修改CMake编译abs代码

CMakeLists.txt

 cmake_minimum_required(VERSION 3.0.2)
 project(jfx_tracking)
 
-set(KF_CUDA ON)
+set(KF_CUDA OFF)
 set(QICHECHENG OFF)
 set(NSIGHT OFF)
 set(USING_UTM_POS ON)
+if(KF_CUDA)
 enable_language(CUDA)
+endif()
 
 #SET(CMAKE_BUILD_TYPE "Debug")
 SET(CMAKE_BUILD_TYPE "Release")
@@ -15,18 +17,6 @@ SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")
 
 set(JFX_COMMON_LIBS_PATH ${PROJECT_SOURCE_DIR}/../jfx_common_libs)
 
-find_package(Eigen3 REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIRS})
-
-find_package(PCL 1.8 REQUIRED )
-if(NOT PCL_FOUND)
-message(STATUS "JFX_XXXXXXXXXXXX:PCL_NOTFOUND")
-else()
-message(STATUS "JFX_XXXXXXXXXXXX:PCL_VERSION    ==> ${PCL_VERSION}")
-message(STATUS "JFX_XXXXXXXXXXXX:PCL_INCLUDE_DIRS    ==> ${PCL_INCLUDE_DIRS}")
-message(STATUS "JFX_XXXXXXXXXXXX:PCL_LIBRARY_DIRS    ==> ${PCL_LIBRARY_DIRS}")
-endif()
-
 include_directories(
     ${PROJECT_SOURCE_DIR}/src
 	${JFX_COMMON_LIBS_PATH}/utils
@@ -162,16 +152,16 @@ endif()
 
 
 include_directories(
-	/usr/include/pcl-1.8
         /usr/local/include
         src
         src/tracker
         src/BaseTracker
         src/BaseTracker/kf_gpu
-	src/BaseTracker/hungarian
+	    src/BaseTracker/hungarian
         src/log
         src/common
         src/coordinate
+        src/TrackEx
         ${catkin_INCLUDE_DIRS}
 )
 
@@ -199,14 +189,18 @@ file(GLOB_RECURSE TRACKER_SRC_FILES
 endif()
 
 add_executable(${PROJECT_NAME}_node
-        src/jfx_tracking.cpp
-        src/TrackingRos.cpp
+        src/jfx_tracking_abs.cpp
+        src/TrackingRosAbs.cpp
         src/common/Component.cpp
         src/BaseTracker/Iou.cpp
         src/BaseTracker/BaseTrack.cpp
-        src/BaseTracker/Track3D.cpp
-        src/BaseTracker/Track2D.cpp
+        # src/BaseTracker/Track3D.cpp
+        # src/BaseTracker/Track2D.cpp
         src/log/jfx_log.cpp
+        src/TrackEx/BaseTrack3D.cpp
+        src/TrackEx/TrackEx.cpp
+        src/TrackEx/TrackFunc.cpp
+        src/TrackEx/Rel2AbsLoc.cpp
         #${COORDINATE_SRC_FILES}
         ${TRACKER_SRC_FILES}
         ${COMMON_SRC_LIST}
@@ -222,9 +216,6 @@ target_link_libraries(${PROJECT_NAME}_node
         yaml-cpp
         )
 
-target_link_libraries(${PROJECT_NAME}_node  yaml-cpp -lpcl_filters )
-target_link_libraries(${PROJECT_NAME}_node  ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_LIBRARIES})
-
 if(KF_CUDA)
 target_link_libraries(${PROJECT_NAME}_node kf_cuda)
 endif()