diff --git a/CMakeLists.txt b/CMakeLists.txt index e078572c44b8d7aa695261c29f5e53fedb5cc646..41c97af5e78abc0d2addf8ae64c955ab3b70c370 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -11,6 +11,7 @@ SET(CMAKE_MACOSX_RPATH 1) # The project name PROJECT(vision) +set(PLUGIN_NAME wolf${PROJECT_NAME}) SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin) @@ -61,7 +62,7 @@ if(BUILD_TESTS) enable_testing() endif() -MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...") +MESSAGE("Starting ${PLUGIN_NAME} CMakeLists ...") CMAKE_MINIMUM_REQUIRED(VERSION 2.8) #CMAKE modules @@ -253,7 +254,7 @@ src/yaml/processor_image_yaml.cpp # ENDIF(Ceres_FOUND) # create the shared library -ADD_LIBRARY(${PROJECT_NAME} +ADD_LIBRARY(${PLUGIN_NAME} SHARED ${SRCS_CAPTURE} ${SRCS_COMMON} @@ -269,23 +270,23 @@ ADD_LIBRARY(${PROJECT_NAME} ${SRCS_WRAPPER} ${SRCS_YAML} ) -TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT}) -TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${wolf_LIBRARY}) +TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CMAKE_THREAD_LIBS_INIT}) +TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolf_LIBRARY}) -TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS}) -TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${vision_utils_LIBRARY}) +TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${OpenCV_LIBS}) +TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${vision_utils_LIBRARY}) #Link the created libraries #===============EXAMPLE========================= # IF (Ceres_FOUND) -# TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CERES_LIBRARIES}) +# TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CERES_LIBRARIES}) # ENDIF(Ceres_FOUND) #Build tests #===============EXAMPLE========================= IF (GLOG_FOUND) - TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${GLOG_LIBRARY}) + TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${GLOG_LIBRARY}) ENDIF (GLOG_FOUND) IF (GLOG_FOUND) IF(BUILD_TESTS) @@ -297,12 +298,12 @@ ENDIF (GLOG_FOUND) #install library #============================================================= -INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets +INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets RUNTIME DESTINATION bin LIBRARY DESTINATION lib/iri-algorithms ARCHIVE DESTINATION lib/iri-algorithms) -install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME}) +install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME}) #install headers INSTALL(FILES ${HDRS_DTASSC} DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/association) @@ -335,27 +336,22 @@ INSTALL(FILES ${HDRS_SERIALIZATION} INSTALL(FILES ${HDRS_YAML} DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/yaml) -INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf${PROJECT_NAME}.cmake" - DESTINATION "lib/cmake/wolf${PROJECT_NAME}") +# INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/Find${PLUGIN_NAME}.cmake" +# DESTINATION "lib/cmake/${PLUGIN_NAME}") +INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}") FILE(WRITE ${PROJECT_NAME}.found "") INSTALL(FILES ${PROJECT_NAME}.found DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}) -#install Find*.cmake -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}/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${PROJECT_NAME}") +# INSTALL(FILES "${CMAKE_BINARY_DIR}/cmake_modules/Findwolf${PLUGIN_NAME}.cmake" +# DESTINATION "lib/cmake/${PLUGIN_NAME}") INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/") -export(PACKAGE wolf_${PROJECT_NAME}) +export(PACKAGE ${PLUGIN_NAME}) FIND_PACKAGE(Doxygen) diff --git a/cmake_modules/Findwolfvision.cmake b/cmake_modules/Findwolfvision.cmake deleted file mode 100644 index 16c2f3cf5efe17e2de54818eeeecd6da6d60da04..0000000000000000000000000000000000000000 --- a/cmake_modules/Findwolfvision.cmake +++ /dev/null @@ -1,36 +0,0 @@ -#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/plugin_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 index ddb642e2396ff8127616705d59019f7829c3f8e4..476c4f0274e855509f3e2a883f2133f29a5bdf4a 100644 --- a/cmake_modules/wolfvisionConfig.cmake +++ b/cmake_modules/wolfvisionConfig.cmake @@ -1,188 +1,65 @@ -# This file was copied and adapted from the ceres_solver project -# http://ceres-solver.org/ +#edit the following line to add the librarie's header files +FIND_PATH( + wolfvision_INCLUDE_DIR + NAMES vision.found + PATHS /usr/local/include/iri-algorithms/wolf/plugin_vision) +IF(wolfvision_INCLUDE_DIR) + MESSAGE("Found vision include dirs: ${wolfvision_INCLUDE_DIR}") +ELSE(wolfvision_INCLUDE_DIR) + MESSAGE("Couldn't find vision include dirs") +ENDIF(wolfvision_INCLUDE_DIR) + +FIND_LIBRARY( + wolfvision_LIBRARY + NAMES libwolfvision.so + PATHS /usr/local/lib/iri-algorithms) +IF(wolfvision_LIBRARY) + MESSAGE("Found vision lib: ${wolfvision_LIBRARY}") +ELSE(wolfvision_LIBRARY) + MESSAGE("Couldn't find wolf vision lib") +ENDIF(wolfvision_LIBRARY) + +IF (wolfvision_INCLUDE_DIR AND wolfvision_LIBRARY) + SET(wolfvision_FOUND TRUE) + ELSE(wolfvision_INCLUDE_DIR AND wolfvision_LIBRARY) + set(wolfvision_FOUND FALSE) +ENDIF (wolfvision_INCLUDE_DIR AND wolfvision_LIBRARY) + +IF (wolfvision_FOUND) + IF (NOT wolfvision_FIND_QUIETLY) + MESSAGE(STATUS "Found vision: ${wolfvision_LIBRARY}") + ENDIF (NOT wolfvision_FIND_QUIETLY) +ELSE (wolfvision_FOUND) + IF (wolfvision_FIND_REQUIRED) + MESSAGE(FATAL_ERROR "Could not find wolf vision") + ENDIF (wolfvision_FIND_REQUIRED) +ENDIF (wolfvision_FOUND) -# 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) + set(wolfvision_FOUND FALSE) + unset(wolfvision_INCLUDE_DIR) + unset(wolfvision_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}) + if (wolfvision_FIND_QUIETLY) + message(STATUS "Failed to find wolfvision- " ${REASON_MSG} ${ARGN}) + else (wolfvision_FIND_REQUIRED) + message(FATAL_ERROR "Failed to find wolfvision - " ${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}) + message(SEND_ERROR "Failed to find wolfvision - " ${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 ${CURRENT_ROOT_INSTALL_DIR}) - +if(NOT wolfvision_FOUND) + wolf_report_not_found("TROUBLE DUDE.") +endif(NOT wolfvision_FOUND) # Set the include directories for wolf (itself). -set(wolf_INCLUDE_DIR "${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: ${CURRENT_ROOT_INSTALL_DIR}") - -# Set wolf_FOUND to be equivalent to wolf_FOUND, which is set to -# TRUE by FindPackage() if this file is found and run, and after which -# wolf_FOUND is not (explicitly, i.e. undefined does not count) set -# to FALSE. -set(wolf_vision_FOUND TRUE) +set(wolfvision_FOUND TRUE) \ No newline at end of file diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 8c13de3f3ddc9a101433f17ba2bc436587edea08..b99b2a37db5aca14c7678f0d65b812a217b7e8ea 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -9,13 +9,13 @@ include_directories(${GTEST_INCLUDE_DIRS}) # # # Create a specific test executable for gtest_example # wolf_add_gtest(gtest_example gtest_example.cpp) # -target_link_libraries(gtest_example ${PROJECT_NAME}) # +target_link_libraries(gtest_example ${PLUGIN_NAME}) # # # ########################################################### wolf_add_gtest(gtest_sensor_camera gtest_sensor_camera.cpp) -target_link_libraries(gtest_sensor_camera ${PROJECT_NAME} ${wolf_LIBRARY} ${OpenCV_LIBS} ${vision_utils_LIBRARY}) +target_link_libraries(gtest_sensor_camera ${PLUGIN_NAME} ${wolf_LIBRARY} ${OpenCV_LIBS} ${vision_utils_LIBRARY}) # ProcessorFeatureTrifocal test wolf_add_gtest(gtest_processor_tracker_feature_trifocal gtest_processor_tracker_feature_trifocal.cpp) -target_link_libraries(gtest_processor_tracker_feature_trifocal ${PROJECT_NAME} ${wolf_LIBRARY} ${OpenCV_LIBS} ${vision_utils_LIBRARY}) \ No newline at end of file +target_link_libraries(gtest_processor_tracker_feature_trifocal ${PLUGIN_NAME} ${wolf_LIBRARY} ${OpenCV_LIBS} ${vision_utils_LIBRARY}) \ No newline at end of file