update svn to r776

.svn/pristine/0f/0f93101c08e35fb37efbfe34b574c1b43217904e.svn-base

@@ -0,0 +1,118 @@
+### TOOLS
+
+IF(WITH_TOOLS)
+  ### SCAN_RED
+  add_executable(scan_red scan_red.cc fbr/fbr_global.cc fbr/panorama.cc fbr/scan_cv.cc)
+
+  IF(UNIX)
+    target_link_libraries(scan_red scan dl ANN fbr_cv_io fbr_panorama ${OpenCV_LIBS} ${Boost_LIBRARIES})
+  ENDIF(UNIX)
+
+  IF (WIN32)
+    target_link_libraries(scan_red scan ANN XGetopt)
+  ENDIF(WIN32)
+
+  ### SCAN_DIFF
+  add_executable(scan_diff scan_diff.cc)
+  #  add_executable(scan_diff2d scan_diff2d.cc ../show/colormanager.cc)
+
+  IF(UNIX)
+    target_link_libraries(scan_diff scan dl ANN)
+    #    target_link_libraries(scan_diff2d scan dl ANN)
+  ENDIF(UNIX)
+
+  IF (WIN32)
+    target_link_libraries(scan_diff scan ANN XGetopt)
+    # target_link_libraries(scan_diff2d scan ANN XGetopt)
+  ENDIF(WIN32)
+
+  add_executable(frame_to_graph frame_to_graph.cc)
+  add_executable(convergence convergence.cc)
+  add_executable(graph_balancer graph_balancer.cc)
+  add_executable(exportPoints exportPoints.cc)
+  add_executable(frames2riegl frames2riegl.cc)
+  add_executable(frames2pose frames2pose.cc)
+  add_executable(pose2frames pose2frames.cc)
+  add_executable(riegl2frames riegl2frames.cc)
+  add_executable(toGlobal toGlobal.cc)
+
+  IF(UNIX)
+    target_link_libraries(graph_balancer scan ${Boost_GRAPH_LIBRARY} ${Boost_SERIALIZATION_LIBRARY} ${Boost_REGEX_LIBRARY})
+    target_link_libraries(exportPoints scan dl ANN)
+    target_link_libraries(toGlobal scan)
+  ENDIF(UNIX)
+
+
+  IF (WIN32)
+    target_link_libraries(frame_to_graph XGetopt ${Boost_LIBRARIES})
+    target_link_libraries(convergence XGetopt ${Boost_LIBRARIES})
+    target_link_libraries(graph_balancer scan XGetopt  ${Boost_LIBRARIES})
+    target_link_libraries(exportPoints scan ANN XGetopt  ${Boost_LIBRARIES})
+    target_link_libraries(frames2pose XGetopt ${Boost_LIBRARIES})
+    target_link_libraries(pose2frames XGetopt ${Boost_LIBRARIES})
+    target_link_libraries(frames2riegl XGetopt ${Boost_LIBRARIES})
+    target_link_libraries(riegl2frames XGetopt ${Boost_LIBRARIES})
+    target_link_libraries(toGlobal XGetopt ${Boost_LIBRARIES})
+  ENDIF(WIN32)
+
+ENDIF(WITH_TOOLS)
+
+### SCANLIB
+
+SET(SCANLIB_SRCS
+  kd.cc             kdManaged.cc      kdMeta.cc         graphSlam6D.cc 
+  graph.cc          icp6D.cc          icp6Dapx.cc       icp6Dsvd.cc 
+  icp6Dortho.cc     icp6Dquat.cc      icp6Dhelix.cc     icp6Dlumeuler.cc 
+  icp6Dlumquat.cc   icp6Ddual.cc      lum6Deuler.cc     lum6Dquat.cc
+  ghelix6DQ2.cc     gapx6D.cc         ann_kd.cc         elch6D.cc
+  elch6Dquat.cc     elch6DunitQuat.cc elch6Dslerp.cc    elch6Deuler.cc    
+  point_type.cc	icp6Dquatscale.cc searchTree.cc     Boctree.cc
+  scan.cc           basicScan.cc      managedScan.cc    metaScan.cc
+  io_types.cc       io_utils.cc       pointfilter.cc    allocator.cc
+  )
+
+if(WITH_METRICS)
+  set(SCANLIB_SRCS ${SCANLIB_SRCS} metrics.cc)
+endif(WITH_METRICS)
+
+add_library(scan STATIC ${SCANLIB_SRCS})
+
+FIND_PACKAGE(OpenCV REQUIRED)
+
+target_link_libraries(scan scanclient scanio normals)
+
+IF(UNIX)
+  target_link_libraries(scan dl)
+ENDIF(UNIX)
+
+### EXPORT SHARED LIBS
+
+IF(EXPORT_SHARED_LIBS)
+add_library(scan_s SHARED ${SCANLIB_SRCS})
+#target_link_libraries(scan_s ${Boost_LIBRARIES} newmat)
+target_link_libraries(scan_s newmat_s sparse_s ANN_s )
+ENDIF(EXPORT_SHARED_LIBS)
+
+### SLAM6D
+
+IF(WITH_CUDA)
+  CUDA_COMPILE(CUDA_FILES cuda/CIcpGpuCuda.cu )
+  add_executable(slam6D slam6D.cc cuda/icp6Dcuda.cc ${CUDA_FILES})
+  target_link_libraries(slam6D ${CUDA_LIBRARIES} ANN cudpp64)
+  CUDA_ADD_CUBLAS_TO_TARGET(slam6D)
+  CUDA_ADD_CUTIL_TO_TARGET(slam6D)
+ELSE(WITH_CUDA)
+  add_executable(slam6D slam6D.cc)
+ENDIF(WITH_CUDA)
+
+IF(UNIX)
+  target_link_libraries(slam6D scan newmat sparse ANN)
+ENDIF(UNIX)
+
+IF(WIN32)
+  target_link_libraries(slam6D scan newmat sparse ANN XGetopt ${Boost_LIBRARIES})
+ENDIF(WIN32)
+
+#IF(MSVC)
+#	INSTALL(TARGETS slam6D RUNTIME DESTINATION ${CMAKE_SOURCE_DIR}/windows)
+#ENDIF(MSVC)