publish position

CMakeLists.txt

@@ -17,7 +17,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 find_package(Boost REQUIRED COMPONENTS system)
 find_package(PCL 1.8 EXACT REQUIRED)
-
+find_package(math_utils REQUIRED)
 find_package(freenect2 REQUIRED HINTS "$ENV{HOME}/freenect2")
 
 #find_package(Eigen REQUIRED)
@@ -113,9 +113,11 @@ set(CMAKE_VERBOSE_MAKEFILE ON)
 
 catkin_package(
   CATKIN_DEPENDS std_msgs geometry_msgs
+
 )
 
 
+
 ###########
 ## Build ##
 ###########
@@ -129,6 +131,7 @@ include_directories(
   include
 #  /usr/include/pcl-1.7/
   ${PCL_INCLUDE_DIRS}
+  ${math_utils_INCLUDE_DIRS}
 )
 
 #include_directories(${PCL_INCLUDE_DIRS})
@@ -249,6 +252,8 @@ target_link_libraries(pcd_cloud_viewer
 target_link_libraries(dian_csl_tracker
   ${catkin_LIBRARIES}
   ${PCL_LIBRARIES}
+  ${math_utils_LIBRARIES}
+
 #  ${freenect2_LIBRARY}
 #  -lfreenect2
 )

CMakeLists.txt~

@@ -0,0 +1,282 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(csl_detection)
+
+set(PCL_DIR "/usr/share/pcl-1.7/PCLConfig.cmake")
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  OpenCV
+)
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED COMPONENTS system)
+find_package(PCL 1.7.2 EXACT REQUIRED)
+
+find_package(freenect2 REQUIRED HINTS "$ENV{HOME}/freenect2")
+
+#find_package(Eigen REQUIRED)
+
+set (CMAKE_CXX_FLAGS "--std=c++11 ${CMAKE_CXX_FLAGS}")
+set(CMAKE_VERBOSE_MAKEFILE ON)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+
+catkin_package(
+
+)
+
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${freenect2_INCLUDE_DIRS}
+  include
+  /usr/include/pcl-1.7/
+  ${PCL_INCLUDE_DIRS}
+)
+
+#include_directories(${PCL_INCLUDE_DIRS})
+#include_directories(${Eigen_INCLUDE_DIRS})
+# link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+
+
+
+set(PCL_BUILD_TYPE Release)
+## Declare a C++ library
+# add_library(csl_detection
+#   src/${PROJECT_NAME}/csl_detection.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(csl_detection ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+#add_executable(csl_detection_node src/csl_detection_node.cpp)
+#add_executable(csl_tracker_node src/csl_tracker.cpp)
+#add_executable(kinect2_tracking_node src/kinect2_tracking_node.cpp)
+#add_executable(kinect2_read_write_node src/kinect2_read_write_node.cpp)
+add_executable(kinect2_csl_tracker src/kinect2_freenect_tracker.cpp)
+#add_executable(openni2_grabber_test src/openni2_test.cpp)
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(csl_detection_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+#target_link_libraries(csl_detection_node
+#  ${catkin_LIBRARIES}
+#  ${PCL_LIBRARIES}
+#)
+
+#target_link_libraries(csl_tracker_node
+#  ${catkin_LIBRARIES}
+#  ${PCL_LIBRARIES}
+#)
+
+#target_link_libraries(kinect2_tracking_node
+#  ${catkin_LIBRARIES}
+#  ${PCL_LIBRARIES}
+#  ${freenect2_LIBRARY}
+##  -lfreenect2
+#)
+
+string(REPLACE -lpcl_recognition    /usr/lib/libpcl_recognition.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_filters    /usr/lib/libpcl_filters.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_common    /usr/lib/libpcl_common.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_apps    /usr/lib/libpcl_apps.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_surface    /usr/lib/libpcl_surface.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_kdtree    /usr/lib/libpcl_kdtree.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_tracking    /usr/lib/libpcl_tracking.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_visualization    /usr/lib/libpcl_visualization.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_io    /usr/lib/libpcl_io.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_outofcore    /usr/lib/libpcl_outofcore.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_people    /usr/lib/libpcl_people.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_keypoints    /usr/lib/libpcl_keypoints.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_features    /usr/lib/libpcl_features.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_search    /usr/lib/libpcl_search.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_sample_consensus    /usr/lib/libpcl_sample_consensus.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_octree    /usr/lib/libpcl_octree.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_io_ply    /usr/lib/libpcl_io_ply.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_segmentation    /usr/lib/libpcl_segmentation.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+string(REPLACE -lpcl_registration    /usr/lib/libpcl_registration.so.1.7.2     PCL_LIBRARIES    "${PCL_LIBRARIES}")
+
+
+target_link_libraries(openni2_grabber_test
+  ${catkin_LIBRARIES}
+  #${Eigen_LIBRARIES}
+# /usr/lib/libpcl_recognition.so.1.7.2
+# /usr/lib/libpcl_filters.so.1.7.2
+# /usr/lib/libpcl_common.so.1.7.2
+# /usr/lib/libpcl_apps.so.1.7.2
+# /usr/lib/libpcl_surface.so.1.7.2
+# /usr/lib/libpcl_kdtree.so.1.7.2
+# /usr/lib/libpcl_tracking.so.1.7.2
+# /usr/lib/libpcl_visualization.so.1.7.2
+# /usr/lib/libpcl_io.so.1.7.2
+# /usr/lib/libpcl_outofcore.so.1.7.2
+# /usr/lib/libpcl_people.so.1.7.2
+# /usr/lib/libpcl_keypoints.so.1.7.2
+# /usr/lib/libpcl_features.so.1.7.2
+# /usr/lib/libpcl_search.so.1.7.2
+# /usr/lib/libpcl_sample_consensus.so.1.7.2
+# /usr/lib/libpcl_octree.so.1.7.2
+# /usr/lib/libpcl_io_ply.so.1.7.2
+# /usr/lib/libpcl_segmentation.so.1.7.2
+# /usr/lib/libpcl_registration.so.1.7.2
+  ${PCL_LIBRARIES}
+  ${openni2_LIBRARIES}
+  #${freenect2_LIBRARY}
+#  -lfreenect2
+)
+
+
+target_link_libraries(kinect2_csl_tracker
+  ${catkin_LIBRARIES}
+  ${PCL_LIBRARIES}
+  ${freenect2_LIBRARY}
+#  -lfreenect2
+)
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS csl_detection csl_detection_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_csl_detection.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)