116 lines
3.8 KiB
Text
116 lines
3.8 KiB
Text
### TOOLS
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IF(WITH_TOOLS)
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FIND_PACKAGE(OpenCV REQUIRED)
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### SCAN_RED
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add_executable(scan_red scan_red.cc fbr/fbr_global.cc fbr/panorama.cc fbr/scan_cv.cc)
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IF(UNIX)
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target_link_libraries(scan_red scan dl ANN fbr_cv_io fbr_panorama ${OpenCV_LIBS} ${Boost_LIBRARIES})
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ENDIF(UNIX)
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IF (WIN32)
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target_link_libraries(scan_red scan ANN XGetopt)
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ENDIF(WIN32)
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### SCAN_DIFF
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add_executable(scan_diff scan_diff.cc)
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# add_executable(scan_diff2d scan_diff2d.cc ../show/colormanager.cc)
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IF(UNIX)
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target_link_libraries(scan_diff scan dl ANN)
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# target_link_libraries(scan_diff2d scan dl ANN)
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ENDIF(UNIX)
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IF (WIN32)
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target_link_libraries(scan_diff scan ANN XGetopt)
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# target_link_libraries(scan_diff2d scan ANN XGetopt)
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ENDIF(WIN32)
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add_executable(frame_to_graph frame_to_graph.cc)
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add_executable(convergence convergence.cc)
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add_executable(graph_balancer graph_balancer.cc)
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add_executable(exportPoints exportPoints.cc)
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add_executable(frames2riegl frames2riegl.cc)
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add_executable(frames2pose frames2pose.cc)
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add_executable(pose2frames pose2frames.cc)
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add_executable(riegl2frames riegl2frames.cc)
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add_executable(toGlobal toGlobal.cc)
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IF(UNIX)
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target_link_libraries(graph_balancer scan ${Boost_GRAPH_LIBRARY} ${Boost_SERIALIZATION_LIBRARY} ${Boost_REGEX_LIBRARY})
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target_link_libraries(exportPoints scan dl ANN)
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target_link_libraries(toGlobal scan)
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ENDIF(UNIX)
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IF (WIN32)
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target_link_libraries(frame_to_graph XGetopt ${Boost_LIBRARIES})
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target_link_libraries(convergence XGetopt ${Boost_LIBRARIES})
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target_link_libraries(graph_balancer scan XGetopt ${Boost_LIBRARIES})
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target_link_libraries(exportPoints scan ANN XGetopt ${Boost_LIBRARIES})
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target_link_libraries(frames2pose XGetopt ${Boost_LIBRARIES})
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target_link_libraries(pose2frames XGetopt ${Boost_LIBRARIES})
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target_link_libraries(frames2riegl XGetopt ${Boost_LIBRARIES})
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target_link_libraries(riegl2frames XGetopt ${Boost_LIBRARIES})
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target_link_libraries(toGlobal XGetopt ${Boost_LIBRARIES})
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ENDIF(WIN32)
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ENDIF(WITH_TOOLS)
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### SCANLIB
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SET(SCANLIB_SRCS
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kd.cc kdManaged.cc kdMeta.cc graphSlam6D.cc
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graph.cc icp6Dapx.cc icp6D.cc icp6Dsvd.cc
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icp6Dortho.cc icp6Dquat.cc icp6Dhelix.cc icp6Dlumeuler.cc
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icp6Dlumquat.cc icp6Ddual.cc lum6Deuler.cc lum6Dquat.cc
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ghelix6DQ2.cc gapx6D.cc ann_kd.cc elch6D.cc
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elch6Dquat.cc elch6DunitQuat.cc elch6Dslerp.cc elch6Deuler.cc
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point_type.cc icp6Dquatscale.cc searchTree.cc Boctree.cc
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scan.cc basicScan.cc managedScan.cc metaScan.cc
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io_types.cc io_utils.cc pointfilter.cc allocator.cc
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)
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if(WITH_METRICS)
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set(SCANLIB_SRCS ${SCANLIB_SRCS} metrics.cc)
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endif(WITH_METRICS)
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add_library(scan STATIC ${SCANLIB_SRCS})
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target_link_libraries(scan scanclient scanio)
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IF(UNIX)
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target_link_libraries(scan dl)
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ENDIF(UNIX)
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### EXPORT SHARED LIBS
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IF(EXPORT_SHARED_LIBS)
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add_library(scan_s SHARED ${SCANLIB_SRCS})
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#target_link_libraries(scan_s ${Boost_LIBRARIES} newmat)
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target_link_libraries(scan_s newmat_s sparse_s ANN_s )
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ENDIF(EXPORT_SHARED_LIBS)
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### SLAM6D
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IF(WITH_CUDA)
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CUDA_COMPILE(CUDA_FILES cuda/CIcpGpuCuda.cu )
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add_executable(slam6D slam6D.cc cuda/icp6Dcuda.cc ${CUDA_FILES})
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target_link_libraries(slam6D ${CUDA_LIBRARIES} ANN cudpp64)
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CUDA_ADD_CUBLAS_TO_TARGET(slam6D)
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CUDA_ADD_CUTIL_TO_TARGET(slam6D)
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ELSE(WITH_CUDA)
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add_executable(slam6D slam6D.cc)
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ENDIF(WITH_CUDA)
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IF(UNIX)
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target_link_libraries(slam6D scan newmat sparse ANN)
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ENDIF(UNIX)
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IF(WIN32)
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target_link_libraries(slam6D scan newmat sparse ANN XGetopt ${Boost_LIBRARIES})
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ENDIF(WIN32)
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#IF(MSVC)
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# INSTALL(TARGETS slam6D RUNTIME DESTINATION ${CMAKE_SOURCE_DIR}/windows)
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#ENDIF(MSVC)
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