Quadrotor

#########################################################

### CONFIG ##############################################

#########################################################

# 1, if SiftGPU should be used. For additional information

# see README

set(USE_SIFT_GPU        1)

set(ENV{SIFT_GPU_MODE}		2) #CUDA = 1, GLSL = 2

set(ENV{SIFT_GPU_CUDA_PATH}	/usr/local/cuda)	

set(USE_GICP_BIN		0)

set(USE_GICP_CODE		0)

#########################################################

#########################################################

#########################################################

cmake_minimum_required(VERSION 2.4.6)

include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:

#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage

#  Debug          : w/ debug symbols, w/o optimization

#  Release        : w/o debug symbols, w/ optimization

#  RelWithDebInfo : w/ debug symbols, w/ optimization

#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries

set(ROS_BUILD_TYPE RelWithDebInfo)

#is used for compiling the libraries 

set(USE_GICP 0)

IF (${USE_GICP_BIN} OR ${USE_GICP_CODE})

	set(USE_GICP 1)

ENDIF (${USE_GICP_BIN} OR ${USE_GICP_CODE})

rosbuild_init()

#set the default path for built executables to the "bin" directory

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

#set the default path for built libraries to the "lib" directory

set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages

#rosbuild_genmsg()

#uncomment if you have defined services

rosbuild_gensrv()

#common commands for building c++ executables and libraries

#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)

#target_link_libraries(${PROJECT_NAME} another_library) 

#rosbuild_add_boost_directories()

#rosbuild_link_boost(${PROJECT_NAME} thread)

#rosbuild_add_executable(example examples/example.cpp)

##############################################################################

# Required 3rd party

##############################################################################

#############################

# Qt ########################

#############################

# http://qtnode.net/wiki/Qt4_with_cmake

find_package(Qt4 REQUIRED)

SET(QT_USE_QTXML TRUE)

SET(QT_USE_QTOPENGL TRUE)

ADD_DEFINITIONS(-DQT_NO_KEYWORDS)

include(${QT_USE_FILE})

# This is necessary as all ui files etc will get dumped in the bottom of then binary directory. 

include_directories(${CMAKE_CURRENT_BINARY_DIR} ${QT_QTOPENGL_INCLUDE_DIR} gicp/ann_1.1.1/include/)

#get_directory_property(clean ADDITIONAL_MAKE_CLEAN_FILES)

#SET(clean external/siftgpu/linux/bin/libsiftgpu.so)

#set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${clean}")

LINK_DIRECTORIES(${LIBRARY_OUTPUT_PATH})

SET(${CMAKE_LIBRARY_PATH} ${LIBRARY_OUTPUT_PATH})

#SET(CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE TRUE)

#############################

# SiftGPU ###################

#############################

IF (${USE_SIFT_GPU})

	SET(sift_gpu_build_path ${CMAKE_SOURCE_DIR}/external/siftgpu/linux)

	include_directories(${CMAKE_CURRENT_BINARY_DIR} external/siftgpu/src)

	MESSAGE("\n------------------------------------------------------------------\n")

	MESSAGE("Compiling SiftGPU...")

	EXECUTE_PROCESS(

		COMMAND make siftgpu

		WORKING_DIRECTORY ${sift_gpu_build_path}

		RESULT_VARIABLE sift_gpu_return

	)

	MESSAGE("\n------------------------------------------------------------------\n")

	#on error

	IF (NOT ${sift_gpu_return} EQUAL 0)

		MESSAGE(FATAL_ERROR "SiftGPU cannot be compiled. Returned: ${sift_gpu_return}")

	ENDIF (NOT ${sift_gpu_return} EQUAL 0)

	FILE(COPY external/siftgpu/linux/bin/libsiftgpu.so DESTINATION ../lib)

	add_definitions(-DUSE_SIFT_GPU)

	add_definitions(-DSIFT_GPU_MODE=$ENV{SIFT_GPU_MODE})

ENDIF (${USE_SIFT_GPU})

#############################

# GICP ######################

#############################

IF (${USE_GICP})

    MESSAGE("\n------------------------------------------------------------------\n")

	MESSAGE("Compiling GICP...")

	EXECUTE_PROCESS(

	    COMMAND make linux-g++

	    WORKING_DIRECTORY gicp/ann_1.1.1/ 

	    RESULT_VARIABLE gicp_return

    )

    MESSAGE("\n------------------------------------------------------------------\n")

	#on error

	IF (NOT ${gicp_return} EQUAL 0)

		MESSAGE(FATAL_ERROR "GICP cannot be compiled. Returned: ${gicp_return}")

	ENDIF (NOT ${gicp_return} EQUAL 0)

	FILE(COPY gicp/ann_1.1.1/lib/libANN.a DESTINATION ../lib)

ENDIF (${USE_GICP})

IF (${USE_GICP_BIN})

	add_definitions(-DUSE_ICP_BIN)

ENDIF (${USE_GICP_BIN})

IF (${USE_GICP_CODE})

	add_definitions(-DUSE_ICP_CODE) 

ENDIF (${USE_GICP_CODE})

#############################

# OpenCV ####################

#############################

find_package(OpenCV)

include_directories(${OpenCV_INCLUDE_DIRS})

##############################################################################

# Sections

##############################################################################

file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)

file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)

file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/local/*.hpp src/qtros.h src/openni_listener.h src/qt_gui.h src/graph_manager.h src/glviewer.h src/ros_service_ui.h)

QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})

QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})

QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})  

##############################################################################

# Sources

##############################################################################

SET(ADDITIONAL_SOURCES src/gicp-fallback.cpp src/main.cpp src/qtros.cpp  src/openni_listener.cpp src/qt_gui.cpp src/flow.cpp src/node.cpp src/graph_manager.cpp src/glviewer.cpp src/parameter_server.cpp src/ros_service_ui.cpp src/misc.cpp)

IF (${USE_SIFT_GPU})

 	SET(ADDITIONAL_SOURCES ${ADDITIONAL_SOURCES} src/sift_gpu_feature_detector.cpp)

ENDIF (${USE_SIFT_GPU})

file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS ${ADDITIONAL_SOURCES})

##############################################################################

# Binaries

##############################################################################

rosbuild_add_executable(rgbdslam ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})

#set libs

SET(LIBS_LINK rgbdslam GL GLU g2o_types_slam3d g2o_solver_cholmod g2o_solver_pcg g2o_solver_csparse ${QT_LIBRARIES} ${QT_QTOPENGL_LIBRARY} ${GLUT_LIBRARY} ${OPENGL_LIBRARY} ${OpenCV_LIBS})

IF (${USE_SIFT_GPU})

 	SET(LIBS_LINK ${LIBS_LINK} siftgpu)

ENDIF (${USE_SIFT_GPU})

IF (${USE_GICP})

 	SET(LIBS_LINK ${LIBS_LINK} gicp ANN gsl gslcblas)

ENDIF (${USE_GICP})

IF (${USE_GICP})

  rosbuild_add_library(gicp gicp/bfgs_funcs.cpp gicp/gicp.cpp gicp/optimize.cpp gicp/scan.cpp gicp/transform.cpp)

ENDIF (${USE_GICP})

#link libraries

target_link_libraries(${LIBS_LINK})