Moved all files; moved CMakeLists to Wolf's root

CMakeLists.txt

@@ -79,8 +79,628 @@ if(BUILD_TESTS)
     enable_testing()
 endif()
 
-ADD_SUBDIRECTORY(src)
+#+START_SRC --------------------------------------------------------------------------------------------------------------------------------
+#Start WOLF build
+MESSAGE("Starting WOLF CMakeLists ...")
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
+#CMAKE modules
+
+SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
+MESSAGE(STATUS ${CMAKE_MODULE_PATH})
+
+# Some wolf compilation options
+
+IF((CMAKE_BUILD_TYPE MATCHES DEBUG) OR (CMAKE_BUILD_TYPE MATCHES debug) OR (CMAKE_BUILD_TYPE MATCHES Debug))
+  set(_WOLF_DEBUG true)
+ENDIF()
+
+option(_WOLF_TRACE "Enable wolf tracing macro" ON)
+
+option(BUILD_EXAMPLES "Build examples" OFF)
+set(BUILD_TESTS true)
+
+# Does this has any other interest
+# but for the examples ?
+# yes, for the tests !
+IF(BUILD_EXAMPLES OR BUILD_TESTS)
+  set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
+ENDIF(BUILD_EXAMPLES OR BUILD_TESTS)
+
+
+#find dependencies.
+
+FIND_PACKAGE(Eigen3 3.2.92 REQUIRED)
+
+FIND_PACKAGE(Threads REQUIRED)
+
+FIND_PACKAGE(Ceres QUIET) #Ceres is not required
+IF(Ceres_FOUND)
+    MESSAGE("Ceres Library FOUND: Ceres related sources will be built.")
+ENDIF(Ceres_FOUND)
+
+FIND_PACKAGE(faramotics QUIET) #faramotics is not required
+IF(faramotics_FOUND)
+	FIND_PACKAGE(GLUT REQUIRED)
+	FIND_PACKAGE(pose_state_time REQUIRED)
+    MESSAGE("Faramotics Library FOUND: Faramotics related sources will be built.")
+ENDIF(faramotics_FOUND)
+
+FIND_PACKAGE(laser_scan_utils QUIET) #laser_scan_utils is not required
+IF(laser_scan_utils_FOUND)
+    MESSAGE("laser_scan_utils Library FOUND: laser_scan_utils related sources will be built.")
+ENDIF(laser_scan_utils_FOUND)
+
+FIND_PACKAGE(raw_gps_utils QUIET) #raw_gps_utils is not required
+IF(raw_gps_utils_FOUND)
+    MESSAGE("raw_gps_utils Library FOUND: raw_gps_utils related sources will be built.")
+ENDIF(raw_gps_utils_FOUND)
+
+# Vision Utils
+FIND_PACKAGE(vision_utils QUIET)
+IF (vision_utils_FOUND)
+	MESSAGE("vision_utils Library FOUND: vision related sources will be built.")
+	SET(PRINT_INFO_VU false)
+	FIND_PACKAGE(OpenCV QUIET)
+ENDIF(vision_utils_FOUND)
+
+# Cereal
+FIND_PACKAGE(cereal QUIET)
+IF(cereal_FOUND)
+    MESSAGE("cereal Library FOUND: cereal related sources will be built.")
+ENDIF(cereal_FOUND)
+
+# YAML with yaml-cpp
+INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindYamlCpp.cmake)
+IF(YAMLCPP_FOUND)
+    MESSAGE("yaml-cpp Library FOUND: yaml-cpp related sources will be built.")
+ELSEIF(YAMLCPP_FOUND)
+    MESSAGE("yaml-cpp Library NOT FOUND!")
+ENDIF(YAMLCPP_FOUND)
+
+#GLOG
+INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindGlog.cmake)
+IF(GLOG_FOUND)
+    MESSAGE("glog Library FOUND: glog related sources will be built.")
+    MESSAGE(STATUS ${GLOG_INCLUDE_DIR})
+    MESSAGE(STATUS ${GLOG_LIBRARY})
+ELSEIF(GLOG_FOUND)
+    MESSAGE("glog Library NOT FOUND!")
+ENDIF(GLOG_FOUND)
+
+# SuiteSparse doesn't have find*.cmake:
+FIND_PATH(
+    Suitesparse_INCLUDE_DIRS
+    NAMES SuiteSparse_config.h
+    PATHS /usr/include/suitesparse /usr/local/include/suitesparse)
+MESSAGE("Found suitesparse_INCLUDE_DIRS:" ${Suitesparse_INCLUDE_DIRS})
+
+IF(Suitesparse_INCLUDE_DIRS)
+   SET(Suitesparse_FOUND TRUE)
+   MESSAGE("Suitesparse FOUND: wolf_solver will be built.")
+ELSE (Suitesparse_INCLUDE_DIRS)
+   SET(Suitesparse_FOUND FALSE)
+   MESSAGE(FATAL_ERROR "Suitesparse NOT FOUND")
+ENDIF (Suitesparse_INCLUDE_DIRS)
+
+# Define the directory where will be the configured config.h
+SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/internal)
+
+# Create the specified output directory if it does not exist.
+IF(NOT EXISTS "${WOLF_CONFIG_DIR}")
+  message(STATUS "Creating config output directory: ${WOLF_CONFIG_DIR}")
+  file(MAKE_DIRECTORY "${WOLF_CONFIG_DIR}")
+ENDIF()
+IF(EXISTS "${WOLF_CONFIG_DIR}" AND NOT IS_DIRECTORY "${WOLF_CONFIG_DIR}")
+  message(FATAL_ERROR "Bug: Specified CONFIG_DIR: "
+    "${WOLF_CONFIG_DIR} exists, but is not a directory.")
+ENDIF()
+# Configure config.h
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_DIR}/config.h")
+# include spdlog (logging library)
+FIND_PATH(SPDLOG_INCLUDE_DIR spdlog.h /usr/local/include/spdlog /usr/include/spdlog)
+IF (SPDLOG_INCLUDE_DIR)
+  INCLUDE_DIRECTORIES(${SPDLOG_INCLUDE_DIR})
+  MESSAGE(STATUS "Found spdlog: ${SPDLOG_INCLUDE_DIR}")
+ELSE (SPDLOG_INCLUDE_DIR)
+ MESSAGE(FATAL_ERROR "Could not find spdlog")
+ENDIF (SPDLOG_INCLUDE_DIR)  
+  
+INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
+
+IF(Ceres_FOUND)
+    INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
+ENDIF(Ceres_FOUND)
+
+IF(faramotics_FOUND)
+    INCLUDE_DIRECTORIES(${faramotics_INCLUDE_DIRS})
+ENDIF(faramotics_FOUND)
+
+IF(laser_scan_utils_FOUND)
+    INCLUDE_DIRECTORIES(${laser_scan_utils_INCLUDE_DIRS})
+ENDIF(laser_scan_utils_FOUND)
+
+IF(raw_gps_utils_FOUND)
+    INCLUDE_DIRECTORIES(${raw_gps_utils_INCLUDE_DIRS})
+ENDIF(raw_gps_utils_FOUND)
+
+IF(vision_utils_FOUND)
+	INCLUDE_DIRECTORIES(${vision_utils_INCLUDE_DIR})
+	INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS})
+ENDIF(vision_utils_FOUND)
+
+# cereal
+IF(cereal_FOUND)
+    INCLUDE_DIRECTORIES(${cereal_INCLUDE_DIRS})
+ENDIF(cereal_FOUND)
+
+IF(Suitesparse_FOUND)
+    INCLUDE_DIRECTORIES(${Suitesparse_INCLUDE_DIRS})
+ENDIF(Suitesparse_FOUND)
+
+IF(YAMLCPP_FOUND)
+    INCLUDE_DIRECTORIES(${YAMLCPP_INCLUDE_DIR})
+ENDIF(YAMLCPP_FOUND)
+
+IF(GLOG_FOUND)
+INCLUDE_DIRECTORIES(${GLOG_INCLUDE_DIR})
+ENDIF(GLOG_FOUND)
+
+#HEADERS
+
+SET(HDRS_BASE
+capture/capture_motion.h
+    eigen_assert.h
+    eigen_predicates.h
+landmark/landmark_match.h
+    make_unique.h
+    pinhole_tools.h
+processor/processor_capture_holder.h
+processor/processor_tracker_landmark.h
+    )
+SET(HDRS
+capture/capture_motion.h
+capture/capture_GPS_fix.h
+capture/capture_IMU.h
+capture/capture_odom_2D.h
+capture/capture_odom_3D.h
+constraint/constraint_block_absolute.h
+constraint/constraint_container.h
+constraint/constraint_corner_2D.h
+constraint/constraint_AHP.h
+constraint/constraint_epipolar.h
+constraint/constraint_IMU.h
+constraint/constraint_fix_bias.h
+constraint/constraint_GPS_2D.h
+constraint/constraint_GPS_pseudorange_3D.h
+constraint/constraint_GPS_pseudorange_2D.h
+constraint/constraint_odom_2D.h
+constraint/constraint_odom_2D_analytic.h
+constraint/constraint_odom_3D.h
+constraint/constraint_point_2D.h
+constraint/constraint_point_to_line_2D.h
+constraint/constraint_pose_2D.h
+constraint/constraint_pose_3D.h
+constraint/constraint_quaternion_absolute.h
+constraint/constraint_relative_2D_analytic.h
+    temp/diff_drive_tools.h
+    temp/diff_drive_tools.hpp
+feature/feature_corner_2D.h
+feature/feature_GPS_fix.h
+feature/feature_GPS_pseudorange.h
+feature/feature_IMU.h
+feature/feature_odom_2D.h
+feature/feature_polyline_2D.h
+    IMU_tools.h
+landmark/landmark_corner_2D.h
+landmark/landmark_container.h
+landmark/landmark_line_2D.h
+landmark/landmark_polyline_2D.h
+    local_parametrization_polyline_extreme.h
+processor/processor_frame_nearest_neighbor_filter.h
+processor/processor_IMU.h
+    test/processor_IMU_UnitTester.h
+processor/processor_odom_2D.h
+processor/processor_odom_3D.h
+processor/processor_tracker_feature_dummy.h
+processor/processor_tracker_landmark_dummy.h
+sensor/sensor_camera.h
+sensor/sensor_GPS.h
+sensor/sensor_GPS_fix.h
+sensor/sensor_IMU.h
+sensor/sensor_odom_2D.h
+sensor/sensor_odom_3D.h
+    )
+  SET(HDRS_CAPTURE
+capture/capture_GPS_fix.h
+capture/capture_IMU.h
+capture/capture_odom_2D.h
+capture/capture_odom_3D.h
+capture/capture_velocity.h
+capture/capture_wheel_joint_position.h
+    )
+  SET(HDRS_CONSTRAINT
+constraint/constraint_autodiff_trifocal.h
+constraint/constraint_autodiff_distance_3D.h
+constraint/constraint_AHP.h
+constraint/constraint_block_absolute.h
+constraint/constraint_container.h
+constraint/constraint_corner_2D.h
+constraint/constraint_diff_drive.h
+constraint/constraint_epipolar.h
+constraint/constraint_IMU.h
+constraint/constraint_fix_bias.h
+constraint/constraint_GPS_2D.h
+constraint/constraint_GPS_pseudorange_3D.h
+constraint/constraint_GPS_pseudorange_2D.h
+constraint/constraint_odom_2D.h
+constraint/constraint_odom_2D_analytic.h
+constraint/constraint_odom_3D.h
+constraint/constraint_point_2D.h
+constraint/constraint_point_to_line_2D.h
+constraint/constraint_pose_2D.h
+constraint/constraint_pose_3D.h
+constraint/constraint_quaternion_absolute.h
+constraint/constraint_relative_2D_analytic.h
+    )
+  SET(HDRS_FEATURE
+feature/feature_corner_2D.h
+feature/feature_diff_drive.h
+feature/feature_GPS_fix.h
+feature/feature_GPS_pseudorange.h
+feature/feature_IMU.h
+feature/feature_odom_2D.h
+feature/feature_polyline_2D.h
+    )
+  SET(HDRS_LANDMARK
+landmark/landmark_match.h
+landmark/landmark_corner_2D.h
+landmark/landmark_container.h
+landmark/landmark_line_2D.h
+landmark/landmark_polyline_2D.h
+    )
+  SET(HDRS_PROCESSOR
+processor/processor_capture_holder.h
+processor/processor_diff_drive.h
+processor/processor_frame_nearest_neighbor_filter.h
+processor/processor_IMU.h
+processor/processor_odom_2D.h
+processor/processor_odom_3D.h
+processor/processor_tracker_feature_dummy.h
+processor/processor_tracker_landmark.h
+processor/processor_tracker_landmark_dummy.h
+    )
+  SET(HDRS_SENSOR
+sensor/sensor_camera.h
+sensor/sensor_diff_drive.h
+sensor/sensor_GPS.h
+sensor/sensor_GPS_fix.h
+sensor/sensor_IMU.h
+sensor/sensor_odom_2D.h
+sensor/sensor_odom_3D.h
+    )
+SET(HDRS_SOLVER
+include/base/solver/solver_manager.h
+)
+# [Add generic derived header before this line]
+
+SET(HDRS_DTASSC
+    data_association/matrix.h
+    data_association/association_solver.h
+    data_association/association_node.h
+    data_association/association_tree.h
+    data_association/association_nnls.h
+    )
+
+SET(HDRS_CORE 
+core/capture_base.h
+core/capture_buffer.h
+core/capture_pose.h
+core/capture_void.h
+core/constraint_analytic.h
+core/constraint_autodiff.h
+core/constraint_base.h
+core/factory.h
+core/feature_base.h
+core/feature_match.h
+core/feature_pose.h
+core/frame_base.h
+core/hardware_base.h
+core/landmark_base.h
+core/local_parametrization_angle.h
+core/local_parametrization_base.h
+core/local_parametrization_homogeneous.h
+core/local_parametrization_quaternion.h
+core/logging.h
+core/map_base.h
+core/motion_buffer.h
+core/node_base.h
+core/problem.h
+core/processor_base.h
+core/factory.h
+core/processor_loopclosure_base.h
+core/processor_motion.h
+core/processor_tracker_feature.h
+core/processor_tracker.h
+core/rotations.h
+core/sensor_base.h
+core/factory.h
+core/singleton.h
+core/state_angle.h
+core/state_block.h
+core/state_homogeneous_3D.h
+core/state_quaternion.h
+core/three_D_tools.h
+core/time_stamp.h
+core/track_matrix.h
+core/trajectory_base.h
+core/wolf.h
+  )
+
+#SOURCES
+SET(SRCS_CORE 
+core/capture_base.cpp
+core/capture_pose.cpp
+core/capture_void.cpp
+core/constraint_analytic.cpp
+core/constraint_base.cpp
+core/feature_base.cpp
+core/feature_pose.cpp
+core/frame_base.cpp
+core/hardware_base.cpp
+core/landmark_base.cpp
+core/local_parametrization_base.cpp
+core/local_parametrization_homogeneous.cpp
+core/local_parametrization_quaternion.cpp
+core/map_base.cpp
+core/motion_buffer.cpp
+core/node_base.cpp
+core/problem.cpp
+core/processor_base.cpp
+core/processor_loopclosure_base.cpp
+core/processor_motion.cpp
+core/processor_tracker.cpp
+core/processor_tracker_feature.cpp
+core/sensor_base.cpp
+core/state_block.cpp
+core/time_stamp.cpp
+core/track_matrix.cpp
+core/trajectory_base.cpp
+  )
+
+SET(SRCS_BASE
+capture/capture_motion.cpp
+processor/processor_capture_holder.cpp
+processor/processor_tracker_landmark.cpp
+    )
+
+SET(SRCS
+  local_parametrization_polyline_extreme.cpp
+  test/processor_IMU_UnitTester.cpp
+  )
+  SET(SRCS_CAPTURE
+capture/capture_GPS_fix.cpp
+capture/capture_IMU.cpp
+capture/capture_odom_2D.cpp
+capture/capture_odom_3D.cpp
+capture/capture_velocity.cpp
+capture/capture_wheel_joint_position.cpp
+    )
+  SET(SRCS_FEATURE
+feature/feature_corner_2D.cpp
+feature/feature_diff_drive.cpp
+feature/feature_GPS_fix.cpp
+feature/feature_GPS_pseudorange.cpp
+feature/feature_IMU.cpp
+feature/feature_odom_2D.cpp
+feature/feature_polyline_2D.cpp
+    )
+  SET(SRCS_LANDMARK
+landmark/landmark_corner_2D.cpp
+landmark/landmark_container.cpp
+landmark/landmark_line_2D.cpp
+landmark/landmark_polyline_2D.cpp
+    )
+  SET(SRCS_PROCESSOR
+processor/processor_frame_nearest_neighbor_filter.cpp
+processor/processor_diff_drive.cpp
+processor/processor_IMU.cpp
+processor/processor_odom_2D.cpp
+processor/processor_odom_3D.cpp
+processor/processor_tracker_feature_dummy.cpp
+processor/processor_tracker_landmark_dummy.cpp
+    )
+  SET(SRCS_SENSOR
+sensor/sensor_camera.cpp
+sensor/sensor_diff_drive.cpp
+sensor/sensor_GPS.cpp
+sensor/sensor_GPS_fix.cpp
+sensor/sensor_IMU.cpp
+sensor/sensor_odom_2D.cpp
+sensor/sensor_odom_3D.cpp
+    )
+SET(SRCS_DTASSC
+    data_association/association_solver.cpp
+    data_association/association_node.cpp
+    data_association/association_tree.cpp
+    data_association/association_nnls.cpp
+    )
+SET(SRCS_SOLVER
+src/solver/solver_manager.cpp
+)
+#OPTIONALS
+#optional HDRS and SRCS
+IF (Ceres_FOUND)
+    SET(HDRS_WRAPPER
+        ceres_wrapper/sparse_utils.h
+        #ceres_wrapper/solver_manager.h
+        ceres_wrapper/ceres_manager.h
+        #ceres_wrapper/qr_manager.h
+        ceres_wrapper/cost_function_wrapper.h
+        ceres_wrapper/create_numeric_diff_cost_function.h
+        ceres_wrapper/local_parametrization_wrapper.h 
+        )
+    SET(SRCS_WRAPPER
+        #ceres_wrapper/solver_manager.cpp
+        ceres_wrapper/ceres_manager.cpp
+        #ceres_wrapper/qr_manager.cpp
+        ceres_wrapper/local_parametrization_wrapper.cpp 
+        )
+ELSE(Ceres_FOUND)
+    SET(HDRS_WRAPPER)
+    SET(SRCS_WRAPPER)
+ENDIF(Ceres_FOUND)
+
+IF (laser_scan_utils_FOUND)
+    SET(HDRS ${HDRS}
+capture/capture_laser_2D.h
+sensor/sensor_laser_2D.h
+processor/processor_tracker_feature_corner.h
+processor/processor_tracker_landmark_corner.h
+processor/processor_tracker_landmark_polyline.h
+        )
+    SET(SRCS ${SRCS}
+capture/capture_laser_2D.cpp
+sensor/sensor_laser_2D.cpp
+processor/processor_tracker_feature_corner.cpp
+processor/processor_tracker_landmark_corner.cpp
+processor/processor_tracker_landmark_polyline.cpp
+        )
+ENDIF(laser_scan_utils_FOUND)
+
+IF (raw_gps_utils_FOUND)
+    SET(HDRS ${HDRS}
+capture/capture_GPS.h
+processor/processor_GPS.h
+        )
+    SET(SRCS ${SRCS}
+capture/capture_GPS.cpp
+processor/processor_GPS.cpp
+        )
+ENDIF(raw_gps_utils_FOUND)
+
+# Vision
+IF (vision_utils_FOUND)
+    SET(HDRS ${HDRS}
+capture/capture_image.h
+feature/feature_point_image.h
+landmark/landmark_AHP.h
+processor/processor_params_image.h
+processor/processor_tracker_feature_image.h
+processor/processor_tracker_landmark_image.h
+        )
+    SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
+processor/processor_tracker_feature_trifocal.h
+    )
+  SET(HDRS_LANDMARK ${HDRS_LANDMARK}
+landmark/landmark_point_3D.h
+    )
+    SET(SRCS ${SRCS}
+capture/capture_image.cpp
+feature/feature_point_image.cpp
+landmark/landmark_AHP.cpp
+processor/processor_tracker_feature_image.cpp
+processor/processor_tracker_landmark_image.cpp
+        )
+    SET(SRCS_LANDMARK ${SRCS_LANDMARK}
+landmark/landmark_point_3D.cpp
+    )
+    SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
+processor/processor_tracker_feature_trifocal.cpp
+    )
+ENDIF(vision_utils_FOUND)
+
+#SUBDIRECTORIES
+
+ADD_SUBDIRECTORY(hello_wolf)
+
+IF (cereal_FOUND)
+  ADD_SUBDIRECTORY(serialization/cereal)
+ENDIF(cereal_FOUND)
+
+IF (Suitesparse_FOUND)
+    #DOES NOTHING?!    
+    #ADD_SUBDIRECTORY(solver_suitesparse)
+ENDIF(Suitesparse_FOUND)
+# LEAVE YAML FILES ALWAYS IN THE LAST POSITION !!
+IF(YAMLCPP_FOUND)
+    # headers
+    SET(HDRS ${HDRS}
+        yaml/yaml_conversion.h
+        )
+
+    # sources
+    SET(SRCS ${SRCS}
+        yaml/processor_odom_3D_yaml.cpp
+        yaml/processor_IMU_yaml.cpp
+        yaml/sensor_camera_yaml.cpp
+        yaml/sensor_odom_3D_yaml.cpp
+        yaml/sensor_IMU_yaml.cpp
+        )
+    IF(laser_scan_utils_FOUND)
+        SET(SRCS ${SRCS}
+            yaml/sensor_laser_2D_yaml.cpp
+            )
+    ENDIF(laser_scan_utils_FOUND)
+    IF(vision_utils_FOUND)
+        SET(SRCS ${SRCS}
+        	yaml/processor_image_yaml.cpp
+        	yaml/processor_tracker_feature_trifocal_yaml.cpp
+            )
+    ENDIF(vision_utils_FOUND)
+ENDIF(YAMLCPP_FOUND)
+
+# create the shared library
+add_library(${PROJECT_NAME}_core SHARED
+                 ${SRCS_CORE}
+                 ${SRCS_BASE} 
+                )
+ADD_LIBRARY(${PROJECT_NAME} 
+            SHARED 
+            ${SRCS_BASE} 
+            ${SRCS}
+            ${SRCS_CAPTURE}
+            ${SRCS_CONSTRAINT}
+            ${SRCS_FEATURE}
+            ${SRCS_LANDMARK}
+            ${SRCS_PROCESSOR}
+            ${SRCS_SENSOR}
+            #${SRCS_DTASSC} 
+            ${SRCS_SOLVER}
+            ${SRCS_WRAPPER}
+            )
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
+
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${PROJECT_NAME}_core)
+#Link the created libraries
+#=============================================================
+IF (Ceres_FOUND)
+    TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CERES_LIBRARIES})
+ENDIF(Ceres_FOUND)
+
+IF (laser_scan_utils_FOUND)
+    TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${laser_scan_utils_LIBRARY})
+ENDIF (laser_scan_utils_FOUND)
+
+IF (raw_gps_utils_FOUND)
+    TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${raw_gps_utils_LIBRARY})
+ENDIF (raw_gps_utils_FOUND)
+
+IF (OPENCV_FOUND)
+   	TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS})
+	IF (vision_utils_FOUND)
+    	TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${vision_utils_LIBRARY})
+	ENDIF (vision_utils_FOUND)
+ENDIF (OPENCV_FOUND)
+
+IF (YAMLCPP_FOUND)
+    TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${YAMLCPP_LIBRARY})
+ENDIF (YAMLCPP_FOUND)
+
+IF (GLOG_FOUND)
+    TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${GLOG_LIBRARY})
+ENDIF (GLOG_FOUND)
+#-END_SRC --------------------------------------------------------------------------------------------------------------------------------
 FIND_PACKAGE(Doxygen)
 
 FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)