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Commit ff93551e authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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Merge branch '18-change-destination-of-libxxx-so-for-wolf-and-dependencies' into 'devel' 

Resolve "Change destination of libxxx.so for WOLF and dependencies"

Closes #18

See merge request !23
parents ada31cee 5ac66db8
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2 merge requests!24After 2nd RAL submission,!23Resolve "Change destination of libxxx.so for WOLF and dependencies"
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CMakeLists.txt
+ 17
− 98
View file @ ff93551e
# Pre-requisites about cmake itself # Pre-requisites about cmake itself
MESSAGE("Starting ${PLUGIN_NAME} CMakeLists ...")
CMAKE_MINIMUM_REQUIRED(VERSION 2.8) CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
if(COMMAND cmake_policy) if(COMMAND cmake_policy)
...@@ -9,11 +8,11 @@ endif(COMMAND cmake_policy) ...@@ -9,11 +8,11 @@ endif(COMMAND cmake_policy)
# MAC OSX RPATH # MAC OSX RPATH
SET(CMAKE_MACOSX_RPATH true) SET(CMAKE_MACOSX_RPATH true)
# The project name # The project name
PROJECT(vision) PROJECT(vision)
set(PLUGIN_NAME wolf${PROJECT_NAME}) set(PLUGIN_NAME wolf${PROJECT_NAME})
MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin) SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib) SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
...@@ -69,14 +68,11 @@ if(BUILD_TESTS) ...@@ -69,14 +68,11 @@ if(BUILD_TESTS)
enable_testing() enable_testing()
endif() endif()
#CMAKE modules #CMAKE modules
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules") SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
MESSAGE(STATUS ${CMAKE_MODULE_PATH}) MESSAGE(STATUS ${CMAKE_MODULE_PATH})
# Some wolf compilation options # Some wolf compilation options
IF((CMAKE_BUILD_TYPE MATCHES DEBUG) OR (CMAKE_BUILD_TYPE MATCHES debug) OR (CMAKE_BUILD_TYPE MATCHES Debug)) IF((CMAKE_BUILD_TYPE MATCHES DEBUG) OR (CMAKE_BUILD_TYPE MATCHES debug) OR (CMAKE_BUILD_TYPE MATCHES Debug))
set(_WOLF_DEBUG true) set(_WOLF_DEBUG true)
ENDIF() ENDIF()
...@@ -91,12 +87,9 @@ IF(BUILD_EXAMPLES OR BUILD_TESTS) ...@@ -91,12 +87,9 @@ IF(BUILD_EXAMPLES OR BUILD_TESTS)
set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR}) set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
ENDIF(BUILD_EXAMPLES OR BUILD_TESTS) ENDIF(BUILD_EXAMPLES OR BUILD_TESTS)
#find dependencies. #find dependencies.
# ============EXAMPLE================== # ============EXAMPLE==================
FIND_PACKAGE(wolfcore REQUIRED) FIND_PACKAGE(wolfcore REQUIRED)
FIND_PACKAGE(vision_utils REQUIRED) FIND_PACKAGE(vision_utils REQUIRED)
SET(PRINT_INFO_VU false) SET(PRINT_INFO_VU false)
FIND_PACKAGE(OpenCV REQUIRED) FIND_PACKAGE(OpenCV REQUIRED)
...@@ -126,14 +119,6 @@ INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS}) ...@@ -126,14 +119,6 @@ INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(BEFORE "include") INCLUDE_DIRECTORIES(BEFORE "include")
#HEADERS #HEADERS
SET(HDRS_COMMON
)
SET(HDRS_MATH
include/vision/math/pinhole_tools.h
)
SET(HDRS_UTILS
)
SET(HDRS_CAPTURE SET(HDRS_CAPTURE
include/vision/capture/capture_image.h include/vision/capture/capture_image.h
) )
...@@ -151,6 +136,9 @@ SET(HDRS_LANDMARK ...@@ -151,6 +136,9 @@ SET(HDRS_LANDMARK
include/vision/landmark/landmark_hp.h include/vision/landmark/landmark_hp.h
include/vision/landmark/landmark_point_3d.h include/vision/landmark/landmark_point_3d.h
) )
SET(HDRS_MATH
include/vision/math/pinhole_tools.h
)
SET(HDRS_PROCESSOR SET(HDRS_PROCESSOR
include/vision/processor/processor_tracker_feature_trifocal.h include/vision/processor/processor_tracker_feature_trifocal.h
include/vision/processor/processor_params_image.h include/vision/processor/processor_params_image.h
...@@ -161,23 +149,11 @@ include/vision/processor/processor_bundle_adjustment.h ...@@ -161,23 +149,11 @@ include/vision/processor/processor_bundle_adjustment.h
SET(HDRS_SENSOR SET(HDRS_SENSOR
include/vision/sensor/sensor_camera.h include/vision/sensor/sensor_camera.h
) )
SET(HDRS_SOLVER
)
SET(HDRS_DTASSC
)
#SOURCES #SOURCES
SET(SRCS_COMMON
)
SET(SRCS_MATH
)
SET(SRCS_UTILS
)
SET(SRCS_CAPTURE SET(SRCS_CAPTURE
src/capture/capture_image.cpp src/capture/capture_image.cpp
) )
SET(SRCS_FACTOR
)
SET(SRCS_FEATURE SET(SRCS_FEATURE
src/feature/feature_point_image.cpp src/feature/feature_point_image.cpp
) )
...@@ -195,53 +171,21 @@ src/processor/processor_bundle_adjustment.cpp ...@@ -195,53 +171,21 @@ src/processor/processor_bundle_adjustment.cpp
SET(SRCS_SENSOR SET(SRCS_SENSOR
src/sensor/sensor_camera.cpp src/sensor/sensor_camera.cpp
) )
SET(SRCS_DTASSC
)
SET(SRCS_SOLVER
)
SET(SRCS_YAML SET(SRCS_YAML
src/yaml/processor_tracker_feature_trifocal_yaml.cpp src/yaml/processor_tracker_feature_trifocal_yaml.cpp
src/yaml/sensor_camera_yaml.cpp src/yaml/sensor_camera_yaml.cpp
src/yaml/processor_image_yaml.cpp src/yaml/processor_image_yaml.cpp
src/yaml/processor_bundle_adjustment_yaml.cpp src/yaml/processor_bundle_adjustment_yaml.cpp
) )
#OPTIONALS
#optional HDRS and SRCS
# ==================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 # create the shared library
ADD_LIBRARY(${PLUGIN_NAME} ADD_LIBRARY(${PLUGIN_NAME}
SHARED SHARED
${SRCS_CAPTURE} ${SRCS_CAPTURE}
${SRCS_COMMON}
${SRCS_DTASSC}
${SRCS_FACTOR}
${SRCS_FEATURE} ${SRCS_FEATURE}
${SRCS_LANDMARK} ${SRCS_LANDMARK}
${SRCS_MATH}
${SRCS_PROCESSOR} ${SRCS_PROCESSOR}
${SRCS_SENSOR} ${SRCS_SENSOR}
${SRCS_SOLVER}
${SRCS_UTILS}
${SRCS_WRAPPER}
${SRCS_YAML} ${SRCS_YAML}
) )
...@@ -257,17 +201,14 @@ elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU") ...@@ -257,17 +201,14 @@ elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
# using GCC # using GCC
endif() endif()
#Link the created libraries
#===============EXAMPLE=========================
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES}) TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES})
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${OpenCV_LIBS}) TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${OpenCV_LIBS})
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${vision_utils_LIBRARY}) TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${vision_utils_LIBRARY})
#Link the created libraries #Build demos
#===============EXAMPLE========================= #===============EXAMPLE=========================
# IF (Ceres_FOUND)
# TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CERES_LIBRARIES})
# ENDIF(Ceres_FOUND)
IF(BUILD_DEMOS) IF(BUILD_DEMOS)
MESSAGE(STATUS "Building demos.") MESSAGE(STATUS "Building demos.")
add_subdirectory(demos) add_subdirectory(demos)
...@@ -281,58 +222,36 @@ IF(BUILD_TESTS) ...@@ -281,58 +222,36 @@ IF(BUILD_TESTS)
ENDIF(BUILD_TESTS) ENDIF(BUILD_TESTS)
#install library #install library
#============================================================= #=============================================================
INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
RUNTIME DESTINATION bin RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iri-algorithms LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib/iri-algorithms) ARCHIVE DESTINATION lib)
install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME}) install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
#install headers #install headers
INSTALL(FILES ${HDRS_DTASSC}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/association)
INSTALL(FILES ${HDRS_COMMON}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/common)
INSTALL(FILES ${HDRS_MATH}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math)
INSTALL(FILES ${HDRS_UTILS}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/utils)
INSTALL(FILES ${HDRS_CAPTURE} INSTALL(FILES ${HDRS_CAPTURE}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/capture) DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/capture)
INSTALL(FILES ${HDRS_FACTOR} INSTALL(FILES ${HDRS_FACTOR}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/factor) DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/factor)
INSTALL(FILES ${HDRS_FEATURE} INSTALL(FILES ${HDRS_FEATURE}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/feature) DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/feature)
INSTALL(FILES ${HDRS_SENSOR}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
INSTALL(FILES ${HDRS_PROCESSOR}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/processor)
INSTALL(FILES ${HDRS_LANDMARK} INSTALL(FILES ${HDRS_LANDMARK}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/landmark) DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/landmark)
INSTALL(FILES ${HDRS_WRAPPER} INSTALL(FILES ${HDRS_MATH}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/ceres_wrapper) DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math)
INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE} INSTALL(FILES ${HDRS_PROCESSOR}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver_suitesparse) DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/processor)
INSTALL(FILES ${HDRS_SOLVER} INSTALL(FILES ${HDRS_SENSOR}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver) DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
INSTALL(FILES ${HDRS_SERIALIZATION}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/serialization)
INSTALL(FILES ${HDRS_YAML}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/yaml)
# INSTALL(FILES "${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 "") FILE(WRITE ${PROJECT_NAME}.found "")
INSTALL(FILES ${PROJECT_NAME}.found INSTALL(FILES ${PROJECT_NAME}.found
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}) DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME})
INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h" INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal) DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal)
# INSTALL(FILES "${CMAKE_BINARY_DIR}/cmake_modules/Findwolf${PLUGIN_NAME}.cmake" INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
# DESTINATION "lib/cmake/${PLUGIN_NAME}")
INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/") INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
......
cmake_modules/wolfvisionConfig.cmake
+ 7
− 2
View file @ ff93551e
...@@ -12,7 +12,7 @@ ENDIF(wolfvision_INCLUDE_DIRS) ...@@ -12,7 +12,7 @@ ENDIF(wolfvision_INCLUDE_DIRS)
FIND_LIBRARY( FIND_LIBRARY(
wolfvision_LIBRARIES wolfvision_LIBRARIES
NAMES libwolfvision.so libwolfvision.dylib NAMES libwolfvision.so libwolfvision.dylib
PATHS /usr/local/lib/iri-algorithms) PATHS /usr/local/lib)
IF(wolfvision_LIBRARIES) IF(wolfvision_LIBRARIES)
MESSAGE("Found vision lib: ${wolfvision_LIBRARIES}") MESSAGE("Found vision lib: ${wolfvision_LIBRARIES}")
ELSE(wolfvision_LIBRARIES) ELSE(wolfvision_LIBRARIES)
...@@ -86,4 +86,9 @@ if(NOT wolf_FOUND) ...@@ -86,4 +86,9 @@ if(NOT wolf_FOUND)
list(REVERSE wolfvision_LIBRARIES) list(REVERSE wolfvision_LIBRARIES)
list(APPEND wolfvision_LIBRARIES ${wolfcore_LIBRARIES}) list(APPEND wolfvision_LIBRARIES ${wolfcore_LIBRARIES})
list(REVERSE wolfvision_LIBRARIES) list(REVERSE wolfvision_LIBRARIES)
endif() endif()
\ No newline at end of file
# provide both INCLUDE_DIR and INCLUDE_DIRS
SET(wolfvision_INCLUDE_DIR ${wolfvision_INCLUDE_DIRS})
# provide both LIBRARY and LIBRARIES
SET(wolfvision_LIBRARY ${wolfvision_LIBRARIES})
\ No newline at end of file
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