more skank

CMakeLists.txt

@@ -0,0 +1,85 @@
+cmake_minimum_required(VERSION 2.6.0)
+
+# pull in the pods macros. See cmake/pods.cmake for documentation
+set(POD_NAME ICPCUDA-app)
+include(cmake/pods.cmake)
+
+# automatically build LCM types.  This also defines a number of CMake
+# variables, see cmake/lcmtypes.cmake for details
+include(cmake/lcmtypes.cmake)
+lcmtypes_build()
+
+#add_subdirectory(ICPCUDA/src)
+#SET(srcs ICPCUDA/src/ICP.cpp ICPCUDA/src/ICPOdometry.cpp ICPCUDA/src/ICPSlowdometry.cpp)
+#SET(cuda ICPCUDA/src/Cuda/estimate_combined.cu ICPCUDA/src/Cuda/pyrdown.cu ICPCUDA/src/Cuda/icp.cu)
+
+find_package(OpenCV REQUIRED)
+find_package(Boost COMPONENTS thread filesystem system REQUIRED)
+find_package(CUDA REQUIRED)
+
+#remove this as soon as eigen is shipped with FindEigen.cmake
+  get_filename_component(EIGEN_ROOT "/usr/include/eigen3" PATH)
+  if(PKG_CONFIG_FOUND)
+    pkg_check_modules(PC_EIGEN eigen3)
+  endif(PKG_CONFIG_FOUND)
+  find_path(EIGEN_INCLUDE_DIRS Eigen/Core
+    HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS} 
+          "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"
+    PATHS "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0"
+          "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen"   
+    PATH_SUFFIXES eigen3 include/eigen3 include)
+  find_package_handle_standard_args(eigen DEFAULT_MSG EIGEN_INCLUDE_DIRS)
+  set(EIGEN_DEFINITIONS ${EIGEN_DEFINITIONS} -DEIGEN_USE_NEW_STDVECTOR 
+      -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET)
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+include_directories(${Boost_INCLUDE_DIR})
+include_directories(${CUDA_INCLUDE_DIRS})
+include_directories(${EIGEN_INCLUDE_DIRS})
+
+#file(GLOB srcs *.cpp)
+#file(GLOB cuda Cuda/*.cu)
+#file(GLOB containers Cuda/containers/*.cpp)
+file(GLOB srcs ICPCUDA/src/ICPOdometry.cpp ICPCUDA/src/ICPSlowdometry.cpp)
+file(GLOB cuda ICPCUDA/src/Cuda/*.cu)
+file(GLOB containers ICPCUDA/src/Cuda/containers/*.cpp)
+
+set(CUDA_ARCH_BIN "35" CACHE STRING "Specify 'real' GPU arch to build binaries for, BIN(PTX) format is supported. Example: 1.3 2.1(1.3) or 13 21(13)")
+set(CUDA_ARCH_PTX "" CACHE STRING "Specify 'virtual' PTX arch to build PTX intermediate code for. Example: 1.0 1.2 or 10 12")              
+
+SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR})
+include(ICPCUDA/src/CudaComputeTargetFlags.cmake)
+APPEND_TARGET_ARCH_FLAGS()
+
+set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}  "-Xcompiler;-fPIC;")           
+set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "--ftz=true;--prec-div=false;--prec-sqrt=false") 
+
+CUDA_COMPILE(cuda_objs ${cuda})
+
+
+add_library(icpcuda SHARED ICPCUDA/src/ICPSlowdometry.cpp ICPCUDA/src/ICPOdometry.cpp ${cuda} ${containers} ICPCUDA/src/Cuda/icp.cu ICPCUDA/src/Cuda/estimate_combined.cu ICPCUDA/src/Cuda/pyrdown.cu)
+pods_use_pkg_config_packages(icpcuda eigen3)
+
+file(GLOB src_hpp ICPCUDA/src/*.h)
+file(GLOB cuda_hpp ICPCUDA/src/Cuda/*.h)
+file(GLOB containers_hpp ICPCUDA/src/Cuda/containers/*.hpp)
+
+set_target_properties(icpcuda PROPERTIES SOVERSION 1)
+pods_install_libraries(icpcuda)
+pods_install_headers( ${src_hpp}  DESTINATION icpcuda)
+pods_install_headers( ${cuda_hpp}  DESTINATION icpcuda/Cuda)
+pods_install_headers( ${containers_hpp}  DESTINATION icpcuda/Cuda/containers)
+pods_install_pkg_config_file(icpcuda
+    LIBS -licpcuda
+    REQUIRES 
+    VERSION 0.0.1)
+
+
+add_executable(ICP  ICPCUDA/src/ICP.cpp ${srcs} ${cuda} ${cuda_objs} ${containers})
+target_link_libraries(ICP ${Boost_LIBRARIES} ${OpenCV_LIBS} ${Eigen_LIBRARIES} ${CUDA_LIBRARIES})
+pods_install_executables(ICP)
+
+add_executable(icpcuda-app-original src/icpcuda-app/icpcuda-app-original.cpp ${srcs} ${cuda} ${cuda_objs} ${containers})
+target_link_libraries(icpcuda-app-original ${Boost_LIBRARIES} ${OpenCV_LIBS} ${Eigen_LIBRARIES} ${CUDA_LIBRARIES})
+pods_install_executables(icpcuda-app-original)
+

Makefile

@@ -1,7 +1,4 @@
-DL_LINK   = http://bitbucket.org/eigen/eigen/get/3.2.1.tar.gz
-DL_NAME   = 3.2.1.tar.gz
-UNZIP_DIR = ICPCUDA
-
+# Default pod makefile distributed with pods version: 12.11.14
 
 default_target: all
 
@@ -26,36 +23,27 @@ ifeq "$(BUILD_TYPE)" ""
 BUILD_TYPE="Release"
 endif
 
-SED=sed
-ifeq ($(shell uname), Darwin)
-  SED=gsed
-endif
-
 all: pod-build/Makefile
-	$(MAKE) -C pod-build all #install
+	$(MAKE) -C pod-build all install
 
 pod-build/Makefile:
 	$(MAKE) configure
 
 .PHONY: configure
-configure: $(UNZIP_DIR)/src/CMakeLists.txt
+configure:
 	@echo "\nBUILD_PREFIX: $(BUILD_PREFIX)\n\n"
 
 	# create the temporary build directory if needed
 	@mkdir -p pod-build
 
-	# create the lib directory if needed, so the pkgconfig gets installed to the right place
-	@mkdir -p $(BUILD_PREFIX)/lib
-	@mkdir -p $(BUILD_PREFIX)/lib/pkgconfig
-
 	# run CMake to generate and configure the build scripts
 	@cd pod-build && cmake -DCMAKE_INSTALL_PREFIX=$(BUILD_PREFIX) \
-		   -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) ../$(UNZIP_DIR)/src
-
-#$(UNZIP_DIR)/CMakeLists.txt:
-#	wget --no-check-certificate $(DL_LINK) && tar -xzf $(DL_NAME) && rm $(DL_NAME)
-#	$(SED) -i -e 's@share/pkgconfig@lib/pkgconfig@g' $(UNZIP_DIR)/CMakeLists.txt
+		   -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) ..
 
 clean:
 	-if [ -e pod-build/install_manifest.txt ]; then rm -f `cat pod-build/install_manifest.txt`; fi
 	-if [ -d pod-build ]; then $(MAKE) -C pod-build clean; rm -rf pod-build; fi
+
+# other (custom) targets are passed through to the cmake-generated Makefile 
+%::
+	$(MAKE) -C pod-build $@