diff --git a/GPU_version/vio/cmake-build-debug/CATKIN_IGNORE b/GPU_version/vio/cmake-build-debug/CATKIN_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/GPU_version/vio/cmake-build-debug/CMakeCache.txt b/GPU_version/vio/cmake-build-debug/CMakeCache.txt new file mode 100644 index 0000000..d02437b --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeCache.txt @@ -0,0 +1,848 @@ +# This is the CMakeCache file. +# For build in directory: /root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug +# It was generated by CMake: /opt/clion-2021.1.2/bin/cmake/linux/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Builds the googlemock subproject +BUILD_GMOCK:BOOL=ON + +//Builds the googletest subproject +BUILD_GTEST:BOOL=OFF + +//Build shared libraries (DLLs). +BUILD_SHARED_LIBS:BOOL=ON + +//Boost atomic library (debug) +Boost_ATOMIC_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_atomic.so + +//Boost atomic library (release) +Boost_ATOMIC_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_atomic.so + +//Boost chrono library (debug) +Boost_CHRONO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_chrono.so + +//Boost chrono library (release) +Boost_CHRONO_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_chrono.so + +//Boost date_time library (debug) +Boost_DATE_TIME_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so + +//Boost date_time library (release) +Boost_DATE_TIME_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so + +//The directory containing a CMake configuration file for Boost. +Boost_DIR:PATH=Boost_DIR-NOTFOUND + +//Path to a file. +Boost_INCLUDE_DIR:PATH=/usr/include + +//Boost library directory DEBUG +Boost_LIBRARY_DIR_DEBUG:PATH=/usr/lib/x86_64-linux-gnu + +//Boost library directory RELEASE +Boost_LIBRARY_DIR_RELEASE:PATH=/usr/lib/x86_64-linux-gnu + +//Boost system library (debug) +Boost_SYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so + +//Boost system library (release) +Boost_SYSTEM_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so + +//Boost thread library (debug) +Boost_THREAD_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_thread.so + +//Boost thread library (release) +Boost_THREAD_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_thread.so + +//Catkin enable testing +CATKIN_ENABLE_TESTING:BOOL=ON + +//Prefix to apply to package generated via gendebian +CATKIN_PACKAGE_PREFIX:STRING= + +//Catkin skip testing +CATKIN_SKIP_TESTING:BOOL=OFF + +//Replace the CMake install command with a custom implementation +// using symlinks instead of copying resources +CATKIN_SYMLINK_INSTALL:BOOL=OFF + +//Path to a program. +CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None Debug Release RelWithDebInfo +// MinSizeRel ... +CMAKE_BUILD_TYPE:STRING=Debug + +//Id string of the compiler for the CodeBlocks IDE. 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COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(_CRAYC) || defined(__cray__) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(_CRAYC) || defined(__cray__) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/3.19.2/CompilerIdC/a.out b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.19.2/CompilerIdC/a.out new file mode 100755 index 0000000..11b7df4 Binary files /dev/null and b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.19.2/CompilerIdC/a.out differ diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/3.19.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.19.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..0c63d62 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/3.19.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,680 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(_CRAYC) || defined(__cray__) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + 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"... src/vo_node.i" + @echo "... src/vo_node.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -P /root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/CMakeFiles/VerifyGlobs.cmake + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall b/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall new file mode 100644 index 0000000..7ff4c00 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py b/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# 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 Willow Garage, Inc. 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 OWNER 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh new file mode 100644 index 0000000..a47fa92 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh new file mode 100644 index 0000000..036d9c3 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/atomic_configure/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake b/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000..b3278c8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.7.28") +set(catkin_MAINTAINER "Dirk Thomas ") +set(catkin_PACKAGE_FORMAT "3") +set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") +set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") +set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") +set(catkin_DOC_DEPENDS ) +set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") +set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") +set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") +set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh new file mode 100755 index 0000000..d6be91d --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py b/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..50853c2 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function + +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/melodic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/melodic/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in '/opt/ros/melodic'.split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/env.sh') + +output_filename = '/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + # print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..6fb13af --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /usr/local/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# 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 Willow Garage, Inc. 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 OWNER 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh new file mode 100644 index 0000000..f021098 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/usr/local} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..b5a330e --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/usr/local} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio-msg-extras.cmake b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio-msg-extras.cmake new file mode 100644 index 0000000..1945bbe --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio-msg-extras.cmake @@ -0,0 +1,2 @@ +set(vio_MESSAGE_FILES "") +set(vio_SERVICE_FILES "srv/getOdom.srv;srv/stop.srv;srv/start.srv") diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio-msg-paths.cmake b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio-msg-paths.cmake new file mode 100644 index 0000000..a67804a --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio-msg-paths.cmake @@ -0,0 +1,4 @@ +# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in + +_prepend_path("${vio_DIR}/.." "" vio_MSG_INCLUDE_DIRS UNIQUE) +set(vio_MSG_DEPENDENCIES std_msgs) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio.pc b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio.pc new file mode 100644 index 0000000..e29b6bf --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio.pc @@ -0,0 +1,8 @@ +prefix=/usr/local + +Name: vio +Description: Description of vio +Version: 0.1.0 +Cflags: -I${prefix}/include -I/usr/include/eigen3 -I/usr/include -I/usr/include/opencv -I/root/workspace/Sophus +Libs: -L${prefix}/lib /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_features2d.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_flann.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ml.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_photo.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_shape.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_superres.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_video.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videoio.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videostab.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_viz.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_aruco.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_datasets.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dpm.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_face.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hdf.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_optflow.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_plot.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_reg.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_saliency.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stereo.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_text.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.3.2.0 /root/workspace/Sophus/build/libSophus.so /usr/lib/x86_64-linux-gnu/libboost_thread.so -lpthread /usr/lib/x86_64-linux-gnu/libboost_system.so /usr/lib/x86_64-linux-gnu/libboost_chrono.so /usr/lib/x86_64-linux-gnu/libboost_date_time.so /usr/lib/x86_64-linux-gnu/libboost_atomic.so +Requires: roscpp roslib image_transport cv_bridge tf geometry_msgs message_runtime diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vioConfig-version.cmake b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vioConfig-version.cmake new file mode 100644 index 0000000..e03eef1 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vioConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.1.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vioConfig.cmake b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vioConfig.cmake new file mode 100644 index 0000000..0609a95 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vioConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(vio_CONFIG_INCLUDED) + return() +endif() +set(vio_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(vio_SOURCE_PREFIX /root/Projects/ROS/src/p_33_vio/GPU_version/vio) + set(vio_DEVEL_PREFIX /root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel) + set(vio_INSTALL_PREFIX "") + set(vio_PREFIX ${vio_DEVEL_PREFIX}) +else() + set(vio_SOURCE_PREFIX "") + set(vio_DEVEL_PREFIX "") + set(vio_INSTALL_PREFIX /usr/local) + set(vio_PREFIX ${vio_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'vio' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(vio_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "include;/usr/include/eigen3;/usr/include;/usr/include/opencv;/root/workspace/Sophus " STREQUAL " ") + set(vio_INCLUDE_DIRS "") + set(_include_dirs "include;/usr/include/eigen3;/usr/include;/usr/include/opencv;/root/workspace/Sophus") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Gfuse ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${vio_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'vio' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'vio' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(vio_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.3.2.0;/root/workspace/Sophus/build/libSophus.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;-lpthread;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND vio_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND vio_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT vio_NUM_DUMMY_TARGETS) + set(vio_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::vio::wrapped-linker-option${vio_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR vio_NUM_DUMMY_TARGETS "${vio_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::vio::wrapped-linker-option${vio_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND vio_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND vio_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND vio_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /usr/local/lib;/opt/ros/melodic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(vio_LIBRARY_DIRS ${lib_path}) + list(APPEND vio_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'vio'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND vio_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(vio_EXPORTED_TARGETS "vio_generate_messages_cpp;vio_generate_messages_eus;vio_generate_messages_lisp;vio_generate_messages_nodejs;vio_generate_messages_py") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${vio_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "roscpp;roslib;image_transport;cv_bridge;tf;geometry_msgs;message_runtime") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 vio_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${vio_dep}_FOUND) + find_package(${vio_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${vio_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(vio_INCLUDE_DIRS ${${vio_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(vio_LIBRARIES ${vio_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${vio_dep}_LIBRARIES}) + _list_append_deduplicate(vio_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(vio_LIBRARIES ${vio_LIBRARIES}) + + _list_append_unique(vio_LIBRARY_DIRS ${${vio_dep}_LIBRARY_DIRS}) + list(APPEND vio_EXPORTED_TARGETS ${${vio_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "vio-msg-extras.cmake") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${vio_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/ordered_paths.cmake b/GPU_version/vio/cmake-build-debug/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..88ba1d8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/melodic/lib") \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/package.cmake b/GPU_version/vio/cmake-build-debug/catkin_generated/package.cmake new file mode 100644 index 0000000..15fc625 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "vio") +set(vio_VERSION "0.1.0") +set(vio_MAINTAINER "Gfuse ") +set(vio_PACKAGE_FORMAT "1") +set(vio_BUILD_DEPENDS "cmake_modules" "roscpp" "roslib" "sensor_msgs" "image_transport" "cv_bridge" "tf" "geometry_msgs" "message_generation") +set(vio_BUILD_EXPORT_DEPENDS "roscpp" "roslib" "image_transport" "cv_bridge" "tf" "geometry_msgs" "message_runtime") +set(vio_BUILDTOOL_DEPENDS "catkin") +set(vio_BUILDTOOL_EXPORT_DEPENDS ) +set(vio_EXEC_DEPENDS "roscpp" "roslib" "image_transport" "cv_bridge" "tf" "geometry_msgs" "message_runtime") +set(vio_RUN_DEPENDS "roscpp" "roslib" "image_transport" "cv_bridge" "tf" "geometry_msgs" "message_runtime") +set(vio_TEST_DEPENDS ) +set(vio_DOC_DEPENDS ) +set(vio_URL_WEBSITE "") +set(vio_URL_BUGTRACKER "") +set(vio_URL_REPOSITORY "") +set(vio_DEPRECATED "") \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/pkg.develspace.context.pc.py b/GPU_version/vio/cmake-build-debug/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..19c7b9a --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/include;/root/Projects/ROS/src/p_33_vio/GPU_version/vio/include;/usr/include/eigen3;/usr/include;/usr/include/opencv;/root/workspace/Sophus".split(';') if "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/include;/root/Projects/ROS/src/p_33_vio/GPU_version/vio/include;/usr/include/eigen3;/usr/include;/usr/include/opencv;/root/workspace/Sophus" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;roslib;image_transport;cv_bridge;tf;geometry_msgs;message_runtime".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.3.2.0;/root/workspace/Sophus/build/libSophus.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;-lpthread;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so".split(';') if "/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.3.2.0;/root/workspace/Sophus/build/libSophus.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;-lpthread;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so" != "" else [] +PROJECT_NAME = "vio" +PROJECT_SPACE_DIR = "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel" +PROJECT_VERSION = "0.1.0" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/pkg.installspace.context.pc.py b/GPU_version/vio/cmake-build-debug/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..9f4a084 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include;/usr/include/eigen3;/usr/include;/usr/include/opencv;/root/workspace/Sophus".split(';') if "${prefix}/include;/usr/include/eigen3;/usr/include;/usr/include/opencv;/root/workspace/Sophus" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;roslib;image_transport;cv_bridge;tf;geometry_msgs;message_runtime".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.3.2.0;/root/workspace/Sophus/build/libSophus.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;-lpthread;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so".split(';') if "/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.3.2.0;/root/workspace/Sophus/build/libSophus.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;-lpthread;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so" != "" else [] +PROJECT_NAME = "vio" +PROJECT_SPACE_DIR = "/usr/local" +PROJECT_VERSION = "0.1.0" diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh b/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh new file mode 100755 index 0000000..4f2dcf8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/setup_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export CMAKE_PREFIX_PATH="/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel:$CMAKE_PREFIX_PATH" +export LD_LIBRARY_PATH="/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/lib:$LD_LIBRARY_PATH" +export PATH='/opt/ros/melodic/bin:/opt/Aws:/opt/Pcl:/opt/Vtk:/usr/lib/qt5/lib:/usr/lib/qt5/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin' +export PKG_CONFIG_PATH="/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/lib/pkgconfig:$PKG_CONFIG_PATH" +export PYTHONPATH="/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/lib/python2.7/dist-packages:$PYTHONPATH" +export ROSLISP_PACKAGE_DIRECTORIES='/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/share/common-lisp' +export ROS_PACKAGE_PATH="/root/Projects/ROS/src/p_33_vio/GPU_version/vio:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# 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 Willow Garage, Inc. 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 OWNER 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..5e25fbf --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,255 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# 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 Willow Garage, Inc. 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 OWNER 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. + +from __future__ import print_function + +import os +import runpy +import sys +from argparse import ArgumentParser + +setup_modules = [] + +try: + import distutils.core + setup_modules.append(distutils.core) +except ImportError: + pass + +try: + import setuptools + setup_modules.append(setuptools) +except ImportError: + pass + +assert setup_modules, 'Must have distutils or setuptools installed' + + +def _get_locations(pkgs, package_dir): + """ + Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. + + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): + """ + Generate lines to add to a cmake file which will set variables. + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :param pkgs: [list of str] python_packages declared in catkin package + :param modules: [list of str] python modules + :param setup_module: str, setuptools or distutils + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + if setup_module: + result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if '.' not in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) + + return result + + +def _create_mock_setup_function(setup_module, package_name, outfile): + """ + Create a function to call instead of distutils.core.setup or setuptools.setup. + + It just captures some args and writes them into a file that can be used from cmake. + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + """Check kwargs and write a scriptfile.""" + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError('version not found in setup.py') + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules, + setup_module=setup_module) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """Script main, parses arguments and invokes Dummy.setup indirectly.""" + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + backup_modules = {} + try: + + for module in setup_modules: + backup_modules[id(module)] = module.setup + module.setup = _create_mock_setup_function( + setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) + + runpy.run_path(args.setupfile_path) + finally: + for module in setup_modules: + module.setup = backup_modules[id(module)] + + +if __name__ == '__main__': + main() diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp new file mode 100755 index 0000000..262fff1 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/package.xml.stamp @@ -0,0 +1,34 @@ + + + vio + 0.1.0 + + Monocular Visual Odometry + + Majid Geravand + Gfuse + GPLv3 + + + catkin + + + cmake_modules + roscpp + roslib + sensor_msgs + image_transport + cv_bridge + tf + geometry_msgs + message_generation + + + roscpp + roslib + image_transport + cv_bridge + tf + geometry_msgs + message_runtime + \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/pkg-genmsg.cmake.em.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/pkg-genmsg.cmake.em.stamp new file mode 100644 index 0000000..f02628f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/pkg-genmsg.cmake.em.stamp @@ -0,0 +1,166 @@ +# generated from genmsg/cmake/pkg-genmsg.cmake.em + +@{ +import os +import sys + +import genmsg +import genmsg.base +genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ) +import genmsg.deps +import genmsg.gentools + +# split incoming variables +messages = messages_str.split(';') if messages_str != '' else [] +services = services_str.split(';') if services_str != '' else [] +dependencies = dependencies_str.split(';') if dependencies_str != '' else [] +dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else [] + +dep_search_paths_dict = {} +dep_search_paths_tuple_list = [] +is_even = True +for val in dep_search_paths: + if is_even: + dep_search_paths_dict.setdefault(val, []) + val_prev = val + is_even = False + else: + dep_search_paths_dict[val_prev].append(val) + dep_search_paths_tuple_list.append((val_prev, val)) + is_even = True +dep_search_paths = dep_search_paths_dict + +if not messages and not services: + print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")') + +msg_deps = {} +msg_dep_types = {} +for m in messages: + try: + _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths) + msg_deps[m] = [d[1] for d in _deps] + msg_dep_types[m] = [d[0] for d in _deps] + except genmsg.MsgNotFound as e: + print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"'))) + +srv_deps = {} +srv_dep_types = {} +for s in services: + try: + _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths) + srv_deps[s] = [d[1] for d in _deps] + srv_dep_types[s] = [d[0] for d in _deps] + except genmsg.MsgNotFound as e: + print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"'))) + +}@ +message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services") + +set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))") + +# Find all generators +@[if langs]@ +@[for l in langs.split(';')]@ +find_package(@l REQUIRED) +@[end for]@ +@[end if]@ + +add_custom_target(@(pkg_name)_generate_messages ALL) + +# verify that message/service dependencies have not changed since configure +@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))} +@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))} +@[for f in all_deps.keys()]@ +@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')} +get_filename_component(_filename "@(f)" NAME_WE) +add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)" +) +@[end for]@# messages and services + +# +# langs = @langs +# + +@[if langs]@ +@[for l in langs.split(';')]@ +### Section generating for lang: @l +### Generating Messages +@[for m in msg_deps.keys()]@ +_generate_msg_@(l[3:])(@pkg_name + "@m" + "${MSG_I_FLAGS}" + "@(';'.join(msg_deps[m]).replace("\\","/"))" + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name +) +@[end for]@# messages + +### Generating Services +@[for s in srv_deps.keys()]@ +_generate_srv_@(l[3:])(@pkg_name + "@s" + "${MSG_I_FLAGS}" + "@(';'.join(srv_deps[s]).replace("\\","/"))" + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name +) +@[end for]@# services + +### Generating Module File +_generate_module_@(l[3:])(@pkg_name + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + "${ALL_GEN_OUTPUT_FILES_@(l[3:])}" +) + +add_custom_target(@(pkg_name)_generate_messages_@(l[3:]) + DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])} +) +add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:])) + +# add dependencies to all check dependencies targets +@[for f in all_deps.keys()]@ +get_filename_component(_filename "@(f)" NAME_WE) +add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename}) +@[end for]@# messages and services + +# target for backward compatibility +add_custom_target(@(pkg_name)_@(l)) +add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:])) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:])) + +@[end for]@# langs +@[end if]@ + +@[if langs]@ +@[for l in langs.split(';')]@ + +if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name) +@[if l == 'genpy']@ + install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")") +@[end if]@ + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + DESTINATION ${@(l)_INSTALL_DIR} +@[if l == 'genpy' and package_has_static_sources]@ + # skip all init files + PATTERN "__init__.py" EXCLUDE + PATTERN "__init__.pyc" EXCLUDE + ) + # install init files which are not in the root folder of the generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + DESTINATION ${@(l)_INSTALL_DIR} + FILES_MATCHING + REGEX "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)/.+/__init__.pyc?$" +@[end if]@ + ) +endif() +@[for d in dependencies]@ +if(TARGET @(d)_generate_messages_@(l[3:])) + add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:])) +endif() +@[end for]@# dependencies +@[end for]@# langs +@[end if]@ diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/pkg.pc.em.stamp b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/stamps/vio/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/vio-msg-extras.cmake.develspace.in b/GPU_version/vio/cmake-build-debug/catkin_generated/vio-msg-extras.cmake.develspace.in new file mode 100644 index 0000000..4fd3bd8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/vio-msg-extras.cmake.develspace.in @@ -0,0 +1,2 @@ +set(vio_MESSAGE_FILES "") +set(vio_SERVICE_FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv;/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv;/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv") diff --git a/GPU_version/vio/cmake-build-debug/catkin_generated/vio-msg-extras.cmake.installspace.in b/GPU_version/vio/cmake-build-debug/catkin_generated/vio-msg-extras.cmake.installspace.in new file mode 100644 index 0000000..1945bbe --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/catkin_generated/vio-msg-extras.cmake.installspace.in @@ -0,0 +1,2 @@ +set(vio_MESSAGE_FILES "") +set(vio_SERVICE_FILES "srv/getOdom.srv;srv/stop.srv;srv/start.srv") diff --git a/GPU_version/vio/cmake-build-debug/cmake/vio-genmsg-context.py b/GPU_version/vio/cmake-build-debug/cmake/vio-genmsg-context.py new file mode 100644 index 0000000..ae6ee5f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/cmake/vio-genmsg-context.py @@ -0,0 +1,11 @@ +# generated from genmsg/cmake/pkg-genmsg.context.in + +messages_str = "" +services_str = "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv;/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv;/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" +pkg_name = "vio" +dependencies_str = "std_msgs" +langs = "gencpp;geneus;genlisp;gennodejs;genpy" +dep_include_paths_str = "std_msgs;/opt/ros/melodic/share/std_msgs/cmake/../msg" +PYTHON_EXECUTABLE = "/usr/bin/python2" +package_has_static_sources = '' == 'TRUE' +genmsg_check_deps_script = "/opt/ros/melodic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py" diff --git a/GPU_version/vio/cmake-build-debug/cmake/vio-genmsg.cmake b/GPU_version/vio/cmake-build-debug/cmake/vio-genmsg.cmake new file mode 100644 index 0000000..a0c19af --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/cmake/vio-genmsg.cmake @@ -0,0 +1,340 @@ +# generated from genmsg/cmake/pkg-genmsg.cmake.em + +message(STATUS "vio: 0 messages, 3 services") + +set(MSG_I_FLAGS "-Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg") + +# Find all generators +find_package(gencpp REQUIRED) +find_package(geneus REQUIRED) +find_package(genlisp REQUIRED) +find_package(gennodejs REQUIRED) +find_package(genpy REQUIRED) + +add_custom_target(vio_generate_messages ALL) + +# verify that message/service dependencies have not changed since configure + + + +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" NAME_WE) +add_custom_target(_vio_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "vio" "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" "" +) + +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" NAME_WE) +add_custom_target(_vio_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "vio" "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" "std_msgs/Header" +) + +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" NAME_WE) +add_custom_target(_vio_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "vio" "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" "" +) + +# +# langs = gencpp;geneus;genlisp;gennodejs;genpy +# + +### Section generating for lang: gencpp +### Generating Messages + +### Generating Services +_generate_srv_cpp(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/vio +) +_generate_srv_cpp(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/vio +) +_generate_srv_cpp(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/vio +) + +### Generating Module File +_generate_module_cpp(vio + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/vio + "${ALL_GEN_OUTPUT_FILES_cpp}" +) + +add_custom_target(vio_generate_messages_cpp + DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp} +) +add_dependencies(vio_generate_messages vio_generate_messages_cpp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" NAME_WE) +add_dependencies(vio_generate_messages_cpp _vio_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" NAME_WE) +add_dependencies(vio_generate_messages_cpp _vio_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" NAME_WE) +add_dependencies(vio_generate_messages_cpp _vio_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(vio_gencpp) +add_dependencies(vio_gencpp vio_generate_messages_cpp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS vio_generate_messages_cpp) + +### Section generating for lang: geneus +### Generating Messages + +### Generating Services +_generate_srv_eus(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/vio +) +_generate_srv_eus(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/vio +) +_generate_srv_eus(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/vio +) + +### Generating Module File +_generate_module_eus(vio + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/vio + "${ALL_GEN_OUTPUT_FILES_eus}" +) + +add_custom_target(vio_generate_messages_eus + DEPENDS ${ALL_GEN_OUTPUT_FILES_eus} +) +add_dependencies(vio_generate_messages vio_generate_messages_eus) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" NAME_WE) +add_dependencies(vio_generate_messages_eus _vio_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" NAME_WE) +add_dependencies(vio_generate_messages_eus _vio_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" NAME_WE) +add_dependencies(vio_generate_messages_eus _vio_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(vio_geneus) +add_dependencies(vio_geneus vio_generate_messages_eus) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS vio_generate_messages_eus) + +### Section generating for lang: genlisp +### Generating Messages + +### Generating Services +_generate_srv_lisp(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/vio +) +_generate_srv_lisp(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/vio +) +_generate_srv_lisp(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/vio +) + +### Generating Module File +_generate_module_lisp(vio + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/vio + "${ALL_GEN_OUTPUT_FILES_lisp}" +) + +add_custom_target(vio_generate_messages_lisp + DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp} +) +add_dependencies(vio_generate_messages vio_generate_messages_lisp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" NAME_WE) +add_dependencies(vio_generate_messages_lisp _vio_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" NAME_WE) +add_dependencies(vio_generate_messages_lisp _vio_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" NAME_WE) +add_dependencies(vio_generate_messages_lisp _vio_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(vio_genlisp) +add_dependencies(vio_genlisp vio_generate_messages_lisp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS vio_generate_messages_lisp) + +### Section generating for lang: gennodejs +### Generating Messages + +### Generating Services +_generate_srv_nodejs(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/vio +) +_generate_srv_nodejs(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/vio +) +_generate_srv_nodejs(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/vio +) + +### Generating Module File +_generate_module_nodejs(vio + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/vio + "${ALL_GEN_OUTPUT_FILES_nodejs}" +) + +add_custom_target(vio_generate_messages_nodejs + DEPENDS ${ALL_GEN_OUTPUT_FILES_nodejs} +) +add_dependencies(vio_generate_messages vio_generate_messages_nodejs) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" NAME_WE) +add_dependencies(vio_generate_messages_nodejs _vio_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" NAME_WE) +add_dependencies(vio_generate_messages_nodejs _vio_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" NAME_WE) +add_dependencies(vio_generate_messages_nodejs _vio_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(vio_gennodejs) +add_dependencies(vio_gennodejs vio_generate_messages_nodejs) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS vio_generate_messages_nodejs) + +### Section generating for lang: genpy +### Generating Messages + +### Generating Services +_generate_srv_py(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/vio +) +_generate_srv_py(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" + "${MSG_I_FLAGS}" + "/opt/ros/melodic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/vio +) +_generate_srv_py(vio + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/vio +) + +### Generating Module File +_generate_module_py(vio + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/vio + "${ALL_GEN_OUTPUT_FILES_py}" +) + +add_custom_target(vio_generate_messages_py + DEPENDS ${ALL_GEN_OUTPUT_FILES_py} +) +add_dependencies(vio_generate_messages vio_generate_messages_py) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" NAME_WE) +add_dependencies(vio_generate_messages_py _vio_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" NAME_WE) +add_dependencies(vio_generate_messages_py _vio_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" NAME_WE) +add_dependencies(vio_generate_messages_py _vio_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(vio_genpy) +add_dependencies(vio_genpy vio_generate_messages_py) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS vio_generate_messages_py) + + + +if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/vio) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/vio + DESTINATION ${gencpp_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_cpp) + add_dependencies(vio_generate_messages_cpp std_msgs_generate_messages_cpp) +endif() + +if(geneus_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/vio) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/vio + DESTINATION ${geneus_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_eus) + add_dependencies(vio_generate_messages_eus std_msgs_generate_messages_eus) +endif() + +if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/vio) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/vio + DESTINATION ${genlisp_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_lisp) + add_dependencies(vio_generate_messages_lisp std_msgs_generate_messages_lisp) +endif() + +if(gennodejs_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/vio) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/vio + DESTINATION ${gennodejs_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_nodejs) + add_dependencies(vio_generate_messages_nodejs std_msgs_generate_messages_nodejs) +endif() + +if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/vio) + install(CODE "execute_process(COMMAND \"/usr/bin/python2\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/vio\")") + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/vio + DESTINATION ${genpy_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_py) + add_dependencies(vio_generate_messages_py std_msgs_generate_messages_py) +endif() diff --git a/GPU_version/vio/cmake-build-debug/cmake_install.cmake b/GPU_version/vio/cmake-build-debug/cmake_install.cmake new file mode 100644 index 0000000..1f61240 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/cmake_install.cmake @@ -0,0 +1,206 @@ +# Install script for directory: /root/Projects/ROS/src/p_33_vio/GPU_version/vio + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Release") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +# Set default install directory permissions. +if(NOT DEFINED CMAKE_OBJDUMP) + set(CMAKE_OBJDUMP "/usr/bin/objdump") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + endif() + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin") + file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "") + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/usr/local/_setup_util.py") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/_setup_util.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/usr/local/env.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/env.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.bash;/usr/local/local_setup.bash") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/usr/local" TYPE FILE FILES + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.bash" + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.bash" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.sh;/usr/local/local_setup.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/usr/local" TYPE FILE FILES + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.sh" + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.sh" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.zsh;/usr/local/local_setup.zsh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/usr/local" TYPE FILE FILES + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/setup.zsh" + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/local_setup.zsh" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/usr/local/.rosinstall") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/.rosinstall") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/vio/srv" TYPE FILE FILES + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv" + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv" + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/vio/cmake" TYPE FILE FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio-msg-paths.cmake") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/include/vio") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/roseus/ros" TYPE DIRECTORY FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/share/roseus/ros/vio") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/common-lisp/ros" TYPE DIRECTORY FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/share/common-lisp/ros/vio") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/gennodejs/ros" TYPE DIRECTORY FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/share/gennodejs/ros/vio") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + execute_process(COMMAND "/usr/bin/python2" -m compileall "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/lib/python2.7/dist-packages/vio") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python2.7/dist-packages" TYPE DIRECTORY FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/lib/python2.7/dist-packages/vio") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/vio/cmake" TYPE FILE FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vio-msg-extras.cmake") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/vio/cmake" TYPE FILE FILES + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vioConfig.cmake" + "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/installspace/vioConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/vio" TYPE FILE FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/package.xml") +endif() + +if(NOT CMAKE_INSTALL_LOCAL_ONLY) + # Include the install script for each subdirectory. + include("/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/gtest/cmake_install.cmake") + +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/GPU_version/vio/cmake-build-debug/devel/.catkin b/GPU_version/vio/cmake-build-debug/devel/.catkin new file mode 100644 index 0000000..9a40dee --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/.catkin @@ -0,0 +1 @@ +/root/Projects/ROS/src/p_33_vio/GPU_version/vio \ No newline at end of file diff --git a/GPU_version/vio/cmake-build-debug/devel/.rosinstall b/GPU_version/vio/cmake-build-debug/devel/.rosinstall new file mode 100644 index 0000000..7ff4c00 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/setup.sh diff --git a/GPU_version/vio/cmake-build-debug/devel/_setup_util.py b/GPU_version/vio/cmake-build-debug/devel/_setup_util.py new file mode 100755 index 0000000..760f26f --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# 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 Willow Garage, Inc. 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 OWNER 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/GPU_version/vio/cmake-build-debug/devel/cmake.lock b/GPU_version/vio/cmake-build-debug/devel/cmake.lock new file mode 100644 index 0000000..e69de29 diff --git a/GPU_version/vio/cmake-build-debug/devel/env.sh b/GPU_version/vio/cmake-build-debug/devel/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/GPU_version/vio/cmake-build-debug/devel/lib/pkgconfig/vio.pc b/GPU_version/vio/cmake-build-debug/devel/lib/pkgconfig/vio.pc new file mode 100644 index 0000000..85d2f86 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/lib/pkgconfig/vio.pc @@ -0,0 +1,8 @@ +prefix=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel + +Name: vio +Description: Description of vio +Version: 0.1.0 +Cflags: -I/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/include -I/root/Projects/ROS/src/p_33_vio/GPU_version/vio/include -I/usr/include/eigen3 -I/usr/include -I/usr/include/opencv -I/root/workspace/Sophus +Libs: -L${prefix}/lib /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_features2d.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_flann.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ml.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_photo.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_shape.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_superres.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_video.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videoio.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videostab.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_viz.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_aruco.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_datasets.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dpm.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_face.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hdf.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_optflow.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_plot.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_reg.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_saliency.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stereo.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_text.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.3.2.0 /root/workspace/Sophus/build/libSophus.so /usr/lib/x86_64-linux-gnu/libboost_thread.so -lpthread /usr/lib/x86_64-linux-gnu/libboost_system.so /usr/lib/x86_64-linux-gnu/libboost_chrono.so /usr/lib/x86_64-linux-gnu/libboost_date_time.so /usr/lib/x86_64-linux-gnu/libboost_atomic.so +Requires: roscpp roslib image_transport cv_bridge tf geometry_msgs message_runtime diff --git a/GPU_version/vio/cmake-build-debug/devel/lib/python2.7/dist-packages/vio/__init__.py b/GPU_version/vio/cmake-build-debug/devel/lib/python2.7/dist-packages/vio/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.bash b/GPU_version/vio/cmake-build-debug/devel/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.sh b/GPU_version/vio/cmake-build-debug/devel/local_setup.sh new file mode 100644 index 0000000..a47fa92 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh b/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.bash b/GPU_version/vio/cmake-build-debug/devel/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.sh b/GPU_version/vio/cmake-build-debug/devel/setup.sh new file mode 100644 index 0000000..036d9c3 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/GPU_version/vio/cmake-build-debug/devel/setup.zsh b/GPU_version/vio/cmake-build-debug/devel/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vio-msg-extras.cmake b/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vio-msg-extras.cmake new file mode 100644 index 0000000..4fd3bd8 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vio-msg-extras.cmake @@ -0,0 +1,2 @@ +set(vio_MESSAGE_FILES "") +set(vio_SERVICE_FILES "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/getOdom.srv;/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/stop.srv;/root/Projects/ROS/src/p_33_vio/GPU_version/vio/srv/start.srv") diff --git a/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vio-msg-paths.cmake b/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vio-msg-paths.cmake new file mode 100644 index 0000000..50e96fc --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vio-msg-paths.cmake @@ -0,0 +1,4 @@ +# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in + +set(vio_MSG_INCLUDE_DIRS "") +set(vio_MSG_DEPENDENCIES std_msgs) diff --git a/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vioConfig-version.cmake b/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vioConfig-version.cmake new file mode 100644 index 0000000..e03eef1 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vioConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.1.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vioConfig.cmake b/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vioConfig.cmake new file mode 100644 index 0000000..de1b95a --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/devel/share/vio/cmake/vioConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(vio_CONFIG_INCLUDED) + return() +endif() +set(vio_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(vio_SOURCE_PREFIX /root/Projects/ROS/src/p_33_vio/GPU_version/vio) + set(vio_DEVEL_PREFIX /root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel) + set(vio_INSTALL_PREFIX "") + set(vio_PREFIX ${vio_DEVEL_PREFIX}) +else() + set(vio_SOURCE_PREFIX "") + set(vio_DEVEL_PREFIX "") + set(vio_INSTALL_PREFIX /usr/local) + set(vio_PREFIX ${vio_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'vio' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(vio_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/include;/root/Projects/ROS/src/p_33_vio/GPU_version/vio/include;/usr/include/eigen3;/usr/include;/usr/include/opencv;/root/workspace/Sophus " STREQUAL " ") + set(vio_INCLUDE_DIRS "") + set(_include_dirs "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/include;/root/Projects/ROS/src/p_33_vio/GPU_version/vio/include;/usr/include/eigen3;/usr/include;/usr/include/opencv;/root/workspace/Sophus") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Gfuse ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${vio_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'vio' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'vio' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/root/Projects/ROS/src/p_33_vio/GPU_version/vio/${idir}'. ${_report}") + endif() + _list_append_unique(vio_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.3.2.0;/root/workspace/Sophus/build/libSophus.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;-lpthread;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND vio_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND vio_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT vio_NUM_DUMMY_TARGETS) + set(vio_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::vio::wrapped-linker-option${vio_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR vio_NUM_DUMMY_TARGETS "${vio_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::vio::wrapped-linker-option${vio_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND vio_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND vio_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND vio_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/devel/lib;/opt/ros/melodic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(vio_LIBRARY_DIRS ${lib_path}) + list(APPEND vio_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'vio'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND vio_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(vio_EXPORTED_TARGETS "vio_generate_messages_cpp;vio_generate_messages_eus;vio_generate_messages_lisp;vio_generate_messages_nodejs;vio_generate_messages_py") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${vio_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "roscpp;roslib;image_transport;cv_bridge;tf;geometry_msgs;message_runtime") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 vio_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${vio_dep}_FOUND) + find_package(${vio_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${vio_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(vio_INCLUDE_DIRS ${${vio_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(vio_LIBRARIES ${vio_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${vio_dep}_LIBRARIES}) + _list_append_deduplicate(vio_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(vio_LIBRARIES ${vio_LIBRARIES}) + + _list_append_unique(vio_LIBRARY_DIRS ${${vio_dep}_LIBRARY_DIRS}) + list(APPEND vio_EXPORTED_TARGETS ${${vio_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "vio-msg-extras.cmake") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + 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--check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/GPU_version/vio/cmake-build-debug/gtest/googlemock/gtest/cmake_install.cmake b/GPU_version/vio/cmake-build-debug/gtest/googlemock/gtest/cmake_install.cmake new file mode 100644 index 0000000..0896d65 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/gtest/googlemock/gtest/cmake_install.cmake @@ -0,0 +1,44 @@ +# Install script for directory: /usr/src/googletest/googletest + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Release") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +# Set default install directory permissions. +if(NOT DEFINED CMAKE_OBJDUMP) + set(CMAKE_OBJDUMP "/usr/bin/objdump") +endif() + diff --git a/GPU_version/vio/cmake-build-debug/gtest/googlemock/gtest/gtest.cbp b/GPU_version/vio/cmake-build-debug/gtest/googlemock/gtest/gtest.cbp new file mode 100644 index 0000000..e9bde00 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/gtest/googlemock/gtest/gtest.cbp @@ -0,0 +1,668 @@ + + + + + + diff --git a/GPU_version/vio/cmake-build-debug/gtest/googletest-distribution.cbp b/GPU_version/vio/cmake-build-debug/gtest/googletest-distribution.cbp new file mode 100644 index 0000000..071807c --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/gtest/googletest-distribution.cbp @@ -0,0 +1,797 @@ + + + + + + diff --git a/GPU_version/vio/cmake-build-debug/vio.cbp b/GPU_version/vio/cmake-build-debug/vio.cbp new file mode 100644 index 0000000..a0a3d02 --- /dev/null +++ b/GPU_version/vio/cmake-build-debug/vio.cbp @@ -0,0 +1,1653 @@ + + + + + + diff --git a/GPU_version/vio/include/vio/reprojector.h b/GPU_version/vio/include/vio/reprojector.h index 1a60333..0d757fc 100644 --- a/GPU_version/vio/include/vio/reprojector.h +++ b/GPU_version/vio/include/vio/reprojector.h @@ -19,6 +19,9 @@ #include #include +#include +#include +#include namespace vk { class AbstractCamera; @@ -44,7 +47,7 @@ public: size_t max_n_kfs; //!< max number of keyframes to reproject from bool find_match_direct; Options() - : max_n_kfs(10), + : max_n_kfs(30), find_match_direct(true) {} } options_; @@ -52,7 +55,7 @@ public: size_t n_matches_; size_t n_trials_; - Reprojector(vk::AbstractCamera* cam, Map& map); + Reprojector(vk::AbstractCamera* cam, Map& map, opencl* kernel); ~Reprojector(); @@ -94,6 +97,9 @@ private: void resetGrid(); bool reprojectCell(Cell& cell, FramePtr frame); bool reprojectPoint(FramePtr frame, Point* point); + +protected: + opencl* gpu_freak; }; } // namespace vio diff --git a/GPU_version/vio/kernel/freak.cl b/GPU_version/vio/kernel/freak.cl new file mode 100644 index 0000000..c3f6010 --- /dev/null +++ b/GPU_version/vio/kernel/freak.cl @@ -0,0 +1,129 @@ +void meanIntensity( image2d_t _image, image2d_t _integral, float kp_x, float kp_y, + int scale, int rot, int* point, float3* patternLookupPtr, uchar* output) +{ + // Prepare a suitable OpenCL image sampler. + sampler_t const sampler = CLK_ADDRESS_CLAMP | CLK_FILTER_NEAREST; + // get point position in image + float3* FreakPoint = patternLookupPtr + (scale * FREAK_NB_ORIENTATION * FREAK_NB_POINTS + rot * FREAK_NB_POINTS + (*point)); + float xf = FreakPoint->x + kp_x; + float yf = FreakPoint->y + kp_y; + int x = (int)xf; + int y = (int)yf; + + // get the sigma: + float radius = FreakPoint->z;//sigma + + // calculate output: + if( radius < 0.5 ) + { + // interpolation multipliers: + const int r_x = (int)((xf - x) * 1024); + const int r_y = (int)((yf - y) * 1024); + const int r_x_1 = (1024 - r_x); + const int r_y_1 = (1024 - r_y); + uint ret_val; + // linear interpolation: + ret_val = (r_x_1 * r_y_1 * (int)(read_imageui(_image, sampler, (int2)(y , x ))).x) + + (r_x * r_y_1 * (int)(read_imageui(_image, sampler, (int2)(y , x+1))).x) + + (r_x_1 * r_y * (int)(read_imageui(_image, sampler, (int2)(y+1, x ))).x) + + (r_x * r_y * (int)(read_imageui(_image, sampler, (int2)(y+1, x+1))).x); + // return the rounded mean + ret_val += 2 * 1024 * 1024; + output[*point] = (uchar)(ret_val / (4 * 1024 * 1024)); + } + + // calculate borders + const int x_left = round(xf - radius); + const int y_top = round(yf - radius); + const int x_right = round(xf + radius + 1); // integral image is 1px wider + const int y_bottom = round(yf + radius + 1); // integral image is 1px higher + int ret_val; + + ret_val = read_imageui(_integral, sampler, (int2)(y_bottom, x_right)).x; // bottom right corner + ret_val -= read_imageui(_integral, sampler, (int2)(y_bottom, x_left)).x; // bottom left corner + ret_val += read_imageui(_integral, sampler, (int2)(y_top, x_left)).x; // top left corner + ret_val -= read_imageui(_integral, sampler, (int2)(y_top, x_right)).x; // top right corner + const int area = (x_right - x_left) * (y_bottom - y_top); + ret_val = (ret_val + area / 2) / area; + output[*point] = (uchar)(ret_val); +} +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +__kernel void freak( + __global image2d_t* image, // grayescale image + __global image2d_t* imgIntegral, + __global float4* keypoints, // ptx, pty, angle + __global uchar* descriptors, // kp_size * (64 = NB_PAIRS/8) - CV_8U with zero values + __global int* patternSizes, // array size : NB_SCALES = 64 + __global int4* orientationPairs, // array size : FREAK_NB_ORIENTATION = 256 + __global float3* patternLookup, // array size : NB_SCALES(64) * FREAK_NB_ORIENTATION(256) * FREAK_NB_POINTS(43) + __global uchar2* descriptionPairs, // array size : NB_PAIRS = 512 + __global int* nOctaves, + __global int* kpScaleIdx //array size = kp_size - used to save pattern scale index corresponding to each keypoints + ) +{ + const float sizeCst = (float)(NB_SCALES / (FREAK_LOG2 * *nOctaves)); + uchar pointsValue[FREAK_NB_POINTS]; + int thetaIdx = 0; + int direction0; + int direction1; + + int k = get_global_id(0); + + kpScaleIdx[k] = max( (int)(log(7.0 / FREAK_SMALLEST_KP_SIZE) * sizeCst + 0.5) ,0); + if( kpScaleIdx[k] >= NB_SCALES ) + kpScaleIdx[k] = NB_SCALES - 1; + + if( keypoints[k].x <= patternSizes[kpScaleIdx[k]] || // check if the description at this specific position and scale fits inside the image + keypoints[k].y <= patternSizes[kpScaleIdx[k]] || + keypoints[k].x >= get_image_dim(image[(int)keypoints[k].w]).y - patternSizes[kpScaleIdx[k]] || + keypoints[k].y >= get_image_dim(image[(int)keypoints[k].w]).x - patternSizes[kpScaleIdx[k]]) + return; + + // get the points intensity value in the un-rotated pattern + for( int i = FREAK_NB_POINTS; i--; ) + { + meanIntensity(image[(int)keypoints[k].w], imgIntegral[(int)keypoints[k].w], keypoints[k].x, keypoints[k].y, + *(kpScaleIdx + k), 0, &i, patternLookup, pointsValue); + } + direction0 = 0; + direction1 = 0; + for( int m = 45; m--; ) + { + // iterate through the orientation pairs + const int delta = (pointsValue[ orientationPairs[m].w ] - pointsValue[ orientationPairs[m].x ]); + direction0 += delta * (orientationPairs[m].y) / 2048; // weight_dx + direction1 += delta * (orientationPairs[m].z) / 2048; // weight_dy + } + + thetaIdx = round(FREAK_NB_ORIENTATION * + (float)(atan2((float)direction1,(float)direction0) * (180.0 / 3.141592653589793238462643383279502884197169399375)) * + (1 / 360.0)); + + if( thetaIdx < 0 ) + thetaIdx += FREAK_NB_ORIENTATION; + + if( thetaIdx >= FREAK_NB_ORIENTATION ) + thetaIdx -= FREAK_NB_ORIENTATION; + + // extract descriptor at the computed orientation + for( int i = FREAK_NB_POINTS; i--; ) + { + meanIntensity(image[(int)keypoints[k].w], imgIntegral[(int)keypoints[k].w], keypoints[k].x, keypoints[k].y, + *(kpScaleIdx + k), thetaIdx, &i, patternLookup, pointsValue); + } + + // Extract descriptor + int cnt = 0; + for( int n = 0; n<4; n++ ) + { + for (int m = 8; m >= 1; m--) + { + for(int kk = (n*16)+15; kk >= (n*16); --kk, ++cnt) + { + descriptors[(int)keypoints[k].w*300*64 + (k * 64) + kk] *= 2; + if (pointsValue[(int)descriptionPairs[cnt].x] >= pointsValue[(int)descriptionPairs[cnt].y]) + descriptors[(int)keypoints[k].w*300*64 + (k * 64) + kk] += 1; + } + } + } +} \ No newline at end of file diff --git a/GPU_version/vio/kernel/integral_image.cl b/GPU_version/vio/kernel/integral_image.cl new file mode 100644 index 0000000..0dfb3cc --- /dev/null +++ b/GPU_version/vio/kernel/integral_image.cl @@ -0,0 +1,14 @@ +__kernel void integral_image( + __read_only image2d_t* int_img, // grayescale image - height X width + __write_only image2d_t* out_img // (height+1) X (width+1) with zero values + ) +{ + sampler_t const sampler = CLK_ADDRESS_CLAMP | CLK_FILTER_NEAREST; + int k = get_global_id(0) + int2 coord = (int2)(get_global_id(1)+1, get_global_id(2)+1); + int res = 0; + for (int i = 0; i < coord.x; i++) + for (int j = 0; j < coord.y; j++) + res += read_imageui(int_img[k], sampler, (int2)(i, j)); // bottom right corner + write_imageui(out_img[k], coord, res); +} \ No newline at end of file diff --git a/GPU_version/vio/src/cl_class.cpp b/GPU_version/vio/src/cl_class.cpp index c3af6a1..f615102 100644 --- a/GPU_version/vio/src/cl_class.cpp +++ b/GPU_version/vio/src/cl_class.cpp @@ -41,7 +41,9 @@ opencl::opencl(vk::AbstractCamera* cam):cam(cam) { " -DF_Y="+std::to_string(camera[1])+ " -DC_X="+std::to_string(camera[2])+ " -DC_Y="+std::to_string(camera[3])+ - " -DS="+std::to_string(camera[4]); + " -DS="+std::to_string(camera[4])+ + " -DFREAK_LOG2=0.693147180559945 -DFREAK_NB_ORIENTATION=256 -DFREAK_NB_POINTS=43"+ + " -DFREAK_SMALLEST_KP_SIZE=7 -DNB_PAIRS=512 -DNB_SCALES=64"; if(program->build({ *device },options.c_str()) !=0) std::cout << " Error building: " << program->getBuildInfo(*device)<<'\n' << " Binary type: " << program->getBuildInfo(*device)<<'\n' diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index 576b57d..a4d4fe4 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -171,6 +171,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_); if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE; reprojector_.reprojectMap(new_frame_, overlap_kfs_); + // assert // TODO /* std::cout<<"Reprojection Map nPoint: "< (size_t) Config::maxFts()) - break; + + ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + std::vector kps; // keypoints + cl_float4 data; + int frame_number = 0; + for(auto it_frame = overlap_kfs.begin(), ite_frame = overlap_kfs.end(); it_frame != ite_frame; it_frame++){ + for(auto it_ftr = it_frame->first->fts_.begin(), ite_ftr = it_frame->first->fts_.end(); it_ftr != ite_ftr; it_ftr++){ + data.w = frame_number; + data.x = (*it_ftr)->px.x(); + data.y = (*it_ftr)->px.y(); + data.z = 0.0; + kps.push_back(data); + } + frame_number++; } + cl_float4 keypoints[kps.size()]; + size_t counter = 0; + for(auto it = kps.begin(), ite = kps.end(); it != ite; it++) { + cl_float4 ftr; + ftr.w = it->w; + ftr.x = it->x; + ftr.y = it->y; + ftr.z = it->z; + keypoints[counter++] = ftr; + } + ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /*cl_float3 keypoints[overlap_kfs.back().second]; + size_t counter = 0; + for(size_t i = 0; i < grid_.cells.size(); ++i) + { + Cell* cell = grid_.cells.at(grid_.cell_order[i]); + for(auto it = cell->begin(), ite = cell->end(); it != ite; it++, counter++) + { + keypoints[counter].x = it->px.x(); //x + keypoints[counter].y = it->px.y(); //y + keypoints[counter].z = 0.0; //angle + } + }*/ +// opencl_initializer(); +// cv::Mat img = overlap_kfs.back().first->img(); +// cv::Mat integral_img=cv::Mat(cv::Size(701, 501),CV_8UC1); +// gpu_freak->reload_buf(0,0,img); +// gpu_freak->run(0); +// gpu_freak->read(0,1,1,&integral_img); + + // FREAK preprocessing + static const float FREAK_LOG2 = 0.693147180559945; + static const int FREAK_NB_ORIENTATION = 256; + static const int NB_ORIENPAIRS = 45; + static const int FREAK_NB_POINTS = 43; + static const int FREAK_SMALLEST_KP_SIZE = 7; // smallest size of keypoints + static const int NB_PAIRS = 512; + static const int NB_SCALES = 64; + + bool orientationNormalized = true; + bool scaleNormalized = true; + float patternScale = 22.0f; + int nOctaves = 4; + + bool extAll = false; // true if all pairs need to be extracted for pairs selection + + cl_float3 patternLookup[NB_SCALES * FREAK_NB_ORIENTATION * FREAK_NB_POINTS]; // look-up table for the pattern points (position+sigma of all points at all scales and orientation) + int patternSizes[NB_SCALES]; // size of the pattern at a specific scale (used to check if a point is within image boundaries) + cl_uchar2 descriptionPairs[NB_PAIRS]; + cl_int4 orientationPairs[NB_ORIENPAIRS]; + + // default pairs + static const int FREAK_DEF_PAIRS[NB_PAIRS] = { + 404,431,818,511,181,52,311,874,774,543,719,230,417,205,11, + 560,149,265,39,306,165,857,250,8,61,15,55,717,44,412, + 592,134,761,695,660,782,625,487,549,516,271,665,762,392,178, + 796,773,31,672,845,548,794,677,654,241,831,225,238,849,83, + 691,484,826,707,122,517,583,731,328,339,571,475,394,472,580, + 381,137,93,380,327,619,729,808,218,213,459,141,806,341,95, + 382,568,124,750,193,749,706,843,79,199,317,329,768,198,100, + 466,613,78,562,783,689,136,838,94,142,164,679,219,419,366, + 418,423,77,89,523,259,683,312,555,20,470,684,123,458,453,833, + 72,113,253,108,313,25,153,648,411,607,618,128,305,232,301,84, + 56,264,371,46,407,360,38,99,176,710,114,578,66,372,653, + 129,359,424,159,821,10,323,393,5,340,891,9,790,47,0,175,346, + 236,26,172,147,574,561,32,294,429,724,755,398,787,288,299, + 769,565,767,722,757,224,465,723,498,467,235,127,802,446,233, + 544,482,800,318,16,532,801,441,554,173,60,530,713,469,30, + 212,630,899,170,266,799,88,49,512,399,23,500,107,524,90, + 194,143,135,192,206,345,148,71,119,101,563,870,158,254,214, + 276,464,332,725,188,385,24,476,40,231,620,171,258,67,109, + 844,244,187,388,701,690,50,7,850,479,48,522,22,154,12,659, + 736,655,577,737,830,811,174,21,237,335,353,234,53,270,62, + 182,45,177,245,812,673,355,556,612,166,204,54,248,365,226, + 242,452,700,685,573,14,842,481,468,781,564,416,179,405,35, + 819,608,624,367,98,643,448,2,460,676,440,240,130,146,184, + 185,430,65,807,377,82,121,708,239,310,138,596,730,575,477, + 851,797,247,27,85,586,307,779,326,494,856,324,827,96,748, + 13,397,125,688,702,92,293,716,277,140,112,4,80,855,839,1, + 413,347,584,493,289,696,19,751,379,76,73,115,6,590,183,734, + 197,483,217,344,330,400,186,243,587,220,780,200,793,246,824, + 41,735,579,81,703,322,760,720,139,480,490,91,814,813,163, + 152,488,763,263,425,410,576,120,319,668,150,160,302,491,515, + 260,145,428,97,251,395,272,252,18,106,358,854,485,144,550, + 131,133,378,68,102,104,58,361,275,209,697,582,338,742,589, + 325,408,229,28,304,191,189,110,126,486,211,547,533,70,215, + 670,249,36,581,389,605,331,518,442,822 + }; + + float scaleStep = pow(2.0, (float)(nOctaves)/NB_SCALES ); // 2 ^ ( (nOctaves-1) /nbScales) + + const int nn[8] = {6, 6, 6, 6, 6, 6, 6, 1}; // number of points on each concentric circle (from outer to inner) + const float bigR = (float)(2.0 / 3.0); // bigger radius + const float smallR = (float)(2.0 / 24.0); // smaller radius + const float unitSpace = (float)((bigR - smallR) / 21.0 ); // define spaces between concentric circles (from center to outer: 1,2,3,4,5,6) + // radii of the concentric cirles (from outer to inner) + const float radius[8] = {bigR , bigR - 6 * unitSpace, bigR - 11 * unitSpace, bigR - 15 * unitSpace, + bigR - 18 * unitSpace, bigR - 20 * unitSpace, smallR , 0.0}; + // sigma of pattern points (each group of 6 points on a concentric cirle has the same sigma) + const float sigma[8] = {float(radius[0] / 2.0), float(radius[1] / 2.0), float(radius[2] / 2.0), float(radius[3] / 2.0), + float(radius[4] / 2.0), float(radius[5] / 2.0), float(radius[6] / 2.0), float(radius[6] / 2.0)}; + + for( int scaleIdx=0; scaleIdx < NB_SCALES; ++scaleIdx ) + { + patternSizes[scaleIdx] = 0; // proper initialization + float scalingFactor = pow(scaleStep,scaleIdx); //scale of the pattern, scaleStep ^ scaleIdx + + for( int orientationIdx = 0; orientationIdx < FREAK_NB_ORIENTATION; ++orientationIdx ) + { + int pointIdx = 0; + + for( size_t i = 0; i < 8; ++i ) + { + for( int k = 0 ; k < nn[i]; ++k ) + { + float alpha = (float)(k) * 2 * (float)3.141592653589793238462643383279502884197169399375 / (float)(nn[i]) + + ((float)3.141592653589793238462643383279502884197169399375 / nn[i] * ( i % 2 )/*beta*/) + + ((float)(orientationIdx * 2 * (float)3.141592653589793238462643383279502884197169399375 / (float)(FREAK_NB_ORIENTATION)) /* theta*/); + + // add the point to the look-up table + cl_float3* point = &patternLookup[scaleIdx * FREAK_NB_ORIENTATION * FREAK_NB_POINTS + orientationIdx * FREAK_NB_POINTS + pointIdx]; + point->x = (float)(radius[i] * cos(alpha) * scalingFactor * patternScale); //x + point->y = (float)(radius[i] * sin(alpha) * scalingFactor * patternScale); //y + point->z = (float)(sigma[i] * scalingFactor * patternScale); //sigma + + // adapt the sizeList if necessary + const int sizeMax = (int)(ceil((radius[i] + sigma[i]) * scalingFactor * patternScale)) + 1; + if( patternSizes[scaleIdx] < sizeMax ) + patternSizes[scaleIdx] = sizeMax; + + ++pointIdx; + } + } + } + } + + // build the list of orientation pairs + orientationPairs[0].w=0; orientationPairs[0].x=3; orientationPairs[1].w=1; orientationPairs[1].x=4; orientationPairs[2].w=2; orientationPairs[2].x=5; + orientationPairs[3].w=0; orientationPairs[3].x=2; orientationPairs[4].w=1; orientationPairs[4].x=3; orientationPairs[5].w=2; orientationPairs[5].x=4; + orientationPairs[6].w=3; orientationPairs[6].x=5; orientationPairs[7].w=4; orientationPairs[7].x=0; orientationPairs[8].w=5; orientationPairs[8].x=1; + + orientationPairs[9].w=6; orientationPairs[9].x=9; orientationPairs[10].w=7; orientationPairs[10].x=10; orientationPairs[11].w=8; orientationPairs[11].x=11; + orientationPairs[12].w=6; orientationPairs[12].x=8; orientationPairs[13].w=7; orientationPairs[13].x=9; orientationPairs[14].w=8; orientationPairs[14].x=10; + orientationPairs[15].w=9; orientationPairs[15].x=11; orientationPairs[16].w=10; orientationPairs[16].x=6; orientationPairs[17].w=11; orientationPairs[17].x=7; + + orientationPairs[18].w=12; orientationPairs[18].x=15; orientationPairs[19].w=13; orientationPairs[19].x=16; orientationPairs[20].w=14; orientationPairs[20].x=17; + orientationPairs[21].w=12; orientationPairs[21].x=14; orientationPairs[22].w=13; orientationPairs[22].x=15; orientationPairs[23].w=14; orientationPairs[23].x=16; + orientationPairs[24].w=15; orientationPairs[24].x=17; orientationPairs[25].w=16; orientationPairs[25].x=12; orientationPairs[26].w=17; orientationPairs[26].x=13; + + orientationPairs[27].w=18; orientationPairs[27].x=21; orientationPairs[28].w=19; orientationPairs[28].x=22; orientationPairs[29].w=20; orientationPairs[29].x=23; + orientationPairs[30].w=18; orientationPairs[30].x=20; orientationPairs[31].w=19; orientationPairs[31].x=21; orientationPairs[32].w=20; orientationPairs[32].x=22; + orientationPairs[33].w=21; orientationPairs[33].x=23; orientationPairs[34].w=22; orientationPairs[34].x=18; orientationPairs[35].w=23; orientationPairs[35].x=19; + + orientationPairs[36].w=24; orientationPairs[36].x=27; orientationPairs[37].w=25; orientationPairs[37].x=28; orientationPairs[38].w=26; orientationPairs[38].x=29; + orientationPairs[39].w=30; orientationPairs[39].x=33; orientationPairs[40].w=31; orientationPairs[40].x=34; orientationPairs[41].w=32; orientationPairs[41].x=35; + orientationPairs[42].w=36; orientationPairs[42].x=39; orientationPairs[43].w=37; orientationPairs[43].x=40; orientationPairs[44].w=38; orientationPairs[44].x=41; + + for( unsigned m = NB_ORIENPAIRS; m--; ) + { + float dx = patternLookup[orientationPairs[m].w].x - patternLookup[orientationPairs[m].x].x; + float dy = patternLookup[orientationPairs[m].w].y - patternLookup[orientationPairs[m].x].y; + float norm_sq = (dx * dx + dy * dy); + orientationPairs[m].y = round((dx / (norm_sq)) * 4096.0); //weight_dx + orientationPairs[m].z = round((dy / (norm_sq)) * 4096.0); //weight_dy + } + + // build the list of description pairs + cl_uchar2 allPairs[(int)((FREAK_NB_POINTS * (FREAK_NB_POINTS + 1)) / 2)]; + for( int i = 1, idx = 0; i < FREAK_NB_POINTS; ++i ) + { + // (generate all the pairs) + for( int j = 0; j < i; ++j ) + { + allPairs[idx++] = (cl_uchar2){(uchar)i, (uchar)j}; + } + } + for( int i = 0; i < NB_PAIRS; ++i ) + descriptionPairs[i] = allPairs[FREAK_DEF_PAIRS[i]]; + + int kpScaleIdx[overlap_kfs.back().second]; + + +// gpu_freak->reload_buf(1,0,img); +// gpu_freak->reload_buf(1,1,integral_img); +// gpu_freak->reload_buf(1,2, keypoints); +// gpu_freak->reload_buf(1,4,patternSizes); +// gpu_freak->reload_buf(1,5,orientationPairs); +// gpu_freak->reload_buf(1,6,patternLookup); +// gpu_freak->reload_buf(1,7,descriptionPairs); +// gpu_freak->write_buf(1,8,nOctaves); +// gpu_freak->reload_buf(1,9,kpScaleIdx); +// gpu_freak->run(1); +// cl_uchar descriptor[frame_number*300*64]={0}; +// gpu_freak->read(1,3,300*64,descriptor); + + ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +// for(size_t i=0; i (size_t) Config::maxFts()) +// break; +// } // SVO_STOP_TIMER("feature_align"); } @@ -151,7 +363,7 @@ bool Reprojector::pointQualityComparator(Candidate& lhs, Candidate& rhs) bool Reprojector::reprojectCell(Cell& cell, FramePtr frame) { - cell.sort(boost::bind(&Reprojector::pointQualityComparator, _1, _2)); + cell.sort(boost::bind(&Reprojector::pointQualityComparator, _1, _2)); Cell::iterator it=cell.begin(); while(it!=cell.end()) {