added cloud segmentation and improved ecto cell

kai-chen-ustc · Nov 16, 2012 · 88df17d · 88df17d
1 parent defc651
commit 88df17d
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Showing 16 changed files with 1,142 additions and 237 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,19 +1,19 @@
 # PartsBasedDetector CMakeLists.txt
-cmake_minimum_required(VERSION 2.8.6)
+cmake_minimum_required(VERSION 2.8.5)
 
 # -----------------------------------------------
 # USER DEFINED VARIABLES
 # -----------------------------------------------
 option(BUILD_EXECUTABLE "Build as executable to test functionality"                     ON)
 option(BUILD_DOC        "Build documentation with Doxygen"                              ON)
 option(WITH_OPENMP      "Build with OpenMP support for multithreading"                  ON)
-option(WITH_ECTO        "Build with ECTO bindings if building in a Catkin environment"  OFF)
+option(WITH_ECTO        "Build with ECTO bindings if building in a Catkin environment"  ON)
 option(WITH_ROS         "Build with ROS bindings if building in a Catkin environment"   ON)
 
 # -----------------------------------------------
 # CATKIN
 # -----------------------------------------------
-
+find_package(catkin QUIET)
 if (catkin_FOUND)
     set(WITH_CATKIN ON)
     set(BUILD_EXECUTABLE OFF)
@@ -30,6 +30,7 @@ if (catkin_FOUND)
     if (WITH_ECTO)
         catkin_python_setup()
         find_package(ecto REQUIRED)
+        find_package(ecto_pcl REQUIRED)
         find_package(object_recognition_core REQUIRED)
     endif()
     # deal with cvmatio
@@ -82,12 +83,14 @@ endif ()
 # find the dependencies
 find_package(Boost COMPONENTS system filesystem signals REQUIRED)
 find_package(OpenCV REQUIRED)
+find_package(PCL REQUIRED)
 
 # include the dependencies
 include_directories(SYSTEM  ${OPENCV_INCLUDE_DIRS}
                             ${Boost_INCLUDE_DIRS}
 )
-include_directories("include")
+include_directories(include)
+include_directories(${PCL_INCLUDE_DIRS})
 
 # check if the MatlabIO dependency was successfully found
 if (cvmatio_LIBRARIES)

diff --git a/cells/CMakeLists.txt b/cells/CMakeLists.txt
@@ -5,14 +5,21 @@ ectomodule(object_recognition_by_parts_cells DESTINATION ${PROJECT_NAME}
 )
 
 find_package(object_recognition_core REQUIRED)
+#find_package(catkin REQUIRED COMPONENTS catkin pcl)
+find_package(PCL REQUIRED)
+#TODO add non-groovy code
 
 include_directories(SYSTEM ${object_recognition_core_INCLUDE_DIRS} 
-                           ${OpenCV_INCLUDE_DIR}
+                           ${ecto_INCLUDE_DIRS}
+                           ${ecto_pcl_INCLUDE_DIRS}
+                           ${OpenCV_INCLUDE_DIRS}
+                           ${PCL_INCLUDE_DIRS}
 )
 
 link_ecto(object_recognition_by_parts_cells     ${OpenCV_LIBRARIES}
                                                 ${Boost_LIBRARIES}
                                                 ${object_recognition_core_LIBRARIES}
                                                 ${MatlabIO_LIBRARIES}
+                                                ${PCL_LIBRARIES}
                                                 ${PROJECT_NAME}_lib
 )