Remove rosbuild files

checkerboard_detector/CMakeLists.txt

@@ -1,17 +1,59 @@
-if(NOT USE_ROSBUILD)
-  include(catkin.cmake)
-  return()
+# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
+cmake_minimum_required(VERSION 2.8.3)
+project(checkerboard_detector)
+
+find_package(catkin REQUIRED COMPONENTS roscpp rosconsole cv_bridge sensor_msgs image_geometry
+  posedetection_msgs eigen_conversions message_filters tf tf2 jsk_recognition_msgs jsk_recognition_msgs)
+find_package(OpenCV REQUIRED)
+find_package(OpenMP)
+find_package(posedetection_msgs)
+
+catkin_package(
+    CATKIN_DEPENDS roscpp rosconsole cv_bridge sensor_msgs posedetection_msgs image_geometry jsk_recognition_msgs
+    DEPENDS OpenCV2
+    INCLUDE_DIRS # TODO include
+    LIBRARIES # TODO
+)
+
+if (OPENMP_FOUND)
+    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
 endif()
-cmake_minimum_required(VERSION 2.4.6)
-#set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
-rosbuild_init()
-rosbuild_add_boost_directories()
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS}
+                           ${OpenCV_INCLUDE_DIRS})
 
 #set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+# 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)
+# set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+add_executable(checkerboard_detector src/checkerboard_detector.cpp)
+target_link_libraries(checkerboard_detector ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+add_executable(objectdetection_transform_echo src/objectdetection_transform_echo.cpp)
+target_link_libraries(objectdetection_transform_echo ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+add_executable(checkerboard_calibration src/checkerboard_calibration.cpp)
+target_link_libraries(checkerboard_calibration ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+add_dependencies(checkerboard_detector    posedetection_msgs_gencpp)
+add_dependencies(checkerboard_calibration posedetection_msgs_gencpp)
+add_dependencies(objectdetection_transform_echo posedetection_msgs_gencpp)
+add_dependencies(checkerboard_detector    jsk_recognition_msgs_gencpp)
+add_dependencies(checkerboard_calibration jsk_recognition_msgs_gencpp)
+add_dependencies(objectdetection_transform_echo jsk_recognition_msgs_gencpp)
+
+install(TARGETS checkerboard_detector checkerboard_calibration
+  objectdetection_transform_echo
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(PROGRAMS src/objectdetection_tf_publisher.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
-add_subdirectory(src)
+file(GLOB _launch *.launch)
+file(GLOB _pdf *.pdf)
+install(FILES ${_launch} ${_pdf}
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        )

imagesift/CMakeLists.txt

@@ -1,34 +1,56 @@
-if(NOT USE_ROSBUILD)
-  include(catkin.cmake)
-  return()
-endif()
+cmake_minimum_required(VERSION 2.8.3)
+project(imagesift)
 
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-rosbuild_init()
+find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs posedetection_msgs image_transport cv_bridge
+  jsk_perception)
+
+find_package(OpenCV)
+
+catkin_package(
+    CATKIN_DEPENDS roscpp sensor_msgs posedetection_msgs image_transport cv_bridge 
+    LIBRARIES
+    INCLUDE_DIRS
+    DEPENDS OpenCV libsiftfast
+)
+
+
+set(ENV{PKG_CONFIG_PATH} ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH})
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(siftfast libsiftfast REQUIRED)
+
+include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${siftfast_INCLUDE_DIRS})
+link_directories(${siftfast_LIBRARY_DIRS})
+link_libraries(${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${siftfast_LIBRARIES})
 
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-find_package(OpenCV REQUIRED)
-
 macro(jsk_feature detector extractor exec_name)
-  set(DETECTOR ${detector})                                               
-  set(EXTRACTOR ${extractor})                                                 
-  configure_file(${PROJECT_SOURCE_DIR}/imagefeatures.cpp.in ${exec_name}.cpp) #${CMAKE_CURRENT_BINARY_DIR}/
-  rosbuild_add_executable(${exec_name} build/${exec_name}.cpp)
+  list(APPEND jsk_exec ${exec_name})
+  set(DETECTOR ${detector})
+  set(EXTRACTOR ${extractor})
+  configure_file(imagefeatures.cpp.in ${exec_name}.cpp) #${CMAKE_CURRENT_BINARY_DIR}/
+  add_executable(${exec_name} ${exec_name}.cpp)
   set_target_properties(${exec_name} PROPERTIES COMPILE_FLAGS "-msse2 -O3" LINK_FLAGS "-msse2 -O3")
-  target_link_libraries(${exec_name} ${OpenCV_LIBRARIES})
+  if($ENV{ROS_DISTRO} STREQUAL "groovy" OR $ENV{ROS_DISTRO} STREQUAL "hydro")
+    set_target_properties(${exec_name} PROPERTIES COMPILE_FLAGS "-DOPENCV_NON_FREE")
+  endif()
   add_dependencies(${exec_name} posedetection_msgs_generate_messages_cpp libsiftfast)
 endmacro(jsk_feature detector extractor exec_name)
 
 jsk_feature("SURF" "SURF" "imagesurf")
 jsk_feature("STAR" "SURF" "imagestar")
 jsk_feature("BRISK" "BRISK" "imagebrisk")
-jsk_feature("SIFT" "SIFT" "imagesift_sift")
 jsk_feature("SIFT" "SURF" "imagesift_surf")
+jsk_feature("SIFT" "SIFT" "imagesift_sift")
+
 
-rosbuild_add_executable(imagesift imagesift.cpp)
+add_executable(imagesift imagesift.cpp)
 set_target_properties(imagesift PROPERTIES COMPILE_FLAGS "-msse2 -O3" LINK_FLAGS "-msse2 -O3")
-target_link_libraries(imagesift ${OpenCV_LIBRARIES})
+add_dependencies(imagesift libsiftfast)
+add_dependencies(imagesift posedetection_msgs_generate_messages_cpp libsiftfast)
+
+
+install(TARGETS imagesift ${jsk_exec} 
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)