feat:add lane line rigid tform

Author: cuixing158

CMakeLists.txt

@@ -19,7 +19,7 @@ add_subdirectory(ThirdParty/rigidTform2d)
 add_subdirectory(ThirdParty/selectUniform2)
 add_subdirectory(ThirdParty/slamMapGraph2D)
 add_subdirectory(ThirdParty/poseGraphOptimize)
-
+add_subdirectory(ThirdParty/estgeotform2dForPtsAndLines)
 
 add_executable(rigidTform2d ThirdParty/rigidTform2d/examples/main.cpp)
 target_include_directories(rigidTform2d PRIVATE  
@@ -52,6 +52,7 @@ selectUniform2
 slamMapGraph2D
 poseGraphOptimize
 estimateAffineRigid2D
+estgeotform2dForPtsAndLines
 m)
 message(STATUS "CMAKE_CURRENT_SOURCE_DIR:${CMAKE_CURRENT_SOURCE_DIR}")
 

ThirdParty/estgeotform2dForPtsAndLines/CMakeLists.txt

@@ -0,0 +1,73 @@
+######################################################################
+# CMakeLists.txt generated for component estgeotform2dForPtsAndLines
+# Product type: static library
+######################################################################
+cmake_minimum_required(VERSION 3.12)
+# project(estgeotform2dForPtsAndLines)
+if(DEFINED ENV{CMAKE_EXPORT_COMPILE_COMMANDS} AND NOT DEFINED CMAKE_EXPORT_COMPILE_COMMANDS)
+    set(CMAKE_EXPORT_COMPILE_COMMANDS $ENV{CMAKE_EXPORT_COMPILE_COMMANDS})
+endif()
+
+
+######################################################################
+## Path variables
+######################################################################
+get_filename_component(START_DIR ./ ABSOLUTE)
+set(MATLAB_ROOT /opt/matlab/R2023a CACHE PATH "")
+if(${CMAKE_CURRENT_BINARY_DIR} STREQUAL ${CMAKE_CURRENT_SOURCE_DIR})
+    set(BUILDING_IN_SOURCE_DIR TRUE)
+    set(BINARY_START_DIR "${START_DIR}")
+else()
+    set(BUILDING_IN_SOURCE_DIR FALSE)
+    set(BINARY_START_DIR "${CMAKE_BINARY_DIR}")
+endif()
+if(WIN32 AND NOT MINGW)
+    set(SYSLIB_PREFIX "lib")
+else()
+    set(SYSLIB_PREFIX "")
+endif()
+
+######################################################################
+## System libraries
+######################################################################
+find_library(FOUND_LIBM m NO_SYSTEM_ENVIRONMENT_PATH PATHS ${CMAKE_C_IMPLICIT_LINK_DIRECTORIES}
+    ${CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES})
+find_library(FOUND_LIBSTDCXX stdc++ NO_SYSTEM_ENVIRONMENT_PATH PATHS ${CMAKE_C_IMPLICIT_LINK_DIRECTORIES}
+    ${CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES})
+
+######################################################################
+## Target definition and commands
+######################################################################
+add_library(estgeotform2dForPtsAndLines SHARED ${START_DIR}/rt_nonfinite.cpp
+    ${START_DIR}/rtGetNaN.cpp
+    ${START_DIR}/rtGetInf.cpp
+    ${START_DIR}/estgeotform2dForPtsAndLines.cpp)
+set_target_properties(estgeotform2dForPtsAndLines PROPERTIES
+    PREFIX ""
+    POSITION_INDEPENDENT_CODE ON
+    RUNTIME_OUTPUT_DIRECTORY "${BINARY_START_DIR}/$<0:>"
+    LIBRARY_OUTPUT_DIRECTORY "${BINARY_START_DIR}/$<0:>"
+    ARCHIVE_OUTPUT_DIRECTORY "${BINARY_START_DIR}/$<0:>")
+target_compile_features(estgeotform2dForPtsAndLines PUBLIC cxx_std_11)
+target_compile_definitions(estgeotform2dForPtsAndLines PRIVATE -DMODEL=estgeotform2dForPtsAndLines)
+target_include_directories(estgeotform2dForPtsAndLines PUBLIC $<BUILD_INTERFACE:${START_DIR}>
+    $<INSTALL_INTERFACE:$<INSTALL_PREFIX>>
+    $<BUILD_INTERFACE:${START_DIR}>
+    $<INSTALL_INTERFACE:$<INSTALL_PREFIX>>
+    $<BUILD_INTERFACE:${MATLAB_ROOT}/extern/include>)
+target_link_libraries(estgeotform2dForPtsAndLines INTERFACE $<$<BOOL:${FOUND_LIBM}>:m>
+    $<$<BOOL:${FOUND_LIBSTDCXX}>:stdc++>)
+
+
+######################################################################
+## Build success message
+######################################################################
+add_custom_command(TARGET estgeotform2dForPtsAndLines POST_BUILD
+     COMMAND ${CMAKE_COMMAND} -E cmake_echo_color --cyan "\\#\\#\\# Created library: $<TARGET_FILE:estgeotform2dForPtsAndLines>")
+
+######################################################################
+## Call toolchain hook function if defined
+######################################################################
+if(COMMAND toolchain_target_hook)
+    toolchain_target_hook(estgeotform2dForPtsAndLines)
+endif()