initial addition of libcudavoting

CMakeLists.txt

@@ -0,0 +1,150 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+# Run the CUDA-linking routines
+#rosbuild_find_ros_package(cuda)
+#message("CUDA Directory" ${cuda_PACKAGE_PATH})
+
+#rosbuild_include(cuda cuda)
+#message("CUDA SDK Directory" ${CUDA_SDK_ROOT_DIR})
+#include_directories(${cuda_PACKAGE_PATH}/sdk/shared/inc ${cuda_PACKAGE_PATH}/sdk/C/common/inc)
+
+
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+if(CMAKE_COMPILER_IS_GNUCXX)
+	execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION)
+	if (GCC_VERSION VERSION_GREATER 4.4 OR GCC_VERSION VERSION_EQUAL 4.4)
+		add_definitions(-std=gnu++0x)
+	else (GCC_VERSION VERSION_GREATER 4.4 OR GCC_VERSION VERSION_EQUAL 4.4)
+		message(SEND_ERROR "You need GCC version 4.4 or greater to compile this library")
+	endif (GCC_VERSION VERSION_GREATER 4.4 OR GCC_VERSION VERSION_EQUAL 4.4)
+else(CMAKE_COMPILER_IS_GNUCXX)
+	message(SEND_ERROR "You need partial C++0x support for N2351, N2672, N1984. Currently this build toolchain supports only GCC >= 4.4. If your compiler supports these specifications, please send us a patch.")
+endif(CMAKE_COMPILER_IS_GNUCXX)
+
+
+rosbuild_find_ros_stack(ethzasl_icp_mapping)
+message("ethzasl_icp_mapping_STACK_PATH is " ${ethzasl_icp_mapping_STACK_PATH})
+
+# add pointmatcher
+find_path(NABO_INCLUDE_DIR nabo/nabo.h
+	${ethzasl_icp_mapping_STACK_PATH}/libnabo/include
+)
+find_library(NABO_LIBRARY nabo
+	${ethzasl_icp_mapping_STACK_PATH}/libnabo/build
+)
+include_directories(${NABO_INCLUDE_DIR})
+message("NABO_INCLUDE_DIR is " ${NABO_INCLUDE_DIR} )
+
+find_path(POINT_MATCHER_INCLUDE_DIR pointmatcher/PointMatcher.h
+	${ethzasl_icp_mapping_STACK_PATH}/libpointmatcher/include
+)
+message("POINT_MATCHER_INCLUDE_DIR is " ${POINT_MATCHER_INCLUDE_DIR})
+
+find_path(POINT_MATCHER_ROS_INCLUDE_DIR pointmatcher_ros/point_cloud.h
+	${ethzasl_icp_mapping_STACK_PATH}/libpointmatcher_ros/include
+)
+message("POINT_MATCHER_ROS_INCLUDE_DIR is " ${POINT_MATCHER_ROS_INCLUDE_DIR})
+
+find_library(POINT_MATCHER_LIBRARY pointmatcher
+	${ethzasl_icp_mapping_STACK_PATH}/libpointmatcher/build
+)
+include_directories(${POINT_MATCHER_INCLUDE_DIR} ${POINT_MATCHER_ROS_INCLUDE_DIR})
+
+
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+# boost
+find_package(Boost COMPONENTS thread filesystem system REQUIRED)
+include_directories(${Boost_INCLUDE_DIRS})
+set(BOOST_LIBRARIES ${Boost_LIBRARIES})
+LINK_DIRECTORIES( ${LINK_DIRECTORIES} /usr/lib)
+
+
+# look for yaml-cpp library
+find_path(yaml-cpp_INCLUDE_DIRS yaml-cpp/yaml.h
+	/usr/local/include
+	/usr/include
+)
+find_library(yaml-cpp_LIBRARIES yaml-cpp PATHS
+	/usr/local/lib
+	/usr/lib
+NO_DEFAULT_PATH)
+if (yaml-cpp_INCLUDE_DIRS AND yaml-cpp_LIBRARIES)
+	include_directories(${yaml-cpp_INCLUDE_DIRS})
+	set(EXTRA_LIBS ${EXTRA_LIBS} ${yaml-cpp_LIBRARIES})
+	add_definitions(-DHAVE_YAML_CPP)
+endif (yaml-cpp_INCLUDE_DIRS AND yaml-cpp_LIBRARIES)
+
+# look for yaml-cpp library
+find_path(eigen_INCLUDE_DIRS Eigen/Eigen
+	/usr/local/include
+	/usr/include/eigen3
+    /usr/include
+)
+message("eigen_INCLUDE_DIRS is " ${eigen_INCLUDE_DIRS})
+
+
+if (eigen_INCLUDE_DIRS)
+	include_directories(${eigen_INCLUDE_DIRS})
+	add_definitions(-DHAVE_EIGEN)
+else(eigen_INCLUDE_DIRS)
+        message("Eigen Not Found!")
+endif (eigen_INCLUDE_DIRS)
+
+find_package(CUDA QUIET)
+if(CUDA_FOUND)
+#SET(CUDA_NVCC_FLAGS "-arch=sm_30" "-O3" "-use_fast_math")
+    SET(CUDA_NVCC_FLAGS "-arch=sm_30" "-O3" "-use_fast_math")
+    include_directories( ${CUDA_INCLUDE_DIRS} /usr/local/cuda-5.5/samples/common/inc )
+    message("CUDA include directories: ###" ${CUDA_INCLUDE_DIRS} " ###" ${CUDA_INCLUDE_DIRS}/samples/common/inc/  )
+    add_definitions(-DUSE_CUDA)
+else(CUDA_FOUND)
+    message("CUDA is not installed on this system.")
+endif()
+# Build the kernel and the kernel-aware host code
+CUDA_ADD_LIBRARY(CudaVoting src/CudaVoting.cu)
+
+
+# Build the ROS node and the matrix-adding code that's CUDA-unaware
+#rosbuild_add_executable(fake_voting_gpu src/fake_voting_gpu.cpp)
+include_directories(/usr/include/eigen3 /usr/local/cuda/include)
+rosbuild_add_boost_directories()
+
+#rosbuild_add_executable(fake_voting_gpu src/fake_voting_sparse_gpu.cpp src/tensor_voting.cpp)
+#rosbuild_link_boost(fake_voting_gpu  thread system filesystem)
+#target_link_libraries(fake_voting_gpu CudaVoting ${POINT_MATCHER_LIBRARY} ${NABO_LIBRARY} ${EXTRA_LIBS} cuda cudart rt ${Boost_LIBRARIES})
+
+#rosbuild_add_executable(demo_sparse_cpu src/demo_sparse_cpu.cpp src/tensor_voting.cpp)
+#rosbuild_link_boost(demo_sparse_cpu  thread system filesystem)
+#target_link_libraries(demo_sparse_cpu CudaVoting ${POINT_MATCHER_LIBRARY} ${NABO_LIBRARY} ${EXTRA_LIBS} cuda cudart rt ${Boost_LIBRARIES})
+
+# sparse voting demo
+rosbuild_add_executable(demo_sparse_gpu src/demo_sparse_gpu.cpp src/tensor_voting.cpp)
+rosbuild_link_boost(demo_sparse_gpu  thread system filesystem)
+target_link_libraries(demo_sparse_gpu CudaVoting ${POINT_MATCHER_LIBRARY} ${NABO_LIBRARY} ${EXTRA_LIBS} cuda cudart rt ${Boost_LIBRARIES})
+
+# sparse + dense stick voting demo (use unified GPU implementation)
+rosbuild_add_executable(demo_dense_gpu src/demo_dense_gpu.cpp src/tensor_voting.cpp)
+rosbuild_link_boost(demo_dense_gpu  thread system filesystem)
+target_link_libraries(demo_dense_gpu CudaVoting ${POINT_MATCHER_LIBRARY} ${NABO_LIBRARY} ${EXTRA_LIBS} cuda cudart rt ${Boost_LIBRARIES})

Makefile

@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

data/.svn/all-wcprops

@@ -0,0 +1,59 @@
+K 25
+svn:wc:ra_dav:version-url
+V 74
+/nifti/!svn/ver/6253/code/ros/stacks/nifti_mapping/trunk/tensorvoting/data
+END
+Curveplane.vtk
+K 25
+svn:wc:ra_dav:version-url
+V 89
+/nifti/!svn/ver/6253/code/ros/stacks/nifti_mapping/trunk/tensorvoting/data/Curveplane.vtk
+END
+planes2.vtk
+K 25
+svn:wc:ra_dav:version-url
+V 86
+/nifti/!svn/ver/6253/code/ros/stacks/nifti_mapping/trunk/tensorvoting/data/planes2.vtk
+END
+winter_sparse.vtk
+K 25
+svn:wc:ra_dav:version-url
+V 92
+/nifti/!svn/ver/6253/code/ros/stacks/nifti_mapping/trunk/tensorvoting/data/winter_sparse.vtk
+END
+planes4.vtk
+K 25
+svn:wc:ra_dav:version-url
+V 86
+/nifti/!svn/ver/6253/code/ros/stacks/nifti_mapping/trunk/tensorvoting/data/planes4.vtk
+END
+outputSparse.vtk
+K 25
+svn:wc:ra_dav:version-url
+V 91
+/nifti/!svn/ver/6253/code/ros/stacks/nifti_mapping/trunk/tensorvoting/data/outputSparse.vtk
+END
+floorMap.vtk
+K 25
+svn:wc:ra_dav:version-url
+V 87
+/nifti/!svn/ver/6253/code/ros/stacks/nifti_mapping/trunk/tensorvoting/data/floorMap.vtk
+END
+output_0.5_cpu_voting.vtk
+K 25
+svn:wc:ra_dav:version-url
+V 100
+/nifti/!svn/ver/6253/code/ros/stacks/nifti_mapping/trunk/tensorvoting/data/output_0.5_cpu_voting.vtk
+END
+sparseFloor.vtk
+K 25
+svn:wc:ra_dav:version-url
+V 90
+/nifti/!svn/ver/6253/code/ros/stacks/nifti_mapping/trunk/tensorvoting/data/sparseFloor.vtk
+END
+output.vtk
+K 25
+svn:wc:ra_dav:version-url
+V 85
+/nifti/!svn/ver/6253/code/ros/stacks/nifti_mapping/trunk/tensorvoting/data/output.vtk
+END