First commit of the PD-Flow repository

It is neither stable nor robust, just a security copy

CMakeLists.txt

@@ -0,0 +1,56 @@
+PROJECT(PD-Flow)
+
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+if(COMMAND cmake_policy)
+      cmake_policy(SET CMP0003 NEW)  # Required by CMake 2.7+
+endif(COMMAND cmake_policy)
+
+
+FIND_PACKAGE(MRPT REQUIRED base gui opengl slam maps)
+FIND_PACKAGE(OpenCV REQUIRED)
+FIND_PACKAGE(CUDA REQUIRED)
+
+INCLUDE_DIRECTORIES($ENV{OPENNI2_INCLUDE})
+LINK_DIRECTORIES($ENV{OPENNI2_LIB})
+#SET(OpenNI_lib "/usr/lib/libOpenNI2.so")
+SET(OpenNI_lib "C:/Users/Mariano/Programas/OpenNI2_32/Lib/OpenNI2.lib")
+
+INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
+#set(CUDA_NVCC_FLAGS "-arch=sm_30 -O3 -use_fast_math")
+set(CUDA_NVCC_FLAGS "-arch=sm_30")
+#set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-gencode arch=compute_35,code=sm_35)
+CUDA_ADD_LIBRARY(pdflow_cudalib pdflow_cudalib.h pdflow_cudalib.cu)
+#message( ${CUDA_LIBRARIES} )
+
+
+ADD_EXECUTABLE(Scene-Flow-Visualization  
+	main_scene_flow_visualization.cpp
+	scene_flow_visualization.cpp
+	scene_flow_visualization.h
+	legend_pdflow.xpm)
+
+TARGET_LINK_LIBRARIES(Scene-Flow-Visualization
+		${MRPT_LIBS}
+		${CUDA_LIBRARIES}
+		${OpenNI_lib}
+		pdflow_cudalib)
+
+ADD_EXECUTABLE(Scene-Flow-Impair  
+	main_scene_flow_impair.cpp
+	scene_flow_impair.cpp
+	scene_flow_impair.h
+	)
+
+TARGET_LINK_LIBRARIES(Scene-Flow-Impair 
+		${OpenCV_LIBS}
+		${CUDA_LIBRARIES}
+		${MRPT_LIBS}
+		pdflow_cudalib)		
+
+
+
+# Set optimized building:
+IF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -mtune=native")
+ENDIF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
+