cmake_modules/falkolibConfig.cmake
`
to
`
${CMAKE_INSTALL_PREFIX}/share/falkolib/
`
HOW TO USE LIBRARY falkolib IN YOUR PROJECT
...
...
@@ -99,28 +102,28 @@ then it is straighforward to use it in your projects.
You needs to add the following lines to your project as in this example:
> CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
> PROJECT(foobar)
>
> find_package(falkolib REQUIRED)
> message(STATUS "falkolib_FOUND ${falkolib_FOUND}")
> message(STATUS "falkolib_INCLUDE_DIRS ${falkolib_INCLUDE_DIRS}")
> message(STATUS "falkolib_LIBRARY_DIRS ${falkolib_LIBRARY_DIRS}")
> message(STATUS "falkolib_LIBRARIES ${falkolib_LIBRARIES}")
>
> if(${falkolib_FOUND})
> include_directories(${falkolib_INCLUDE_DIRS})
> link_directories(${falkolib_LIBRARY_DIRS})
> endif()
>
> add_executable(foobar foobar.cpp)
> target_link_libraries(foobar ${falkolib_LIBRARIES})
```
cmake
CMAKE_MINIMUM_REQUIRED
(
VERSION 2.8
)
PROJECT
(
foobar
)
The above example uses the variables defined in falkolibConfig.cmake:
find_package
(
falkolib REQUIRED
)
message
(
STATUS
"falkolib_FOUND
${
falkolib_FOUND
}
"
)
message
(
STATUS
"falkolib_INCLUDE_DIRS
${
falkolib_INCLUDE_DIRS
}
"
)
message
(
STATUS
"falkolib_LIBRARY_DIRS
${
falkolib_LIBRARY_DIRS
}
"
)
message
(
STATUS
"falkolib_LIBRARIES
${
falkolib_LIBRARIES
}
"
)
if
(
${
falkolib_FOUND
}
)
include_directories
(
${
falkolib_INCLUDE_DIRS
}
)
link_directories
(
${
falkolib_LIBRARY_DIRS
}
)
endif
()
-
falkolib_FOUND - system has falkolib module
-
falkolib_INCLUDE_DIRS - the falkolib include directories
-
falkolib_LIBRARY_DIRS - the falkolib library directories
-
falkolib_LIBRARIES - link these to use falkolib
add_executable
(
foobar foobar.cpp
)
target_link_libraries
(
foobar
${
falkolib_LIBRARIES
}
)
```
The above example uses the variables defined in
`falkolibConfig.cmake`
:
-
`falkolib_FOUND`
- system has falkolib module
-
`falkolib_INCLUDE_DIRS`
- the falkolib include directories
-
`falkolib_LIBRARY_DIRS`
- the falkolib library directories
-
`falkolib_LIBRARIES`
- link these to use falkolib
cmake_modules/FindEigen3.cmake
View file @
c23065b0
...
...
@@ -53,13 +53,13 @@ macro(_eigen3_check_version)
endif
(
NOT EIGEN3_VERSION_OK
)
endmacro
(
_eigen3_check_version
)
if
(
EIGEN3_INCLUDE_DIR
)
# in cache already
_eigen3_check_version
()
set
(
EIGEN3_FOUND
${
EIGEN3_VERSION_OK
}
)
else
(
EIGEN3_INCLUDE_DIR
)
#
if (EIGEN3_INCLUDE_DIR)
#
#
# in cache already
#
_eigen3_check_version()
#
set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
#
#
else (EIGEN3_INCLUDE_DIR)
# specific additional paths for some OS
if
(
WIN32
)
...
...
@@ -83,5 +83,5 @@ else (EIGEN3_INCLUDE_DIR)
mark_as_advanced
(
EIGEN3_INCLUDE_DIR
)
endif
(
EIGEN3_INCLUDE_DIR
)
#
endif(EIGEN3_INCLUDE_DIR)
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