diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8bb400f7cc8d30766650391446fe4dbcba80ce1d..85be89be194e891243cae542f269b76ef3d9b34b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
# Pre-requisites about cmake itself
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-#THIS IS A TEST MODIFICATION
+
if(COMMAND cmake_policy)
cmake_policy(SET CMP0005 NEW)
cmake_policy(SET CMP0003 NEW)
@@ -10,27 +10,8 @@ SET(CMAKE_MACOSX_RPATH 1)
# The project name
-PROJECT(wolf)
-
-
-#string(COMPARE EQUAL "${CMAKE_BINARY_DIR}" "" result)
-#IF(result)
-# SET(CMAKE_BINARY_DIR ${CMAKE_CURRENT_SOURCE_DIR})
-#ENDIF()
-#message(STATUS "Binary path : " ${CMAKE_BINARY_DIR})
-#
+PROJECT(vision)
-#SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
-#SET(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
-#
-# We'll set the install prefix only is it's empty
-# which shouldn't be the case ...
-#string(COMPARE EQUAL "${CMAKE_INSTALL_PREFIX}" "" result)
-#IF(result)
- # This path is actually default on linux
-# SET(CMAKE_INSTALL_PREFIX /usr/local)
-#ENDIF()
-#message(STATUS "Installation path : " ${CMAKE_INSTALL_PREFIX})
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
@@ -80,9 +61,7 @@ if(BUILD_TESTS)
enable_testing()
endif()
-#+START_SRC --------------------------------------------------------------------------------------------------------------------------------
-#Start WOLF build
-MESSAGE("Starting WOLF CMakeLists ...")
+MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
#CMAKE modules
@@ -100,7 +79,6 @@ option(_WOLF_TRACE "Enable wolf tracing macro" ON)
# option(BUILD_EXAMPLES "Build examples" OFF)
set(BUILD_TESTS true)
-set(BUILD_EXAMPLES true)
# Does this has any other interest
# but for the examples ?
@@ -111,48 +89,23 @@ ENDIF(BUILD_EXAMPLES OR BUILD_TESTS)
#find dependencies.
-
+# ============EXAMPLE==================
FIND_PACKAGE(Eigen3 3.2.92 REQUIRED)
FIND_PACKAGE(Threads REQUIRED)
+FIND_PACKAGE(wolf REQUIRED)
+
+FIND_PACKAGE(vision_utils REQUIRED)
+MESSAGE("vision_utils Library FOUND: vision related sources will be built.")
+SET(PRINT_INFO_VU false)
+FIND_PACKAGE(OpenCV REQUIRED)
+
FIND_PACKAGE(Ceres QUIET) #Ceres is not required
IF(Ceres_FOUND)
MESSAGE("Ceres Library FOUND: Ceres related sources will be built.")
ENDIF(Ceres_FOUND)
-FIND_PACKAGE(faramotics QUIET) #faramotics is not required
-IF(faramotics_FOUND)
- FIND_PACKAGE(GLUT REQUIRED)
- FIND_PACKAGE(pose_state_time REQUIRED)
- MESSAGE("Faramotics Library FOUND: Faramotics related sources will be built.")
-ENDIF(faramotics_FOUND)
-
-FIND_PACKAGE(laser_scan_utils QUIET) #laser_scan_utils is not required
-IF(laser_scan_utils_FOUND)
- MESSAGE("laser_scan_utils Library FOUND: laser_scan_utils related sources will be built.")
-ENDIF(laser_scan_utils_FOUND)
-
-FIND_PACKAGE(raw_gps_utils QUIET) #raw_gps_utils is not required
-IF(raw_gps_utils_FOUND)
- MESSAGE("raw_gps_utils Library FOUND: raw_gps_utils related sources will be built.")
-ENDIF(raw_gps_utils_FOUND)
-
-# Vision Utils
-FIND_PACKAGE(vision_utils QUIET)
-IF (vision_utils_FOUND)
- MESSAGE("vision_utils Library FOUND: vision related sources will be built.")
- SET(PRINT_INFO_VU false)
- FIND_PACKAGE(OpenCV QUIET)
-ENDIF(vision_utils_FOUND)
-
-# Cereal
-FIND_PACKAGE(cereal QUIET)
-IF(cereal_FOUND)
- MESSAGE("cereal Library FOUND: cereal related sources will be built.")
-ENDIF(cereal_FOUND)
-
-# YAML with yaml-cpp
INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindYamlCpp.cmake)
IF(YAMLCPP_FOUND)
MESSAGE("yaml-cpp Library FOUND: yaml-cpp related sources will be built.")
@@ -160,17 +113,6 @@ 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 ${GLOG_LIBRARY})
-ELSEIF(GLOG_FOUND)
- MESSAGE("glog Library NOT FOUND!")
-ENDIF(GLOG_FOUND)
-
-# SuiteSparse doesn't have find*.cmake:
FIND_PATH(
Suitesparse_INCLUDE_DIRS
NAMES SuiteSparse_config.h
@@ -201,550 +143,136 @@ ENDIF()
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_DIR}/config.h")
message("CONFIG DIRECTORY ${PROJECT_BINARY_DIR}")
include_directories("${PROJECT_BINARY_DIR}/conf")
-# 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: ${SPDLOG_INCLUDE_DIR}")
-ELSE (SPDLOG_INCLUDE_DIR)
- MESSAGE(FATAL_ERROR "Could not find spdlog")
-ENDIF (SPDLOG_INCLUDE_DIR)
-
+
+#INCLUDES SECTION
+# ============EXAMPLE==================
INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(${wolf_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(${vision_utils_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS})
include_directories("include")
include_directories(.)
-# include_directories("templinks")
IF(Ceres_FOUND)
INCLUDE_DIRECTORIES(${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
- include/base/diff_drive_tools.h
- include/base/diff_drive_tools.hpp
- include/base/eigen_assert.h
- include/base/eigen_predicates.h
- include/base/factory.h
- include/base/frame_base.h
- include/base/hardware_base.h
- include/base/IMU_tools.h
- include/base/local_parametrization_angle.h
- include/base/local_parametrization_base.h
- include/base/local_parametrization_homogeneous.h
- include/base/local_parametrization_polyline_extreme.h
- include/base/local_parametrization_quaternion.h
- include/base/logging.h
- include/base/make_unique.h
- include/base/map_base.h
- include/base/motion_buffer.h
- include/base/node_base.h
- include/base/pinhole_tools.h
- include/base/problem.h
- include/base/rotations.h
- include/base/singleton.h
- include/base/state_angle.h
- include/base/state_block.h
- include/base/state_homogeneous_3D.h
- include/base/state_quaternion.h
- include/base/SE3.h
- include/base/time_stamp.h
- include/base/track_matrix.h
- include/base/trajectory_base.h
- include/base/wolf.h
- include/base/IMU_tools.h
- include/base/local_parametrization_polyline_extreme.h
)
SET(HDRS_CAPTURE
- include/base/capture/capture_base.h
- include/base/capture/capture_buffer.h
- include/base/capture/capture_pose.h
- include/base/capture/capture_void.h
- include/base/capture/capture_motion.h
- include/base/capture/capture_GPS_fix.h
- include/base/capture/capture_IMU.h
- include/base/capture/capture_odom_2D.h
- include/base/capture/capture_odom_3D.h
- include/base/capture/capture_GPS_fix.h
- include/base/capture/capture_IMU.h
- include/base/capture/capture_odom_2D.h
- include/base/capture/capture_odom_3D.h
- include/base/capture/capture_velocity.h
- include/base/capture/capture_wheel_joint_position.h
+include/vision/capture/capture_image.h
)
SET(HDRS_FACTOR
- include/base/factor/factor_block_absolute.h
- include/base/factor/factor_container.h
- include/base/factor/factor_corner_2D.h
- include/base/factor/factor_AHP.h
- include/base/factor/factor_epipolar.h
- include/base/factor/factor_IMU.h
- include/base/factor/factor_fix_bias.h
- include/base/factor/factor_GPS_2D.h
- include/base/factor/factor_GPS_pseudorange_3D.h
- include/base/factor/factor_GPS_pseudorange_2D.h
- include/base/factor/factor_odom_2D.h
- include/base/factor/factor_odom_2D_analytic.h
- include/base/factor/factor_odom_3D.h
- include/base/factor/factor_point_2D.h
- include/base/factor/factor_point_to_line_2D.h
- include/base/factor/factor_pose_2D.h
- include/base/factor/factor_pose_3D.h
- include/base/factor/factor_quaternion_absolute.h
- include/base/factor/factor_relative_2D_analytic.h
- include/base/factor/factor_autodiff_trifocal.h
- include/base/factor/factor_autodiff_distance_3D.h
- include/base/factor/factor_AHP.h
- include/base/factor/factor_block_absolute.h
- include/base/factor/factor_container.h
- include/base/factor/factor_corner_2D.h
- include/base/factor/factor_diff_drive.h
- include/base/factor/factor_epipolar.h
- include/base/factor/factor_IMU.h
- include/base/factor/factor_fix_bias.h
- include/base/factor/factor_GPS_2D.h
- include/base/factor/factor_GPS_pseudorange_3D.h
- include/base/factor/factor_GPS_pseudorange_2D.h
- include/base/factor/factor_odom_2D.h
- include/base/factor/factor_odom_2D_analytic.h
- include/base/factor/factor_odom_3D.h
- include/base/factor/factor_point_2D.h
- include/base/factor/factor_point_to_line_2D.h
- include/base/factor/factor_pose_2D.h
- include/base/factor/factor_pose_3D.h
- include/base/factor/factor_quaternion_absolute.h
- include/base/factor/factor_relative_2D_analytic.h
- include/base/factor/factor_analytic.h
- include/base/factor/factor_autodiff.h
- include/base/factor/factor_base.h
+include/vision/factor/factor_autodiff_trifocal.h
+include/vision/factor/factor_AHP.h
)
SET(HDRS_FEATURE
- include/base/feature/feature_corner_2D.h
- include/base/feature/feature_GPS_fix.h
- include/base/feature/feature_GPS_pseudorange.h
- include/base/feature/feature_IMU.h
- include/base/feature/feature_odom_2D.h
- include/base/feature/feature_polyline_2D.h
- include/base/feature/feature_corner_2D.h
- include/base/feature/feature_diff_drive.h
- include/base/feature/feature_GPS_fix.h
- include/base/feature/feature_GPS_pseudorange.h
- include/base/feature/feature_IMU.h
- include/base/feature/feature_odom_2D.h
- include/base/feature/feature_polyline_2D.h
- include/base/feature/feature_base.h
- include/base/feature/feature_match.h
- include/base/feature/feature_pose.h
+include/vision/feature/feature_point_image.h
)
SET(HDRS_LANDMARK
- include/base/landmark/landmark_base.h
- include/base/landmark/landmark_match.h
- include/base/landmark/landmark_corner_2D.h
- include/base/landmark/landmark_container.h
- include/base/landmark/landmark_line_2D.h
- include/base/landmark/landmark_polyline_2D.h
- include/base/landmark/landmark_corner_2D.h
- include/base/landmark/landmark_container.h
- include/base/landmark/landmark_line_2D.h
- include/base/landmark/landmark_polyline_2D.h
+ include/vision/landmark/landmark_AHP.h
)
SET(HDRS_PROCESSOR
- include/base/processor/processor_capture_holder.h
- include/base/processor/processor_diff_drive.h
- include/base/processor/processor_frame_nearest_neighbor_filter.h
- include/base/processor/processor_IMU.h
- include/base/processor/processor_odom_2D.h
- include/base/processor/processor_odom_3D.h
- include/base/processor/processor_tracker_feature_dummy.h
- include/base/processor/processor_tracker_landmark.h
- include/base/processor/processor_tracker_landmark_dummy.h
- include/base/processor/processor_frame_nearest_neighbor_filter.h
- include/base/processor/processor_IMU.h
- include/base/processor/processor_odom_2D.h
- include/base/processor/processor_odom_3D.h
- include/base/processor/processor_tracker_feature_dummy.h
- include/base/processor/processor_tracker_landmark_dummy.h
- include/base/processor/processor_factory.h
- include/base/processor/processor_logging.h
- include/base/processor/processor_base.h
- include/base/processor/processor_factory.h
- include/base/processor/processor_loopclosure_base.h
- include/base/processor/processor_motion.h
- include/base/processor/processor_tracker_feature.h
- include/base/processor/processor_tracker.h
+include/vision/processor/processor_tracker_feature_trifocal.h
+include/vision/processor/processor_params_image.h
+include/vision/processor/processor_tracker_landmark_image.h
+include/vision/processor/processor_tracker_feature_image.h
)
SET(HDRS_SENSOR
- include/base/sensor/sensor_base.h
- include/base/sensor/sensor_camera.h
- include/base/sensor/sensor_diff_drive.h
- include/base/sensor/sensor_GPS.h
- include/base/sensor/sensor_GPS_fix.h
- include/base/sensor/sensor_IMU.h
- include/base/sensor/sensor_odom_2D.h
- include/base/sensor/sensor_odom_3D.h
- include/base/sensor/sensor_camera.h
- include/base/sensor/sensor_GPS.h
- include/base/sensor/sensor_GPS_fix.h
- include/base/sensor/sensor_IMU.h
- include/base/sensor/sensor_odom_2D.h
- include/base/sensor/sensor_odom_3D.h
- include/base/sensor/sensor_factory.h
+include/vision/sensor/sensor_camera.h
)
SET(HDRS_SOLVER
- include/base/solver/solver_manager.h
)
-# [Add generic derived header before this line]
-
SET(HDRS_DTASSC
- include/base/track_matrix.h
- include/base/association/association_solver.h
- include/base/association/association_node.h
- include/base/association/association_tree.h
- include/base/association/association_nnls.h
- )
-
-SET(HDRS_CORE
- include/base/capture/capture_base.h
- include/base/capture/capture_buffer.h
- include/base/capture/capture_pose.h
- include/base/capture/capture_void.h
- include/base/factor/factor_analytic.h
- include/base/factor/factor_autodiff.h
- include/base/factor/factor_base.h
- include/base/processor/processor_factory.h
- include/base/feature/feature_base.h
- include/base/feature/feature_match.h
- include/base/feature/feature_pose.h
- include/base/frame_base.h
- include/base/hardware_base.h
- include/base/landmark/landmark_base.h
- include/base/local_parametrization_angle.h
- include/base/local_parametrization_base.h
- include/base/local_parametrization_homogeneous.h
- include/base/local_parametrization_quaternion.h
- include/base/processor/processor_logging.h
- include/base/map_base.h
- include/base/motion_buffer.h
- include/base/node_base.h
- include/base/problem.h
- include/base/processor/processor_base.h
- include/base/processor/processor_loopclosure_base.h
- include/base/processor/processor_motion.h
- include/base/processor/processor_tracker_feature.h
- include/base/processor/processor_tracker.h
- include/base/rotations.h
- include/base/sensor/sensor_base.h
- include/base/processor/processor_factory.h
- include/base/singleton.h
- include/base/state_angle.h
- include/base/state_block.h
- include/base/state_homogeneous_3D.h
- include/base/state_quaternion.h
- include/base/SE3.h
- include/base/time_stamp.h
- include/base/track_matrix.h
- include/base/trajectory_base.h
- include/base/wolf.h
)
#SOURCES
-SET(SRCS_CORE
- src/capture/capture_base.cpp
- src/capture/capture_pose.cpp
- src/capture/capture_void.cpp
- src/factor/factor_analytic.cpp
- src/factor/factor_base.cpp
- src/feature/feature_base.cpp
- src/feature/feature_pose.cpp
- src/frame_base.cpp
- src/hardware_base.cpp
- src/landmark/landmark_base.cpp
- src/local_parametrization_base.cpp
- src/local_parametrization_homogeneous.cpp
- src/local_parametrization_quaternion.cpp
- src/map_base.cpp
- src/motion_buffer.cpp
- src/node_base.cpp
- src/problem.cpp
- src/processor/processor_base.cpp
- src/processor/processor_loopclosure_base.cpp
- src/processor/processor_motion.cpp
- src/processor/processor_tracker.cpp
- src/sensor/sensor_base.cpp
- src/state_block.cpp
- src/time_stamp.cpp
- src/track_matrix.cpp
- src/trajectory_base.cpp
- )
SET(SRCS_BASE
- src/capture/capture_motion.cpp
- src/processor/processor_capture_holder.cpp
- # examples/test_processor_tracker_landmark.cpp
- )
-
-SET(SRCS
- src/local_parametrization_polyline_extreme.cpp
- test/processor_IMU_UnitTester.cpp
)
SET(SRCS_CAPTURE
- src/capture/capture_GPS_fix.cpp
- src/capture/capture_IMU.cpp
- src/capture/capture_odom_2D.cpp
- src/capture/capture_odom_3D.cpp
- src/capture/capture_velocity.cpp
- src/capture/capture_wheel_joint_position.cpp
+src/capture/capture_image.cpp
+ )
+SET(SRCS_FACTOR
)
SET(SRCS_FEATURE
- src/feature/feature_corner_2D.cpp
- src/feature/feature_diff_drive.cpp
- src/feature/feature_GPS_fix.cpp
- src/feature/feature_GPS_pseudorange.cpp
- src/feature/feature_IMU.cpp
- src/feature/feature_odom_2D.cpp
- src/feature/feature_polyline_2D.cpp
+src/feature/feature_point_image.cpp
)
SET(SRCS_LANDMARK
- src/landmark/landmark_corner_2D.cpp
- src/landmark/landmark_container.cpp
- src/landmark/landmark_line_2D.cpp
- src/landmark/landmark_polyline_2D.cpp
+src/landmark/landmark_AHP.cpp
)
SET(SRCS_PROCESSOR
- src/processor/processor_frame_nearest_neighbor_filter.cpp
- src/processor/processor_diff_drive.cpp
- src/processor/processor_IMU.cpp
- src/processor/processor_odom_2D.cpp
- src/processor/processor_odom_3D.cpp
- src/processor/processor_tracker_feature.cpp
- src/processor/processor_tracker_feature_dummy.cpp
- src/processor/processor_tracker_landmark_dummy.cpp
- src/processor/processor_tracker_landmark.cpp
+src/processor/processor_tracker_feature_trifocal.cpp
+src/processor/processor_tracker_feature_image.cpp
+src/processor/processor_tracker_landmark_image.cpp
)
SET(SRCS_SENSOR
- src/sensor/sensor_camera.cpp
- src/sensor/sensor_diff_drive.cpp
- src/sensor/sensor_GPS.cpp
- src/sensor/sensor_GPS_fix.cpp
- src/sensor/sensor_IMU.cpp
- src/sensor/sensor_odom_2D.cpp
- src/sensor/sensor_odom_3D.cpp
+src/sensor/sensor_camera.cpp
)
SET(SRCS_DTASSC
- src/association/association_solver.cpp
- src/association/association_node.cpp
- src/association/association_tree.cpp
- src/association/association_nnls.cpp
)
SET(SRCS_SOLVER
- src/solver/solver_manager.cpp
+ )
+SET(SRCS_YAML
+src/yaml/processor_tracker_feature_trifocal_yaml.cpp
+src/yaml/sensor_camera_yaml.cpp
+src/yaml/processor_image_yaml.cpp
)
#OPTIONALS
#optional HDRS and SRCS
-IF (Ceres_FOUND)
- SET(HDRS_WRAPPER
- include/base/solver_suitesparse/sparse_utils.h
- include/base/solver/solver_manager.h
- include/base/ceres_wrapper/ceres_manager.h
- #ceres_wrapper/qr_manager.h
- include/base/ceres_wrapper/cost_function_wrapper.h
- include/base/ceres_wrapper/create_numeric_diff_cost_function.h
- include/base/ceres_wrapper/local_parametrization_wrapper.h
- )
- SET(SRCS_WRAPPER
- src/solver/solver_manager.cpp
- src/ceres_wrapper/ceres_manager.cpp
- #ceres_wrapper/qr_manager.cpp
- src/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_CAPTURE ${HDRS_CAPTURE}
- include/base/capture/capture_laser_2D.h
- )
- SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
- include/base/processor/processor_tracker_feature_corner.h
- include/base/processor/processor_tracker_landmark_corner.h
- include/base/processor/processor_tracker_landmark_polyline.h
- )
- SET(HDRS_SENSOR ${HDRS_SENSOR}
- include/base/sensor/sensor_laser_2D.h
- )
- SET(SRCS ${SRCS}
- src/sensor/sensor_laser_2D.cpp
- src/processor/processor_tracker_feature_corner.cpp
- src/processor/processor_tracker_landmark_corner.cpp
- src/processor/processor_tracker_landmark_polyline.cpp
- )
-ENDIF(laser_scan_utils_FOUND)
-
-IF (raw_gps_utils_FOUND)
- SET(HDRS_CAPTURE ${HDRS_CAPTURE}
- include/base/capture/capture_GPS.h
- )
- SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
- include/base/processor/processor_GPS.h
- )
- SET(SRCS ${SRCS}
- src/capture/capture_GPS.cpp
- src/processor/processor_GPS.cpp
- )
-ENDIF(raw_gps_utils_FOUND)
-
-# Vision
-IF (vision_utils_FOUND)
- SET(HDRS_CAPTURE ${HDRS_CAPTURE}
- include/base/capture/capture_image.h
- )
- SET(HDRS_FEATURE ${HDRS_FEATURE}
- include/base/feature/feature_point_image.h
- )
- SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
- include/base/processor/processor_tracker_feature_trifocal.h
- include/base/processor/processor_params_image.h
- include/base/processor/processor_tracker_feature_image.h
- include/base/processor/processor_tracker_landmark_image.h
- )
- SET(HDRS_LANDMARK ${HDRS_LANDMARK}
- include/base/landmark/landmark_point_3D.h
- include/base/landmark/landmark_AHP.h
- )
- SET(SRCS ${SRCS}
- src/capture/capture_image.cpp
- src/feature/feature_point_image.cpp
- )
- SET(SRCS_LANDMARK ${SRCS_LANDMARK}
- src/landmark/landmark_point_3D.cpp
- src/landmark/landmark_AHP.cpp
- )
- SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
- src/processor/processor_tracker_feature_trifocal.cpp
- src/processor/processor_tracker_feature_image.cpp
- src/processor/processor_tracker_landmark_image.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}
- include/base/yaml/yaml_conversion.h
- )
- SET(HDRS_YAML ${HDRS_YAML}
- include/base/yaml/yaml_conversion.h
- )
-
- # sources
- SET(SRCS ${SRCS}
- src/yaml/processor_odom_3D_yaml.cpp
- src/yaml/processor_IMU_yaml.cpp
- src/yaml/sensor_camera_yaml.cpp
- src/yaml/sensor_odom_3D_yaml.cpp
- src/yaml/sensor_IMU_yaml.cpp
- )
- IF(laser_scan_utils_FOUND)
- SET(SRCS ${SRCS}
- src/yaml/sensor_laser_2D_yaml.cpp
- )
- ENDIF(laser_scan_utils_FOUND)
- IF(vision_utils_FOUND)
- SET(SRCS ${SRCS}
- src/yaml/processor_image_yaml.cpp
- src/yaml/processor_tracker_feature_trifocal_yaml.cpp
- )
- ENDIF(vision_utils_FOUND)
-ENDIF(YAMLCPP_FOUND)
+# ==================EXAMPLE===============
+# IF (Ceres_FOUND)
+# SET(HDRS_WRAPPER
+# include/base/solver_suitesparse/sparse_utils.h
+# include/base/solver/solver_manager.h
+# include/base/ceres_wrapper/ceres_manager.h
+# include/base/ceres_wrapper/cost_function_wrapper.h
+# include/base/ceres_wrapper/create_numeric_diff_cost_function.h
+# include/base/ceres_wrapper/local_parametrization_wrapper.h
+# )
+# SET(SRCS_WRAPPER
+# src/solver/solver_manager.cpp
+# src/ceres_wrapper/ceres_manager.cpp
+# src/ceres_wrapper/local_parametrization_wrapper.cpp
+# )
+# ELSE(Ceres_FOUND)
+# SET(HDRS_WRAPPER)
+# SET(SRCS_WRAPPER)
+# ENDIF(Ceres_FOUND)
# create the shared library
-ADD_LIBRARY(${PROJECT_NAME}
- SHARED
- ${SRCS_BASE}
- ${SRCS_CORE}
- ${SRCS}
+ADD_LIBRARY(${PROJECT_NAME}
+ SHARED
+ ${SRCS_BASE}
${SRCS_CAPTURE}
${SRCS_FACTOR}
${SRCS_FEATURE}
${SRCS_LANDMARK}
${SRCS_PROCESSOR}
${SRCS_SENSOR}
- #${SRCS_DTASSC}
+ ${SRCS_DTASSC}
${SRCS_SOLVER}
${SRCS_WRAPPER}
+ ${SRCS_YAML}
)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${wolf_LIBRARY})
-#Link the created libraries
-#=============================================================
-IF (Ceres_FOUND)
- TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CERES_LIBRARIES})
-ENDIF(Ceres_FOUND)
-
-IF (laser_scan_utils_FOUND)
- TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${laser_scan_utils_LIBRARY})
-ENDIF (laser_scan_utils_FOUND)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS})
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${vision_utils_LIBRARY})
-IF (raw_gps_utils_FOUND)
- TARGET_LINK_LIBRARIES(${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} ${vision_utils_LIBRARY})
- ENDIF (vision_utils_FOUND)
-ENDIF (OPENCV_FOUND)
+#Link the created libraries
+#===============EXAMPLE=========================
+# IF (Ceres_FOUND)
+# TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CERES_LIBRARIES})
+# ENDIF(Ceres_FOUND)
-IF (YAMLCPP_FOUND)
- TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${YAMLCPP_LIBRARY})
-ENDIF (YAMLCPP_FOUND)
+#Build tests
+#===============EXAMPLE=========================
IF (GLOG_FOUND)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${GLOG_LIBRARY})
ENDIF (GLOG_FOUND)
@@ -755,13 +283,6 @@ IF (GLOG_FOUND)
ENDIF(BUILD_TESTS)
ENDIF (GLOG_FOUND)
-IF(BUILD_EXAMPLES)
- #Build examples
- MESSAGE("Building examples.")
- ADD_SUBDIRECTORY(src/examples)
-ENDIF(BUILD_EXAMPLES)
-
-
#install library
#=============================================================
@@ -773,48 +294,53 @@ INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets
install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME})
#install headers
INSTALL(FILES ${HDRS_BASE}
- DESTINATION include/iri-algorithms/wolf/base)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME})
INSTALL(FILES ${HDRS_DTASSC}
- DESTINATION include/iri-algorithms/wolf/base/association)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/association)
INSTALL(FILES ${HDRS_CAPTURE}
- DESTINATION include/iri-algorithms/wolf/base/capture)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/capture)
INSTALL(FILES ${HDRS_FACTOR}
- DESTINATION include/iri-algorithms/wolf/base/factor)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/factor)
INSTALL(FILES ${HDRS_FEATURE}
- DESTINATION include/iri-algorithms/wolf/base/feature)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/feature)
INSTALL(FILES ${HDRS_SENSOR}
- DESTINATION include/iri-algorithms/wolf/base/sensor)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/sensor)
INSTALL(FILES ${HDRS_PROCESSOR}
- DESTINATION include/iri-algorithms/wolf/base/processor)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/processor)
INSTALL(FILES ${HDRS_LANDMARK}
- DESTINATION include/iri-algorithms/wolf/base/landmark)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/landmark)
INSTALL(FILES ${HDRS_WRAPPER}
- DESTINATION include/iri-algorithms/wolf/base/ceres_wrapper)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/ceres_wrapper)
INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
- DESTINATION include/iri-algorithms/wolf/base/solver_suitesparse)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/solver_suitesparse)
INSTALL(FILES ${HDRS_SOLVER}
- DESTINATION include/iri-algorithms/wolf/base/solver)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/solver)
INSTALL(FILES ${HDRS_SERIALIZATION}
- DESTINATION include/iri-algorithms/wolf/base/serialization)
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/serialization)
INSTALL(FILES ${HDRS_YAML}
- DESTINATION include/iri-algorithms/wolf/base/yaml)
-INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf.cmake"
- DESTINATION "lib/cmake/${PROJECT_NAME}")
-
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME}/yaml)
+INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf${PROJECT_NAME}.cmake"
+ DESTINATION "lib/cmake/${PROJECT_NAME}")
+FILE(WRITE vision.found "")
+INSTALL(FILES vision.found
+ DESTINATION include/iri-algorithms/wolf/${PROJECT_NAME})
#install Find*.cmake
-configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/wolfConfig.cmake"
- "${CMAKE_BINARY_DIR}/wolfConfig.cmake" @ONLY)
+configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/wolf${PROJECT_NAME}Config.cmake"
+ "${CMAKE_BINARY_DIR}/wolf${PROJECT_NAME}Config.cmake" @ONLY)
+# configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf${PROJECT_NAME}.cmake"
+# "${CMAKE_BINARY_DIR}/Findwolf${PROJECT_NAME}.cmake" @ONLY)
INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
DESTINATION include/iri-algorithms/wolf/internal)
-INSTALL(FILES "${CMAKE_BINARY_DIR}/wolfConfig.cmake" DESTINATION "lib/cmake/${PROJECT_NAME}")
+# INSTALL(FILES "${CMAKE_BINARY_DIR}/cmake_modules/Findwolf${PROJECT_NAME}.cmake"
+# DESTINATION "lib/cmake/${PROJECT_NAME}")
+INSTALL(FILES "${CMAKE_BINARY_DIR}/wolf${PROJECT_NAME}Config.cmake" DESTINATION "lib/cmake/wolf${PROJECT_NAME}")
INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
-export(PACKAGE ${PROJECT_NAME})
+export(PACKAGE wolf_${PROJECT_NAME})
-#-END_SRC --------------------------------------------------------------------------------------------------------------------------------
FIND_PACKAGE(Doxygen)
FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
@@ -856,19 +382,3 @@ ELSE(UNIX)
TARGET uninstall
)
ENDIF(UNIX)
-
-IF (UNIX)
- SET(CPACK_PACKAGE_FILE_NAME "iri-${PROJECT_NAME}-dev-${CPACK_PACKAGE_VERSION}${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
- SET(CPACK_PACKAGE_NAME "iri-${PROJECT_NAME}-dev")
- SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "...Enter something here...")
- SET(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
- SET(CPACK_GENERATOR "DEB")
- SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "galenya - labrobotica@iri.upc.edu")
- SET(CPACK_SET_DESTDIR "ON") # Necessary because of the absolute install paths
- INCLUDE(CPack)
-ELSE(UNIX)
- ADD_CUSTOM_COMMAND(
- COMMENT "packaging only implemented in unix"
- TARGET uninstall)
-ENDIF(UNIX)
-
diff --git a/cmake_modules/Findwolfvision.cmake b/cmake_modules/Findwolfvision.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..9d37d9850cf958cbb934a2a05308ecee9294ec0a
--- /dev/null
+++ b/cmake_modules/Findwolfvision.cmake
@@ -0,0 +1,36 @@
+#edit the following line to add the librarie's header files
+FIND_PATH(
+ vision_INCLUDE_DIRS
+ NAMES vision.found
+ PATHS /usr/local/include/iri-algorithms/wolf/vision)
+#change INCLUDE_DIRS to its parent directory
+get_filename_component(vision_INCLUDE_DIRS ${vision_INCLUDE_DIRS} DIRECTORY)
+IF(vision_INCLUDE_DIRS)
+ MESSAGE("Found vision include dirs: ${vision_INCLUDE_DIRS}")
+ELSE
+ MESSAGE("Couldn't find vision include dirs")
+ENDIF
+
+FIND_LIBRARY(
+ vision_LIBRARY
+ NAMES libvision.so
+ PATHS /usr/lib /usr/local/lib /usr/local/lib/iri-algorithms)
+IF(vision_LIBRARY)
+ MESSAGE("Found vision lib: ${vision_LIBRARY}")
+ELSE
+ MESSAGE("Couldn't find vision lib")
+ENDIF
+IF (vision_INCLUDE_DIRS AND vision_LIBRARY)
+ SET(vision_FOUND TRUE)
+ENDIF (vision_INCLUDE_DIRS AND vision_LIBRARY)
+
+IF (vision_FOUND)
+ IF (NOT vision_FIND_QUIETLY)
+ MESSAGE(STATUS "Found vision: ${vision_LIBRARY}")
+ ENDIF (NOT vision_FIND_QUIETLY)
+ELSE (vision_FOUND)
+ IF (wolf_FIND_REQUIRED)
+ MESSAGE(FATAL_ERROR "Could not find vision")
+ ENDIF (wolf_FIND_REQUIRED)
+ENDIF (vision_FOUND)
+
diff --git a/cmake_modules/wolfvisionConfig.cmake b/cmake_modules/wolfvisionConfig.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..ddb642e2396ff8127616705d59019f7829c3f8e4
--- /dev/null
+++ b/cmake_modules/wolfvisionConfig.cmake
@@ -0,0 +1,188 @@
+# This file was copied and adapted from the ceres_solver project
+# http://ceres-solver.org/
+
+# wolf - Windowed Localization Frames
+# Copyright 2016
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Authors:
+#
+
+# Config file for wolf - Find wolf & dependencies.
+#
+# This file is used by CMake when find_package(wolf) is invoked and either
+# the directory containing this file either is present in CMAKE_MODULE_PATH
+# (if wolf was installed), or exists in the local CMake package registry if
+# the wolf build directory was exported.
+#
+# This module defines the following variables:
+#
+# wolf_FOUND / wolf_FOUND: True if wolf has been successfully
+# found. Both variables are set as although
+# FindPackage() only references wolf_FOUND
+# in Config mode, given the conventions for
+# <package>_FOUND when FindPackage() is
+# called in Module mode, users could
+# reasonably expect to use wolf_FOUND
+# instead.
+#
+# wolf_VERSION: Version of wolf found.
+#
+# wolf_INCLUDE_DIRS: Include directories for wolf and the
+# dependencies which appear in the wolf public
+# API and are thus required to use wolf.
+#
+# wolf_LIBRARIES: Libraries for wolf and all
+# dependencies against which wolf was
+# compiled. This will not include any optional
+# dependencies that were disabled when wolf was
+# compiled.
+#
+# The following variables are also defined for legacy compatibility
+# only. Any new code should not use them as they do not conform to
+# the standard CMake FindPackage naming conventions.
+#
+# wolf_INCLUDES = ${wolf_INCLUDE_DIRS}.
+
+# Called if we failed to find Ceres or any of its required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(wolf_report_not_found REASON_MSG)
+ # FindPackage() only references Ceres_FOUND, and requires it to be
+ # explicitly set FALSE to denote not found (not merely undefined).
+ set(wolf_vision_FOUND FALSE)
+ unset(wolf_vision_INCLUDE_DIRS)
+ unset(wolf_vision_LIBRARIES)
+
+ # Reset the CMake module path to its state when this script was called.
+ set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
+
+ # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
+ # FindPackage() use the camelcase library name, not uppercase.
+ if (wolf_vision_FIND_QUIETLY)
+ message(STATUS "Failed to find wolf_vision- " ${REASON_MSG} ${ARGN})
+ else (wolf_vision_FIND_REQUIRED)
+ message(FATAL_ERROR "Failed to find wolf_vision - " ${REASON_MSG} ${ARGN})
+ else()
+ # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
+ # that prevents generation, but continues configuration.
+ message(SEND_ERROR "Failed to find wolf_vision - " ${REASON_MSG} ${ARGN})
+ endif ()
+ return()
+endmacro(wolf_report_not_found)
+
+# Record the state of the CMake module path when this script was
+# called so that we can ensure that we leave it in the same state on
+# exit as it was on entry, but modify it locally.
+set(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
+
+# Get the (current, i.e. installed) directory containing this file.
+get_filename_component(plugin_CURRENT_CONFIG_DIR
+ "${CMAKE_CURRENT_LIST_FILE}" PATH)
+
+# Reset CMake module path to the installation directory of this
+# script, thus we will use the FindPackage() scripts shipped with
+# wolf to find wolf' dependencies, even if the user has equivalently
+# named FindPackage() scripts in their project.
+set(CMAKE_MODULE_PATH ${plugin_CURRENT_CONFIG_DIR})
+
+# Build the absolute root install directory as a relative path
+# (determined when wolf was configured & built) from the current
+# install directory for this this file. This allows for the install
+# tree to be relocated, after wolf was built, outside of CMake.
+get_filename_component(CURRENT_ROOT_INSTALL_DIR
+ ${plugin_CURRENT_CONFIG_DIR}/../../../
+ ABSOLUTE)
+if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
+ wolf_report_not_found(
+ "wolf install root: ${CURRENT_ROOT_INSTALL_DIR}, "
+ "determined from relative path from wolfConfig.cmake install location: "
+ "${wolf_CURRENT_CONFIG_DIR}, does not exist. Either the install "
+ "directory was deleted, or the install tree was only partially relocated "
+ "outside of CMake after wolf was built.")
+endif (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
+
+# Set the include directories for wolf (itself).
+set(wolf_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include/iri-algorithms")
+
+# if (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h)
+if (NOT EXISTS ${vision_INCLUDE_DIRS})
+ wolf_report_not_found(
+ "wolf install root: ${CURRENT_ROOT_INSTALL_DIR}, "
+ "determined from relative path from wolfConfig.cmake install location: "
+ "${wolf_CURRENT_CONFIG_DIR}, does not contain wolf headers. "
+ "Either the install directory was deleted, or the install tree was only "
+ "partially relocated outside of CMake after wolf was built.")
+# endif (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h)
+endif (NOT EXISTS ${vision_INCLUDE_DIRS})
+# list(APPEND wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIR}/wolf)
+
+# Set the version.
+set(wolf_VERSION 0.0.1)
+
+# # Import exported wolf targets, if they have not already been imported.
+# if (NOT TARGET wolf AND NOT wolf_BINARY_DIR)
+# include(${wolf_CURRENT_CONFIG_DIR}/wolfTargets.cmake)
+# endif (NOT TARGET wolf AND NOT wolf_BINARY_DIR)
+# # Set the expected XX_LIBRARIES variable for FindPackage().
+# set(wolf_LIBRARIES wolf)
+
+# Set legacy library variable for backwards compatibility.
+# set(wolf_vision_LIBRARY ${vision_LIBRARIES})
+set(wolf_vision_LIBRARY ${vision_LIBRARY})
+message(${wolf_vision_LIBRARY})
+
+# Make user aware of any compile flags that will be added to their targets
+# which use wolf (i.e. flags exported in the wolf target). Only CMake
+# versions >= 2.8.12 support target_compile_options().
+# if (TARGET ${wolf_LIBRARIES} AND
+# NOT CMAKE_VERSION VERSION_LESS "2.8.12")
+# get_target_property(wolf_INTERFACE_COMPILE_OPTIONS
+# ${wolf_LIBRARIES} INTERFACE_COMPILE_OPTIONS)
+
+# set(wolf_LOCATION "${CURRENT_ROOT_INSTALL_DIR}")
+
+# # Check for -std=c++11 flags.
+# if (wolf_INTERFACE_COMPILE_OPTIONS MATCHES ".*std=c\\+\\+11.*")
+# message(STATUS "wolf version ${wolf_VERSION} detected here: "
+# "${wolf_LOCATION} was built with C++11. wolf target will add "
+# "C++11 flags to compile options for targets using it.")
+# endif()
+# endif()
+
+# Reset CMake module path to its state when this script was called.
+set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
+
+# As we use wolf_REPORT_NOT_FOUND() to abort, if we reach this point we have
+# found wolf and all required dependencies.
+message(STATUS "Found wolf vision version: ${wolf_VERSION} installed in: ${CURRENT_ROOT_INSTALL_DIR}")
+
+# Set wolf_FOUND to be equivalent to wolf_FOUND, which is set to
+# TRUE by FindPackage() if this file is found and run, and after which
+# wolf_FOUND is not (explicitly, i.e. undefined does not count) set
+# to FALSE.
+set(wolf_vision_FOUND TRUE)