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CMakeLists.txt
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CMakeLists.txt
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# Software License Agreement (BSD License)
#
# Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
# * Neither the name of the copyright holder nor the names of its contributors
# may be used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cmake_minimum_required(VERSION 2.8.3)
project(spencer_tracking_utils)
find_package(catkin REQUIRED COMPONENTS rospy roscpp tf spencer_tracking_msgs nav_msgs cmake_modules)
find_package(Eigen3 REQUIRED)
include_directories(${Eigen3_INCLUDE_DIRS} /usr/include/eigen3)
#catkin_python_setup()
catkin_package(
CATKIN_DEPENDS rospy roscpp spencer_tracking_msgs
)
include_directories(${catkin_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS})
set(SOURCE_DIR src/spencer_tracking_utils)
### Executable for logical filtering of two sets of TrackedPersons (logical AND / OR based upon track IDs) ###
add_executable(filter_tracks_logically
${SOURCE_DIR}/filter_tracks_logically.cpp
)
add_dependencies(filter_tracks_logically ${catkin_EXPORTED_TARGETS})
target_link_libraries(filter_tracks_logically ${catkin_LIBRARIES})
### Executable for filtering out any tracks which have not been confirmed visually (based upon modality of the associated CompositeDetectedPerson instance) ###
add_executable(filter_visually_confirmed_tracks
${SOURCE_DIR}/filter_visually_confirmed_tracks.cpp
)
add_dependencies(filter_visually_confirmed_tracks ${catkin_EXPORTED_TARGETS})
target_link_libraries(filter_visually_confirmed_tracks ${catkin_LIBRARIES})
### Executable for filtering non-moving targets ###
add_executable(filter_non_moving_targets
${SOURCE_DIR}/filter_non_moving_targets.cpp
)
add_dependencies(filter_non_moving_targets ${catkin_EXPORTED_TARGETS})
target_link_libraries(filter_non_moving_targets ${catkin_LIBRARIES})
### Executable to fix the orientation of non-moving targets (use previous orientation while target was still moving; if unknown, face towards sensor) ###
add_executable(fix_orientation_of_non_moving_targets
${SOURCE_DIR}/fix_orientation_of_non_moving_targets.cpp
)
add_dependencies(fix_orientation_of_non_moving_targets ${catkin_EXPORTED_TARGETS})
target_link_libraries(fix_orientation_of_non_moving_targets ${catkin_LIBRARIES})
### Executable to simulate detections from tracks ###
add_executable(tracks_to_detections
${SOURCE_DIR}/tracks_to_detections.cpp
)
add_dependencies(tracks_to_detections ${catkin_EXPORTED_TARGETS})
target_link_libraries(tracks_to_detections ${catkin_LIBRARIES})
### Executable to simulate occlusions among detections, by assuming robot in origin of specified sensor target frame ###
add_executable(simulate_occluded_detections_via_raytracing
${SOURCE_DIR}/simulate_occluded_detections_via_raytracing.cpp
)
add_dependencies(simulate_occluded_detections_via_raytracing ${catkin_EXPORTED_TARGETS})
target_link_libraries(simulate_occluded_detections_via_raytracing ${catkin_LIBRARIES})
### Executable to filter tracks based upon minimum/maximum distance to a given sensor frame origin ###
add_executable(filter_tracks_by_distance
${SOURCE_DIR}/filter_tracks_by_distance.cpp
)
add_dependencies(filter_tracks_by_distance ${catkin_EXPORTED_TARGETS})
target_link_libraries(filter_tracks_by_distance ${catkin_LIBRARIES})
### Executable to mark all input tracks as occluded and otherwise pass them through as-is ###
add_executable(mark_all_tracks_as_occluded
${SOURCE_DIR}/mark_all_tracks_as_occluded.cpp
)
add_dependencies(mark_all_tracks_as_occluded ${catkin_EXPORTED_TARGETS})
target_link_libraries(mark_all_tracks_as_occluded ${catkin_LIBRARIES})
### Executable to match existing tracks against laser points, by synchronizing with a laserscan and checking if it has laser points at the person's coordinates ###
### NOTE: It is assumed that the tracks have initially been marked as occluded by the mark_all_tracks_as_occluded executable ###
add_executable(match_tracks_against_laser
${SOURCE_DIR}/match_tracks_against_laser.cpp
)
add_dependencies(match_tracks_against_laser ${catkin_EXPORTED_TARGETS})
target_link_libraries(match_tracks_against_laser ${catkin_LIBRARIES})
### Executable to filter out detections which appear as obstacles in a static map ###
add_executable(filter_detections_by_static_map
${SOURCE_DIR}/filter_detections_by_static_map.cpp
)
add_dependencies(filter_detections_by_static_map ${catkin_EXPORTED_TARGETS})
target_link_libraries(filter_detections_by_static_map ${catkin_LIBRARIES})
### Executable to filter out detections which are outside of the horizontal FOV of a sensor ###
add_executable(filter_detections_by_fov
${SOURCE_DIR}/filter_detections_by_fov.cpp
)
add_dependencies(filter_detections_by_fov ${catkin_EXPORTED_TARGETS})
target_link_libraries(filter_detections_by_fov ${catkin_LIBRARIES})
### Executable to filter out or set to occluded tracks which are outside of the horizontal FOV of a sensor ###
add_executable(filter_tracks_by_fov
${SOURCE_DIR}/filter_tracks_by_fov.cpp
)
add_dependencies(filter_tracks_by_fov ${catkin_EXPORTED_TARGETS})
target_link_libraries(filter_tracks_by_fov ${catkin_LIBRARIES})
## 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
filter_tracks_logically
filter_visually_confirmed_tracks
filter_non_moving_targets
fix_orientation_of_non_moving_targets
tracks_to_detections
simulate_occluded_detections_via_raytracing
filter_tracks_by_distance
mark_all_tracks_as_occluded
match_tracks_against_laser
filter_detections_by_static_map
filter_detections_by_fov
filter_tracks_by_fov
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
#)
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
PATTERN ".svn" EXCLUDE
)