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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(leg_tracker)
set(CMAKE_CXX_FLAGS "-std=c++11")
find_package(Boost REQUIRED system thread)
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
add_definitions(${Boost_DEFINITIONS})
if(NOT Boost_FOUND)
message(ERROR " Boost not found!")
endif(NOT Boost_FOUND)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
tf
interactive_markers
rosbag
image_geometry
message_generation
)
find_package(OpenCV 4 REQUIRED)
add_message_files(
FILES
Person.msg
PersonArray.msg
Leg.msg
LegArray.msg
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
catkin_package(
CATKIN_DEPENDS message_runtime
)
include_directories(
INCLUDE include
${catkin_INCLUDE_DIRS}
)
add_executable(
detect_leg_clusters
src/detect_leg_clusters.cpp
src/laser_processor.cpp
src/cluster_features.cpp
)
target_link_libraries(
detect_leg_clusters
${catkin_LIBRARIES}
)
add_executable(
local_occupancy_grid_mapping
src/local_occupancy_grid_mapping.cpp
src/laser_processor.cpp
)
target_link_libraries(
local_occupancy_grid_mapping
${catkin_LIBRARIES}
)
add_executable(
extract_positive_training_clusters
src/extract_positive_training_clusters.cpp
src/laser_processor.cpp
)
target_link_libraries(
extract_positive_training_clusters
${catkin_LIBRARIES}
)
add_executable(
train_leg_detector
src/train_leg_detector.cpp
src/laser_processor.cpp
src/cluster_features.cpp
)
target_link_libraries(
train_leg_detector
${catkin_LIBRARIES}
)
add_dependencies(local_occupancy_grid_mapping ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(local_occupancy_grid_mapping ${PROJECT_NAME}_gencpp)
add_dependencies(local_occupancy_grid_mapping ${PROJECT_NAME}_gencfg)
add_dependencies(detect_leg_clusters ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(detect_leg_clusters ${PROJECT_NAME}_gencpp)
add_dependencies(detect_leg_clusters ${PROJECT_NAME}_gencfg)
add_dependencies(extract_positive_training_clusters ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(extract_positive_training_clusters ${PROJECT_NAME}_gencpp)
add_dependencies(extract_positive_training_clusters ${PROJECT_NAME}_gencfg)
add_dependencies(train_leg_detector ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(train_leg_detector ${PROJECT_NAME}_gencpp)
add_dependencies(train_leg_detector ${PROJECT_NAME}_gencfg)
install(
PROGRAMS scripts/joint_leg_tracker.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(
PROGRAMS scripts/individual_leg_tracker.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)