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merged attention branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-11 18:05:05 +00:00
parent f9033809a2
commit 2836d4c48c
216 changed files with 7983 additions and 94891 deletions
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100
corelib/src/CMakeLists.txt
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@@ -4,28 +4,20 @@ SET(SRC_FILES
RtabmapEvent.cpp
Memory.cpp
KeypointMemory.cpp
SMMemory.cpp
DBDriverFactory.cpp
DBDriver.cpp
DBDriverSqlite3.cpp
DBReader.cpp
Camera.cpp
Micro.cpp
EpipolarGeometry.cpp
VisualWord.cpp
VWDictionary.cpp
BayesFilter.cpp
Parameters.cpp
Signature.cpp
KeypointDetector.cpp
KeypointDescriptor.cpp
VerifyHypotheses.cpp
Features2d.cpp
NearestNeighbor.cpp
ColorTable.cpp
)
SET(INCLUDE_DIRS
@@ -35,93 +27,35 @@ SET(INCLUDE_DIRS
${UTILITE_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${SQLITE3_INCLUDE_DIR}
${ZLIB_INCLUDE_DIRS}
${FFTW3F_INCLUDE_DIRS}
)
SET(LIBRARIES
${UTILITE_LIBRARIES}
${OpenCV_LIBS}
${SQLITE3_LIBRARY}
${ZLIB_LIBRARIES}
${FFTW3F_LIBRARIES}
)
####################################
# Generate resources files
####################################
ADD_CUSTOM_COMMAND(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h
COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql
COMMENT "[Creating database resource]"
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql
SET(R
${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql
)
#replace semicolons by spaces
foreach(arg ${R})
set(RESOURCES "${RESOURCES}" "${arg}")
endforeach(arg ${R})
SET(RESOURCES_HEADERS
${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h
)
ADD_CUSTOM_COMMAND(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes65536_bin_zip.h
COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes65536.bin.zip
COMMENT "[Creating color table resource]"
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes65536.bin.zip
)
ADD_CUSTOM_COMMAND(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes1024_bin_zip.h
COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes1024.bin.zip
COMMENT "[Creating color table resource]"
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes1024.bin.zip
)
ADD_CUSTOM_COMMAND(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes512_bin_zip.h
COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes512.bin.zip
COMMENT "[Creating color table resource]"
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes512.bin.zip
)
ADD_CUSTOM_COMMAND(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes256_bin_zip.h
COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes256.bin.zip
COMMENT "[Creating color table resource]"
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes256.bin.zip
)
ADD_CUSTOM_COMMAND(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes128_bin_zip.h
COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes128.bin.zip
COMMENT "[Creating color table resource]"
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes128.bin.zip
)
ADD_CUSTOM_COMMAND(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes64_bin_zip.h
COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes64.bin.zip
COMMENT "[Creating color table resource]"
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes64.bin.zip
)
ADD_CUSTOM_COMMAND(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes32_bin_zip.h
COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes32.bin.zip
COMMENT "[Creating color table resource]"
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes32.bin.zip
)
ADD_CUSTOM_COMMAND(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes16_bin_zip.h
COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes16.bin.zip
COMMENT "[Creating color table resource]"
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes16.bin.zip
)
ADD_CUSTOM_COMMAND(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes8_bin_zip.h
COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes8.bin.zip
COMMENT "[Creating color table resource]"
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/ColorIndexes8.bin.zip
)
SET(RESOURCES
${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h
${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes65536_bin_zip.h
${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes1024_bin_zip.h
${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes512_bin_zip.h
${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes256_bin_zip.h
${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes128_bin_zip.h
${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes64_bin_zip.h
${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes32_bin_zip.h
${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes16_bin_zip.h
${CMAKE_CURRENT_BINARY_DIR}/ColorIndexes8_bin_zip.h
OUTPUT ${RESOURCES_HEADERS}
COMMAND ${URESOURCEGENERATOR_EXEC} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
COMMENT "[Creating resources]"
DEPENDS ${R}
)
####################################
@@ -134,7 +68,7 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
# Add binary that is built from the source file "main.cpp".
# The extension is automatically found.
ADD_LIBRARY(rtabmap_corelib ${SRC_FILES} ${RESOURCES})
ADD_LIBRARY(rtabmap_corelib ${SRC_FILES} ${RESOURCES_HEADERS})
TARGET_LINK_LIBRARIES(rtabmap_corelib ${LIBRARIES})
SET_TARGET_PROPERTIES(