Sean,
When integrating 3rdparty code we don't usually rewrite the build system, we
simply call through to the existing build system.  There's documentation of
the process here http://www.ros.org/wiki/mk

Tully

On Tue, Aug 17, 2010 at 8:06 AM, Sean Anderson <
sanderson@clearpathrobotics.com> wrote:

> I've decided I want to integrate some of my previous ros work with a vision
> program I've written that uses OpenCV and gpusurf (
> http://homes.esat.kuleuven.be/~ncorneli/gpusurf/)
>
> Until a few months ago I've been purely a windows programmer and therefore
> the problem I've run into (due my inexperience with cmake and the like) is
> that I'm not entirely sure how to integrate the build process. gpusurf has
> quite an extensive makefile, which uses nvidia's cuda, and I'm not sure if
> it's easier to try and rewrite it using cmake, or add the ros dependencies
> to the regular make file included in gpusurf.
>
> Appended at the end is the 3 files used to build gpusurf.
>
> Thanks for any help/suggestions!
>
> - Sean
>
> *Makefile*
> ---
> include ../settings.mk
>
> USE_NCGL    := 1
>
> verbose     := 1
>
> CCFILES        := main.cpp
>
> INCLUDES    := -I../libsurf/inc
>
> EXECUTABLE  := gpusurf
>
> ifeq ($(emu), 1)
>     LIB         := -L../libsurf/lib/emuRelease -lsurf
> else
>     LIB         := -L../libsurf/lib/Release -lsurf
> endif
>
> include ../common.mk
>
>
>
> *settings.mk*
> ---
> USE_CUDA    := 1
> USE_VXL        := 0
>
> CUDA_INSTALL_PATH           := /usr/local/cuda
> CUDA_SDK_INSTALL_PATH       := /home/nico/NVIDIA_CUDA_SDK
> NCGL_INSTALL_PATH           := ../libncgl
>
> GLUT_INC_PATH                := /usr/include
> GLUT_LIB_PATH                := /usr/lib
> GLEW_INC_PATH                := /usr/include
> GLEW_LIB_PATH                := /usr/lib
> CG_INC_PATH                    := /usr/include
> CG_LIB_PATH                    := /usr/lib
> IMAGEMAGICK_INC_PATH        := /usr/include/ImageMagick
> IMAGEMAGICK_LIB_PATH        := /usr/lib
> VXL_INC_PATH                := /usr/local/vxl/vxl-1.10.0
> VXL_LIB_PATH                := /usr/local/vxl/bin/lib
>
>
>
> *common.mk*
> ---
> .SUFFIXES : .cu .cu_dbg_o .c_dbg_o .cpp_dbg_o .cu_rel_o .c_rel_o .cpp_rel_o
> .cubin
>
> SRCDIR          ?= src
> ROOTBINDIR      ?= bin
> ROOTLIBDIR      ?= lib
> ROOTOBJDIR      ?= obj
> BINDIR          ?= $(ROOTBINDIR)
> LIBDIR          ?= $(ROOTLIBDIR)
>
> # Includes
> INCLUDES        += -I./inc
>
> # Compilers
> CXX             := g++
> CC              := gcc
> LINK            := g++ -fPIC
>
> ifeq ($(USE_CUDA), 1)
>     LIBDIR_CUDA     := $(CUDA_SDK_INSTALL_PATH)/lib
>     COMMONDIR       := $(CUDA_SDK_INSTALL_PATH)/common
>     NVCC            := $(CUDA_INSTALL_PATH)/bin/nvcc
>     NVCCFLAGS       :=
>     INCLUDES        += -I$(CUDA_INSTALL_PATH)/include -I$(COMMONDIR)/inc
>     LIB             += -L$(CUDA_INSTALL_PATH)/lib -L$(LIBDIR_CUDA)
> -L$(COMMONDIR)/lib -lcuda -lcudart -lcutil
>     ifeq ($(emu),1)
>         LIB         += -lcublasemu
>     else
>         LIB         += -lcublas
>     endif
> endif
>
> ifeq ($(USE_NCGL), 1)
> #    INCLUDES    += -I$(NCGL_INSTALL_PATH)/inc -I/usr/include/freetype2
>
>     INCLUDES    += -I$(NCGL_INSTALL_PATH)/inc -I$(GLUT_INC_PATH)
> -I$(GLEW_INC_PATH) -I$(CG_INC_PATH) -I$(IMAGEMAGICK_INC_PATH)
>     ifeq ($(emu),1)
>         LIB         += -L$(NCGL_INSTALL_PATH)/lib/emuRelease -lncgl
>     else
>         LIB         += -L$(NCGL_INSTALL_PATH)/lib/Release -lncgl
>     endif
>         LIB         += -L$(GLUT_LIB_PATH) -lglut -L$(GLEW_LIB_PATH) -lGLEW
> -L$(CG_LIB_PATH) -lCg -lCgGL -L$(IMAGEMAGICK_LIB_PATH) -lGL -lpthread
> -lMagick++
> endif
>
> ifeq ($(USE_VXL), 1)
>     INCLUDES    += -I$(VXL_INC_PATH) -I$(VXL_INC_PATH)/../bin/core
> -I$(VXL_INC_PATH)/core -I$(VXL_INC_PATH)/../bin/vcl -I$(VXL_INC_PATH)/vcl
> -I$(VXL_INC_PATH)/contrib/oxl
>     LIB         += -L$(VXL_LIB_PATH) -lmvl -lvgl_algo -lvgl -lvnl_algo
> -lvnl -lvul -lvbl -lv3p_netlib
> endif
>
> # append optional arch/SM version flags (such as -arch sm_11)
> NVCCFLAGS += $(SMVERSIONFLAGS)
>
> # architecture flag for cubin build
> CUBIN_ARCH_FLAG := -m32
>
> # Warning flags
> CXXWARN_FLAGS := \
>     -W -Wall \
>     -Wimplicit \
>     -Wswitch \
>     -Wformat \
>     -Wchar-subscripts \
>     -Wparentheses \
>     -Wmultichar \
>     -Wtrigraphs \
>     -Wpointer-arith \
>     -Wcast-align \
>     -Wreturn-type \
>     -Wno-unused-function \
>     $(SPACE)
>
> CWARN_FLAGS := $(CXXWARN_FLAGS) \
>     -Wstrict-prototypes \
>     -Wmissing-prototypes \
>     -Wmissing-declarations \
>     -Wnested-externs \
>     -Wmain \
>
> # Compiler-specific flags
> CXXFLAGS  := $(CXXWARN_FLAGS)
> CFLAGS    := $(CWARN_FLAGS)
>
> # Common flags
> COMMONFLAGS = $(INCLUDES) -DUNIX
> ifeq ($(USE_CUDA),1)
>     COMMONFLAGS += -DUSE_CUDA
> endif
> ifeq ($(USE_VXL),1)
>     COMMONFLAGS += -DUSE_VXL
> endif
>
> # Debug/release configuration
> ifeq ($(dbg),1)
>     COMMONFLAGS += -g
>     NVCCFLAGS   += -D_DEBUG
>     BINSUBDIR   := Debug
>     LIBSUFFIX   := D
> else
>     COMMONFLAGS += -O3
>     BINSUBDIR   := Release
>     LIBSUFFIX   :=
>     NVCCFLAGS   += --compiler-options -fno-strict-aliasing
>     CXXFLAGS    += -fno-strict-aliasing -fno-stack-protector
>     CFLAGS      += -fno-strict-aliasing -fno-stack-protector
> endif
>
> # Device emulation configuration
> ifeq ($(emu), 1)
>     NVCCFLAGS   += -deviceemu
>     CUDACCFLAGS +=
>     BINSUBDIR   := emu$(BINSUBDIR)
>     # consistency, makes developing easier
>     CXXFLAGS                += -D__DEVICE_EMULATION__
>     CFLAGS                  += -D__DEVICE_EMULATION__
> endif
>
> ifneq ($(DYNAMIC_LIB),)
>     TARGETDIR_DYNAMIC := $(LIBDIR)/$(BINSUBDIR)
>     TARGET_DYNAMIC    := $(TARGETDIR_DYNAMIC)/$(DYNAMIC_LIB)
>     LINKLINE_DYNAMIC  = $(LINK) -shared -Wl,-soname,$(DYNAMIC_LIB) -o
> $(TARGET_DYNAMIC) $(OBJS)
> endif
>
> ifneq ($(STATIC_LIB),)
>     TARGETDIR_STATIC := $(LIBDIR)/$(BINSUBDIR)
>     TARGET_STATIC    := $(TARGETDIR_STATIC)/$(STATIC_LIB)
>     LINKLINE_STATIC  = ar qv $(TARGET_STATIC) $(OBJS)
> endif
>
> ifneq ($(EXECUTABLE),)
>     TARGETDIR := $(BINDIR)/$(BINSUBDIR)
>     TARGET    := $(TARGETDIR)/$(EXECUTABLE)
>     LINKLINE  = $(LINK) -o $(TARGET) $(OBJS) $(LIB)
> endif
>
> # check if verbose
> ifeq ($(verbose), 1)
>     VERBOSE :=
> else
>     VERBOSE := @
> endif
>
>
> ################################################################################
> # Check for input flags and set compiler flags appropriately
>
> ################################################################################
> ifeq ($(fastmath), 1)
>     NVCCFLAGS += -use_fast_math
> endif
>
> ifeq ($(keep), 1)
>     NVCCFLAGS += -keep
>     NVCC_KEEP_CLEAN := *.i* *.cubin *.cu.c *.cudafe* *.fatbin.c *.ptx
> endif
>
> # Add cudacc flags
> NVCCFLAGS += $(CUDACCFLAGS)
>
> # Add common flags
> NVCCFLAGS += $(COMMONFLAGS)
> CXXFLAGS  += $(COMMONFLAGS)
> CFLAGS    += $(COMMONFLAGS)
>
> ifeq ($(nvcc_warn_verbose),1)
>     NVCCFLAGS += $(addprefix --compiler-options ,$(CXXWARN_FLAGS))
>     NVCCFLAGS += --compiler-options -fno-strict-aliasing
> endif
>
>
> ################################################################################
> # Set up object files
>
> ################################################################################
> OBJDIR := $(ROOTOBJDIR)/$(BINSUBDIR)/$(SRCDIR)
> OBJS :=  $(patsubst %.cpp,$(OBJDIR)/%.cpp.o,$(notdir $(CCFILES)))
> OBJS +=  $(patsubst %.c,$(OBJDIR)/%.c.o,$(notdir $(CFILES)))
> ifeq ($(USE_CUDA), 1)
>     OBJS +=  $(patsubst %.cu,$(OBJDIR)/%.cu.o,$(notdir $(CUFILES)))
> endif
>
> ################################################################################
> # Set up cubin files
>
> ################################################################################
> CUBINDIR := $(SRCDIR)/data
> CUBINS +=  $(patsubst %.cu,$(CUBINDIR)/%.cubin,$(notdir $(CUBINFILES)))
>
>
> ################################################################################
> # Rules
>
> ################################################################################
> $(OBJDIR)/%.c.o : $(SRCDIR)/%.c $(C_DEPS)
>     $(VERBOSE)$(CC) $(CFLAGS) -o $@ -c $<
>
> $(OBJDIR)/%.cpp.o : $(SRCDIR)/%.cpp $(C_DEPS)
>     $(VERBOSE)$(CXX) $(CXXFLAGS) -o $@ -c $<
>
> $(OBJDIR)/%.cu.o : $(SRCDIR)/%.cu $(CU_DEPS)
>     $(VERBOSE)$(NVCC) -o $@ -c $< $(NVCCFLAGS)
>
> $(CUBINDIR)/%.cubin : $(SRCDIR)/%.cu cubindirectory
>     $(VERBOSE)$(NVCC) $(CUBIN_ARCH_FLAG) -o $@ -cubin $< $(NVCCFLAGS)
>
>
> TARGETLIST := makeobjdir $(OBJS) $(CUBINS) Makefile
>
> ifneq ($(DYNAMIC_LIB),)
>     TARGETLIST := makedirdynamic $(TARGETLIST)
>     TARGETLIST += $(TARGET_DYNAMIC)
> endif
> ifneq ($(STATIC_LIB),)
>     TARGETLIST := makedirstatic $(TARGETLIST)
>     TARGETLIST += $(TARGET_STATIC)
> endif
> ifneq ($(EXECUTABLE),)
>     TARGETLIST := makedirexec $(TARGETLIST)
>     TARGETLIST += $(TARGET)
> endif
>
>
> all : $(TARGETLIST)
>
> $(TARGET):
>     $(VERBOSE)$(LINKLINE)
>
> $(TARGET_DYNAMIC):
>     $(VERBOSE)$(LINKLINE_DYNAMIC)
>
> $(TARGET_STATIC):
>     $(VERBOSE)$(LINKLINE_STATIC)
>
> cubindirectory:
>     @mkdir -p $(CUBINDIR)
>
> makeobjdir:
>     @mkdir -p $(OBJDIR)
>
> makedirexec:
>     @mkdir -p $(TARGETDIR)
>
> makedirdynamic:
>     @mkdir -p $(TARGETDIR_DYNAMIC)
>
> makedirstatic:
>     @mkdir -p $(TARGETDIR_STATIC)
>
> tidy :
>     @find | egrep "#" | xargs rm -f
>     @find | egrep "\~" | xargs rm -f
>
> cleanall : clean
>
> clean : tidy
>     $(VERBOSE)rm -f $(OBJS)
>     $(VERBOSE)rm -f $(CUBINS)
>     $(VERBOSE)rm -f $(TARGET_DYNAMIC)
>     $(VERBOSE)rm -f $(TARGET_STATIC)
>     $(VERBOSE)rm -f $(TARGET)
>     $(VERBOSE)rm -f $(NVCC_KEEP_CLEAN)
>
> clobber : clean
>     rm -rf $(ROOTOBJDIR)
>     rm -rf $(ROOTLIBDIR)
>     rm -rf $(ROOTBINDIR)
>
>
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>


-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827