Full Code of jvgomez/fast_methods for AI

Repository: jvgomez/fast_methods
Branch: master
Commit: 5489d11da873
Files: 82
Total size: 10.6 MB

Directory structure:
gitextract_3htih0x5/

├── .gitignore
├── CMakeLists.txt
├── LICENSE
├── README.md
├── TODO.md
├── changelog.md
├── cmake/
│   ├── Modules/
│   │   └── FindCImg.cmake
│   ├── cmake_uninstall.cmake.in
│   └── fast_methods-config.cmake.in
├── data/
│   ├── 3dbarriers_9.grid
│   ├── alpha/
│   │   ├── fm2dir.hpp
│   │   ├── fmdirectionalcell.cpp
│   │   ├── fmdirectionalcell.h
│   │   ├── gradientdescent.hpp
│   │   └── test_fm2directional.cpp
│   ├── benchmark.cfg
│   ├── benchmark_from_grid.cfg
│   ├── map.grid
│   └── test_cfg/
│       ├── 2_150.cfg
│       ├── 2_300.cfg
│       └── 2_500.cfg
├── doc/
│   ├── doxyfile
│   └── markdown/
│       ├── benchmarking.md
│       ├── building.md
│       ├── design.md
│       └── main.md
├── examples/
│   ├── CMakeLists.txt
│   ├── CMakeLists.txt.template
│   ├── full_example.cpp
│   ├── test_fm.cpp
│   ├── test_fm2.cpp
│   ├── test_fm_benchmark.cpp
│   └── test_fmm3d.cpp
├── include/
│   └── fast_methods/
│       ├── benchmark/
│       │   ├── benchmark.hpp
│       │   └── benchmarkcfg.hpp
│       ├── console/
│       │   └── console.h
│       ├── datastructures/
│       │   ├── fmcompare.hpp
│       │   ├── fmdaryheap.hpp
│       │   ├── fmfibheap.hpp
│       │   ├── fmpriorityqueue.hpp
│       │   └── fmuntidyqueue.hpp
│       ├── fm/
│       │   ├── ddqm.hpp
│       │   ├── eikonalsolver.hpp
│       │   ├── fim.hpp
│       │   ├── fmm.hpp
│       │   ├── fmmstar.hpp
│       │   ├── fsm.hpp
│       │   ├── gmm.hpp
│       │   ├── lsm.hpp
│       │   ├── sfmm.hpp
│       │   ├── sfmmstar.hpp
│       │   ├── solver.hpp
│       │   └── ufmm.hpp
│       ├── fm2/
│       │   ├── fm2.hpp
│       │   └── fm2star.hpp
│       ├── gradientdescent/
│       │   └── gradientdescent.hpp
│       ├── io/
│       │   ├── gridplotter.hpp
│       │   ├── gridpoints.hpp
│       │   ├── gridwriter.hpp
│       │   └── maploader.hpp
│       ├── ndgridmap/
│       │   ├── cell.h
│       │   ├── fmcell.h
│       │   └── ndgridmap.hpp
│       ├── thirdparty/
│       │   ├── reference/
│       │   │   ├── fast_marching.hpp
│       │   │   └── queue.hpp
│       │   └── untidy_queue.hpp
│       └── utils/
│           └── utils.h
├── scripts/
│   ├── analyzeBenchmark.m
│   ├── idx2coord.m
│   ├── parseBenchmarkLog.m
│   ├── parseGrid.m
│   ├── parsepath.m
│   ├── parsepathvel.m
│   ├── plot_volumetric_data.m
│   ├── run_benchmarks.bash
│   ├── saveGridToFile.m
│   ├── showFM.m
│   └── test.m
└── src/
    ├── benchmark/
    │   └── fm_benchmark.cpp
    ├── console/
    │   └── console.cpp
    └── ndgridmap/
        ├── cell.cpp
        └── fmcell.cpp

================================================
FILE CONTENTS
================================================

================================================
FILE: .gitignore
================================================
build/
*.*~
examples/build/
doc/html/
.vscode

#QtCreator temps
.idea
*.*user
build*/


================================================
FILE: CMakeLists.txt
================================================
cmake_minimum_required (VERSION 2.6) 
project (fast_methods) 

# set a default build type for single-configuration
# CMake generators if no build type is set.
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE Release)
endif(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)

set(BUILD_EXAMPLES true CACHE STRING "True (default) to build examples")
if(BUILD_EXAMPLES)
    message(STATUS "Examples are being built and installed.")
endif(BUILD_EXAMPLES)

# Select flags.
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g")
set(CMAKE_CXX_FLAGS_RELEASE "-Ofast -fno-finite-math-only")
set(CMAKE_CXX_FLAGS_DEBUG  "-Wall -Wno-unused-local-typedefs -g")

# Finding Boost
find_package(Boost REQUIRED COMPONENTS system filesystem program_options)
if(Boost_FOUND)
    include_directories(${Boost_INCLUDE_DIRS})
else()
    message(FATAL_ERROR "Boost NOT FOUND. Please install it following the instructions on the README file.")
endif()

# Finding CImg
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/Modules/")
find_package(CImg)
if(CImg_FOUND)
    include_directories(${CIMG_INCLUDE_DIRS})
else()
    message(FATAL_ERROR "CImg NOT FOUND. Please install it following the instructions on the README file.")
endif()

# Self-made includes
include_directories (
    ${Boost_INCLUDE_DIRS}
    ${CImg_INCLUDE_DIRS}
    include
)

# Create main library
add_library(fast_methods SHARED
    src/console/console.cpp
    src/ndgridmap/cell.cpp
    src/ndgridmap/fmcell.cpp
)

# Linking 
target_link_libraries(fast_methods
    ${Boost_LIBRARIES}
    ${CImg_SYSTEM_LIBS}
)

# Add benchmarking capabilities
add_executable(fm_benchmark src/benchmark/fm_benchmark.cpp)  

target_link_libraries(fm_benchmark fast_methods)

# Create main example
if(BUILD_EXAMPLES)
    add_subdirectory(examples)
endif(BUILD_EXAMPLES)

# Install section
# We are not using CMakePackageConfigHelpers because CIMG variables are lists
# and those functions do not manage them properly.
configure_file(
    cmake/fast_methods-config.cmake.in
    ${CMAKE_BINARY_DIR}/fast_methods-config.cmake
)

install(FILES ${CMAKE_CURRENT_BINARY_DIR}/fast_methods-config.cmake
    DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/cmake/fast_methods
)

install(TARGETS fast_methods
    DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
)

install(TARGETS fm_benchmark
    DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
)

install(DIRECTORY scripts
    DESTINATION ${CMAKE_INSTALL_PREFIX}/share/fast_methods)

install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_PREFIX}/include
    FILES_MATCHING
        PATTERN "*.hpp"
        PATTERN "*.h"
)

# Uninstall target
configure_file(
    "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
    "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
    IMMEDIATE @ONLY)

add_custom_target(uninstall
    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)


================================================
FILE: LICENSE
================================================
GNU GENERAL PUBLIC LICENSE
                       Version 3, 29 June 2007

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================================================
FILE: README.md
================================================
N-Dimensional Fast Methods Library v0.7

**Authors:**
 - [Javier V. Gomez](http://jvgomez.github.io) javvgomez _at_ gmail.com
 - Jose Pardeiro jose.pardeiro _at_ gmail.com
 - Pablo Gely

## ALGORITHMS
All the theory and algorithms implemented in this library can be found in my [PhD thesis](doc/files/phd_thesis.pdf). In fact, all the benchmarking data in chapter 4 has been produced with this library and it is stored on the `experiments` branch.


**Fast Marching Methods:**
- [FMM](http://jvgomez.github.io/fast_methods/classFMM.html): Fast Marching Method with Binary Queue and Fibonacci Queue (binary by default).
- [FMM*](http://jvgomez.github.io/fast_methods/classFMMStar.html): FMM with CostToGo heuristics.
- [SFMM](http://jvgomez.github.io/fast_methods/classSFMM.html): Simplified Fast Marhching Method.
- [SFMM*](http://jvgomez.github.io/fast_methods/classSFMMStar.html): SFMM with CostToGo heuristics..

**O(n) Fast Marching Methods:**
- [GMM](http://jvgomez.github.io/fast_methods/classGMM.html): Group Marching Method.
- [UFMM](http://jvgomez.github.io/fast_methods/classUFMM.html): Untidy Fast Marching Method.
- [FIM](http://jvgomez.github.io/fast_methods/classFIM.html): Fast Iterative Method.

**Fast Sweeping Methods:**
- [FSM](http://jvgomez.github.io/fast_methods/classFSM.html): Fast Sweeping Method.
- [LSM](http://jvgomez.github.io/fast_methods/classLSM.html): Lock Sweeping Method.
- [DDQM](http://jvgomez.github.io/fast_methods/classDDQM.html): Dynamic Double Queue Method.

**Fast Marching Square motion planning algorithms:**
- [FM2](http://jvgomez.github.io/fast_methods/classFM2.html): Fast Marching Square Method.
- [FM2*](http://jvgomez.github.io/fast_methods/classFM2Star.html): Fast Marching Square Star FM2 with CostToGo heuristics.

**ROS**

ROS nodes using this code (tested in the TurtleBot) are provided in a [separate repo](https://github.com/jpardeiro/fastmarching_node)


## DISCLAIMER and IMPORTANT NOTES

- The code is not deeply tested. I've just tested it works for the cases I need. If you find any problem, have any question (or whatever), please write to: javvgomez _at_ gmail.com

- The compilation time is highly increased due to CImg library. Please, omit it when possible as it is used only for visualization purposes.

- License [GNU/GPL V3](http://www.gnu.org/copyleft/gpl.html)

- This is a source code intended for my research. Although I want it to be useful for other people it is not intended to act as a library (there are many many points to improve). However, if you show interest or have feature request do not hesitate to contact me and I will try my best to improve the code for whoever needs it. I am also open to contributions and to create a formal library if necessary.


## Documentation

- [API Reference](http://jvgomez.github.io/fast_methods/)


## Building the code
Check the [building section](http://jvgomez.github.io/fast_methods/md_markdown_building.html) of the documentation.


## Design and folder structure
Check the [design section](http://jvgomez.github.io/fast_methods/md_markdown_design.html) of the documentation.


## KNOWN ISSUES

- Gradient Descent for FM2* could fail if very narrow passages are in the way of the path.
- It seems that UFMM can fail in maps with random (or similar) velocity changes.

================================================
FILE: TODO.md
================================================
# TODO

At the top of each file there are specific TODO comments. (List [here](http://jvgomez.github.io/fast_methods/todo.html)). Here are some others.

## Code TODOs
- MapLoader, GridWriter... get a naming convention. MapReader or GridSaver for instance.
- printRunInfo implementation missing for most of the solvers.
- Unify GridWriter and GridPlotter functions parameter order: (grid, name)
- Fix Doxygen warnings.
- Convert all scripts to python (or similar) so that they keep completely open source.
- Reimplement FM2Dir from scratch. Currently in data/alpha folder.
- Substitute arg parsing with boost_options.
- Implement a grid copy constructor and assignment operator, etc.
- Most of the unsigned int should be replaced by size_t to be type-correct.
- Use smart pointers (specially for grid).
- Create a testing framework.
- BenchmarkCFG::configure, parse ctorParams_ with a variadic templated function, something like:` parseParams<int, bool>(param1, param2)`, `parseParams<string,double,bool>(p1,p2,p3)`.
- GridPlotter code can be refactorized so that the same code is not repeated many times.
- Review template template parameters, perhaps it can be simplified (specially for benchmark): `template <grid_t>` to `template <nDGridMap <cell_t, ndims>>` so we can use cell_t without doing `template <grid_t, cell_t>` (redundant).
- Add proper versioning in CMake.
- use Git LFS for big files (and clean the experiments branch).

## Algorithmic TODOs
- Improve untidy queue implementation with hash maps (specially remove element in increase_priority()).
- Mix SFMM and UFMM (researchy TODO).
- Improve the way FM2 and its versions deal with the grid when running multiple times on the same grid. Concretely, avoid recomputation of velocities map.
- For most methods, neighbors for same cell are computed many times. Store them like FMT to save some computation time.

## Documentation TODOs
- Review and update nDGridMap.pdf
- Add a make doc target.


================================================
FILE: changelog.md
================================================
#### v0.7 (trunk) ChangeLog
- Benchmarking can save only a grid per solver or grid for all runs with option savegrid=1 or `savegrid=2`
- Benchmarking CFG files now accept .grid textfiles under the option `text=<path_to_text_grid>`
- Added install and uninstall CMake targets.
- Renamed library to Fast Methods.
- Changed directory structure and includes.

#### v0.6 ChangeLog
- solveEikonal made more stable, but a bit less efficient.
- Added FSM, LSM, DDQM.
- Added another hierarchy layer: EikonalSolver.
- Some small tweaks, improvements and better documentation.


================================================
FILE: cmake/Modules/FindCImg.cmake
================================================
# Taken from https://github.com/charmie11/CImg-hello-world

# - Try to find CImg lib
#
# The following variables are defined
#
#  CImg_FOUND - system has CImg lib
#  CImg_INCLUDE_DIRS - the CImg include directory
#  CImg_SYSTEM_LIBS - external libraries that CImg uses
#  CImg_SYSTEM_LIBS_DIR - external library directories
#  CImg_CFLAGS - compilation flags


find_path(CImg_INCLUDE_DIR
  NAMES CImg.h
  PATHS
    ${CMAKE_INSTALL_PREFIX}/include
    /usr/include
)
mark_as_advanced(CImg_INCLUDE_DIR)

if (CImg_INCLUDE_DIR)
  set(CImg_FOUND TRUE)
endif(CImg_INCLUDE_DIR)

# To use PKG_CHECK_MODULES to find some optional packages
find_package(PkgConfig)

# ### CIMG related stuff
# Flags to enable fast image display, using the XSHM library.
SET(CIMG_XSHM_CCFLAGS  -Dcimg_use_xshm)

# Flags to enable screen mode switching, using the XRandr library.
SET(CIMG_XRANDR_CCFLAGS  -Dcimg_use_xrandr)

# Flags to enable native support for JPEG image files, using the JPEG library.
# ( http://www.ijg.org/ )
SET(CIMG_JPEG_CCFLAGS  -Dcimg_use_jpeg)

# Flags to enable native support for TIFF image files, using the TIFF library.
# ( http://www.libtiff.org/ )
SET(CIMG_TIFF_CCFLAGS  -Dcimg_use_tiff)

# Flags to enable native support for PNG image files, using the PNG library.
# ( http://www.libpng.org/ )
SET(CIMG_PNG_CCFLAGS  -Dcimg_use_png)

#Flags to enable OPENCV support (Camera)
# ( http://www.opencv.org/ )
SET(CIMG_OPENCV_CCFLAGS -Dcimg_use_opencv)

# Flags to enable native support for EXR image files, using the OpenEXR library.
# ( http://www.openexr.com/ )
SET(CIMG_OPENEXR_CCFLAGS  -Dcimg_use_openexr)

# Flags to enable native support for various video files, using the FFMPEG library.
# ( http://www.ffmpeg.org/ )
SET(CIMG_FFMPEG_CCFLAGS  -Dcimg_use_ffmpeg)

# Flags to enable native support of most classical image file formats, using the Magick++ library.
# ( http://www.imagemagick.org/Magick++/ )
SET(CIMG_MAGICK_CCFLAGS -Dcimg_use_magick)

# Flags to enable faster Discrete Fourier Transform computation, using the FFTW3 library
# ( http://www.fftw.org/ )
SET(CIMG_FFTW3_CCFLAGS  -Dcimg_use_fftw3)

# Flags to enable zlib.
# ( http://www.zlib.net/ )
SET(CIMG_ZLIB_CCFLAGS  -Dcimg_use_zlib)

# ### Search Additional Libraries ##########
FIND_PACKAGE(OpenCV)
FIND_PACKAGE(JPEG)
FIND_PACKAGE(TIFF)
FIND_PACKAGE(PNG)
FIND_PACKAGE(ZLIB)
FIND_PACKAGE(LAPACK)
FIND_PACKAGE(BLAS)

PKG_CHECK_MODULES(FFTW3 fftw3)
PKG_CHECK_MODULES(OPENEXR OpenEXR)
PKG_CHECK_MODULES(MAGICK Magick++)

# PKG_CHECK_MODULES(LIBAVCODEC libavcodec)
# PKG_CHECK_MODULES(LIBAVFORMAT libavformat)
# PKG_CHECK_MODULES(LIBSWSCALE libswscale)
# PKG_CHECK_MODULES(LIBAVUTIL libavutil)

if(NOT WIN32)
  FIND_PACKAGE(X11)
  FIND_PACKAGE(Threads REQUIRED)
endif()

# #### End of additional libraries search ##########

### Configure Paths according to detected packages
if(TIFF_FOUND)
  get_filename_component(TIFF_LIB_DIRS ${TIFF_LIBRARIES} PATH)
  SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_TIFF_CCFLAGS}")
#  link_directories(${TIFF_LIB_DIRS})
#  include_directories(${TIFF_INCLUDE_DIR})
#  SET(CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${TIFF_LIBRARIES})
  list(APPEND CImg_INCLUDE_DIRS
    ${TIFF_INCLUDE_DIR}
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${TIFF_LIB_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${TIFF_LIBRARIES}
  )
endif()

if(JPEG_FOUND)
  get_filename_component(JPEG_LIB_DIRS ${JPEG_LIBRARIES} PATH)
  SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_JPEG_CCFLAGS}")
#  link_directories(${JPEG_LIB_DIRS})
#  include_directories(${JPEG_INCLUDE_DIR})
#  SET(CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${JPEG_LIBRARIES})
  list(APPEND CImg_INCLUDE_DIRS
    ${JPEG_INCLUDE_DIR}
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${JPEG_LIB_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${JPEG_LIBRARIES}
  )
endif()

if (ZLIB_FOUND)
  SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_ZLIB_CCFLAGS}")
#  link_directories(${ZLIB_LIB_DIRS})
#  include_directories(${ZLIB_INCLUDE_DIR})
#  SET(CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${ZLIB_LIBRARIES})
  list(APPEND CImg_INCLUDE_DIRS
    ${ZLIB_INCLUDE_DIR}
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${ZLIB_LIB_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${ZLIB_LIBRARIES}
  )
  # PNG requires ZLIB
  if(PNG_FOUND)
    SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_PNG_CCFLAGS}")
 #   link_directories(${PNG_LIB_DIRS})
 #   include_directories(${PNG_INCLUDE_DIR} )
 #   SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${PNG_LIBRARIES} )
  list(APPEND CImg_INCLUDE_DIRS
    ${PNG_INCLUDE_DIR}
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${PNG_LIB_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${PNG_LIBRARIES}
  )
  endif()
endif()

if(FFTW3_FOUND)
  SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_FFTW3_CCFLAGS}")
  #link_directories( ${FFTW3_LIBRARY_DIRS} )
  #include_directories( ${FFTW3_INCLUDE_DIRS} )
  #SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${FFTW3_LIBRARIES} )
  list(APPEND CImg_INCLUDE_DIRS
    ${FFTW3_INCLUDE_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${FFTW3_LIBRARY_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${FFTW3_LIBRARIES}
  )
endif()

if(OPENEXR_FOUND)
  SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_OPENEXR_CCFLAGS}")
  #link_directories( ${OPENEXR_LIBRARY_DIRS} )
  #include_directories( ${OPENEXR_INCLUDE_DIRS} )
  #SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${OPENEXR_LIBRARIES} )
  list(APPEND CImg_INCLUDE_DIRS
    ${OPENEXR_INCLUDE_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${OPENEXR_LIBRARY_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${OPENEXR_LIBRARIES}
  )
endif()

if(MAGICK_FOUND)
  SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_MAGICK_CCFLAGS}")
  #link_directories( ${MAGICK_LIBRARY_DIRS} )
  #include_directories( ${MAGICK_INCLUDE_DIRS} )
  #SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${MAGICK_LIBRARIES} )
  list(APPEND CImg_INCLUDE_DIRS
    ${MAGICK_INCLUDE_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${MAGICK_LIBRARY_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${MAGICK_LIBRARIES}
  )
endif()

if( LIBAVCODEC_FOUND  AND LIBAVFORMAT_FOUND AND LIBSWSCALE_FOUND AND LIBAVUTIL_FOUND )
  SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_FFMPEG_CCFLAGS}")
  #link_directories( ${LIBAVFORMAT_LIBRARY_DIRS} )
  #link_directories( ${LIBAVCODEC_LIBRARY_DIRS} )
  #link_directories( ${LIBSWSCALE_LIBRARY_DIRS} )
  #link_directories( ${LIBAVUTIL_LIBRARY_DIRS} )
  #include_directories( ${LIBAVFORMAT_INCLUDE_DIRS} ${LIBAVFORMAT_INCLUDE_DIRS}/libavformat)
  #include_directories( ${LIBAVCODEC_INCLUDE_DIRS} ${LIBAVCODEC_INCLUDE_DIRS}/libavcodec )
  #include_directories( ${LIBSWSCALE_INCLUDE_DIRS} ${LIBSWSCALE_INCLUDE_DIRS}/libswscale)
  #include_directories( ${LIBAVUTIL_INCLUDE_DIRS} ${LIBAVUTIL_INCLUDE_DIRS}/libavutil )
  #SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${LIBAVFORMAT_LIBRARIES} )
  #SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${LIBAVCODEC_LIBRARIES} )
  #SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${LIBSWSCALE_LIBRARIES} )
  #SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${LIBAVUTIL_LIBRARIES} )
  list(APPEND CImg_INCLUDE_DIRS
    ${LIBAVFORMAT_INCLUDE_DIRS} ${LIBAVFORMAT_INCLUDE_DIRS}/libavformat
    ${LIBAVCODEC_INCLUDE_DIRS} ${LIBAVCODEC_INCLUDE_DIRS}/libavcodec 
    ${LIBSWSCALE_INCLUDE_DIRS} ${LIBSWSCALE_INCLUDE_DIRS}/libswscale
    ${LIBAVUTIL_INCLUDE_DIRS} ${LIBAVUTIL_INCLUDE_DIRS}/libavutil 
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${LIBAVFORMAT_LIBRARY_DIRS}
    ${LIBAVCODEC_LIBRARY_DIRS}
    ${LIBSWSCALE_LIBRARY_DIRS}
    ${LIBAVUTIL_LIBRARY_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${LIBAVFORMAT_LIBRARIES}
    ${LIBAVCODEC_LIBRARIES}
    ${LIBSWSCALE_LIBRARIES}
    ${LIBAVUTIL_LIBRARIES}
  )
endif()

if(NOT APPLE)
  if(NOT WIN32)
    if(X11_FOUND)
      SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_XSHM_CCFLAGS} ${CIMG_XRANDR_CCFLAGS}")
      SET(CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} Xext Xrandr)
    endif()
  endif(NOT WIN32)
endif(NOT APPLE)

if(X11_FOUND)
  #link_directories(${X11_LIB_DIRS})
  #include_directories(${X11_INCLUDE_DIR})
  #SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${X11_LIBRARIES} )
  list(APPEND CImg_INCLUDE_DIRS
    ${X11_INCLUDE_DIR}
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${X11_LIB_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${X11_LIBRARIES}
  )
endif()

if (NOT WIN32)
  #SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${CMAKE_THREAD_LIBS_INIT} )
  list(APPEND CImg_SYSTEM_LIBS
    ${CMAKE_THREAD_LIBS_INIT} 
  )
endif()

if( WIN32)
  #SET( CImg_SYSTEM_LIBS  ${CImg_SYSTEM_LIBS}  gdi32 )
  list(APPEND CImg_SYSTEM_LIBS
    gdi32
  )
endif()

if (OpenCV_FOUND)
  message("OpenCV Found")
  SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_OPENCV_CCFLAGS}")
  #include_directories(${OpenCV_INCLUDE_DIRS})
  #link_directories(${OpenCV_LIB_DIRS})
  #SET( CImg_SYSTEM_LIBS  ${CImg_SYSTEM_LIBS}  ${OpenCV_LIBS} )
  list(APPEND CImg_INCLUDE_DIRS
    ${OpenCV_INCLUDE_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${OpenCV_LIB_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${OpenCV_LIBS}
  )
endif()

if(LAPACK_FOUND)
  SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_LAPACK_CCFLAGS}")
  #link_directories( ${LAPACK_LIBRARY_DIRS} )
  #include_directories( ${LAPACK_INCLUDE_DIRS} )
  #SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${LAPACK_LIBRARIES} )
  list(APPEND CImg_INCLUDE_DIRS
    ${LAPACK_INCLUDE_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${LAPACK_LIBRARY_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${LAPACK_LIBRARIES}
  )
endif()

if(BLAS_FOUND)
  SET(CIMG_CFLAGS "${CIMG_CFLAGS} ${CIMG_BLAS_CCFLAGS}")
  #link_directories( ${BLAS_LIBRARY_DIRS} )
  #include_directories( ${BLAS_INCLUDE_DIRS} )
  #SET( CImg_SYSTEM_LIBS ${CImg_SYSTEM_LIBS} ${BLAS_LIBRARIES} )
  list(APPEND CImg_INCLUDE_DIRS
    ${BLAS_INCLUDE_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS_DIR
    ${BLAS_LIBRARY_DIRS}
  )
  list(APPEND CImg_SYSTEM_LIBS
    ${BLAS_LIBRARIES}
  )
endif()

# Add CIMG Flags to Compilation Flags
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CIMG_CFLAGS}")

foreach(program ${CIMG_FILES})
  add_executable(${program} ${program}.cpp)
  target_link_libraries(${program} ${CImg_SYSTEM_LIBS} )
endforeach(program)


================================================
FILE: cmake/cmake_uninstall.cmake.in
================================================
# ============================================================================
# Copyright (c) 2011-2012 University of Pennsylvania
# Copyright (c) 2013-2016 Andreas Schuh
# All rights reserved.
#
# See COPYING file for license information or visit
# https://cmake-basis.github.io/download.html#license
# ============================================================================

##############################################################################
# @file  cmake_uninstall.cmake
# @brief Uninstallation script based on install_manifest*.txt files.
#
# @ingroup CMakeTools
##############################################################################

cmake_minimum_required (VERSION 2.8.12 FATAL_ERROR)

# ----------------------------------------------------------------------------
# set the install prefix
if (NOT DEFINED CMAKE_INSTALL_PREFIX)
  set (CMAKE_INSTALL_PREFIX "@CMAKE_INSTALL_PREFIX@")
endif ()

# ----------------------------------------------------------------------------
# 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 "${BUILD_TYPE}")
  else ()
    set (CMAKE_INSTALL_CONFIG_NAME "@CMAKE_BUILD_TYPE@")
  endif ()
  message (STATUS "Uninstall configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
endif ()

# ----------------------------------------------------------------------------
# set the component getting uninstalled
if (NOT CMAKE_INSTALL_COMPONENT)
  if (COMPONENT)
    message (STATUS "Uninstall component: \"${COMPONENT}\"")
    set (CMAKE_INSTALL_COMPONENT "${COMPONENT}")
  else ()
    set (CMAKE_INSTALL_COMPONENT)
  endif ()
endif ()

# ----------------------------------------------------------------------------
# read manifest file
if (MANIFEST_FILE)
  if (NOT EXISTS "${MANIFEST_FILE}")
    message (FATAL_ERROR "Manifest file ${MANIFEST_FILE} does not exist!")
  endif ()
  set (MANIFEST_FILES "${MANIFEST_FILE}")
else ()
  file (GLOB MANIFEST_FILES "${CMAKE_CURRENT_LIST_DIR}/@PROJECT_PACKAGE_CONFIG_PREFIX@*InstallManifest.txt")
  if (NOT MANIFEST_FILES)
    if (CMAKE_INSTALL_COMPONENT)
      set (MANIFEST_FILE "${CMAKE_CURRENT_LIST_DIR}/install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
    else ()
      set (MANIFEST_FILE "${CMAKE_CURRENT_LIST_DIR}/install_manifest.txt")
    endif ()
    if (NOT EXISTS "${MANIFEST_FILE}")
      message ("No manifest file found.")
      return ()
    endif ()
    set (MANIFEST_FILES "${MANIFEST_FILE}")
  endif ()
endif ()

set (MANIFEST)
foreach (MANIFEST_FILE IN LISTS MANIFEST_FILES)
  file (READ "${MANIFEST_FILE}" _MANIFEST)
  string (REGEX REPLACE "\n" ";" _MANIFEST "${_MANIFEST}")
  list (REVERSE _MANIFEST)
  list (APPEND MANIFEST "${_MANIFEST}")
endforeach ()

# ----------------------------------------------------------------------------
# remove package from CMake package registry
set (REGISTERED "@BASIS_REGISTER@")
if (WIN32 AND REGISTERED)
  set (PKGUID "@TOPLEVEL_PROJECT_PACKAGE_UID@")
  execute_process (
    COMMAND reg delete "HKCU\\Software\\Kitware\\CMake\\Packages\\@PROJECT_PACKAGE_CONFIG_PREFIX@" /v "${PKGUID}" /f
    RESULT_VARIABLE RT
    ERROR_VARIABLE ERR
  )
  if (RT EQUAL 0)
    message (STATUS "Deregister:   Removed HKCU\\Software\\Kitware\\CMake\\Packages\\@PROJECT_PACKAGE_CONFIG_PREFIX@\\${PKGUID}")
  else ()
    string (STRIP "${ERR}" ERR)
    message (STATUS "Deregister:   Failed to remove package from registry: ${ERR}")
  endif ()
endif ()

# ----------------------------------------------------------------------------
# remove installed files
foreach (F ${MANIFEST}) # skip empty entries, i.e., blank lines
  set (F "$ENV{DESTDIR}${F}") # support change of root
  if (EXISTS "${F}")
    set (FILE_IN_USE FALSE)
    if (NOT FILE_IN_USE)
      message (STATUS "Uninstalling: ${F}")
      execute_process (COMMAND "${CMAKE_COMMAND}" -E remove -f "${F}" RESULT_VARIABLE RT)
      if (NOT RT EQUAL 0)
        set (OK FALSE)
        message (STATUS "Failed to uninstall ${F}")
      endif ()
      # remove .pyc files of .py files
      if (F MATCHES "\\.py$" AND EXISTS "${F}c")
        message (STATUS "Uninstalling: ${F}c")
        execute_process (COMMAND "${CMAKE_COMMAND}" -E remove -f "${F}c" RESULT_VARIABLE RT)
        if (NOT RT EQUAL 0)
          message (STATUS "Failed to uninstall ${F}c")
        endif ()
      endif ()
    else ()
      message (STATUS "File-in-use:  ${F}")
    endif ()
  else ()
    message (STATUS "Non-existent: ${F}")
  endif ()
endforeach ()

foreach (MANIFEST_FILE IN LISTS MANIFEST_FILES)
  if (EXISTS "${MANIFEST_FILE}")
    execute_process (COMMAND "${CMAKE_COMMAND}" -E remove -f "${MANIFEST_FILE}")
  endif ()
endforeach ()

# ----------------------------------------------------------------------------
# remove empty directories
list (APPEND EXCLUDE_DIRS
  "/"
  "/usr"
  "/usr/local"
  "/opt"
  "/opt/local"
  "$ENV{HOME}"
  "$ENV{HOME}/local"
  # these should anyway never be used as installation prefix without subdirectory
  "/bin"
  "/boot"
  "/dev"
  "/etc"
  "/home"
  "/lib"
  "/lib32"
  "/lib64"
  "/media"
  "/mnt"
  "/root"
  "/proc"
  "/sys"
  "/var"
  "/tmp"
  "/lost+found"
  "/cdrom"
)

if (WIN32)
  get_filename_component (PROGRAM_FILES_DIR "[HKEY_LOCAL_MACHINE\\SOFTWARE\\Microsoft\\Windows\\CurrentVersion;ProgramFilesDir]" ABSOLUTE)
  if (NOT PROGRAM_FILES_DIR OR PROGRAM_FILES_DIR MATCHES "/registry")
    set (PROGRAM_FILES_DIR "C:/Program Files")
  endif ()
  list (APPEND EXCLUDE_DIRS "${PROGRAM_FILES_DIR}")
  string (REPLACE "/" "\\" PROGRAM_FILES_DIR "${PROGRAM_FILES_DIR}")
  list (APPEND EXCLUDE_DIRS "${PROGRAM_FILES_DIR}")
endif ()

# stop removing directories at root installation directory
# the subdirectory will be still removed if it is not in the
# list of excluded system directories
get_filename_component (D "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}" PATH)
list (APPEND EXCLUDE_DIRS "${D}")

string (REPLACE "." "\\." CMAKE_INSTALL_PREFIX_RE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
string (REPLACE "." "\\." CMAKE_REGISTRY_PREFIX_RE "$ENV{HOME}/.cmake")

foreach (F ${MANIFEST}) # skip empty entries, i.e., blank lines
  # remove directories only if file was installed inside the installation root
  # or the CMake package registration on Unix
  if (F MATCHES "^${CMAKE_INSTALL_PREFIX_RE}" OR
        (UNIX AND F MATCHES "^${CMAKE_REGISTRY_PREFIX_RE}"))
    get_filename_component (D "$ENV{DESTDIR}${F}" PATH)
    while (D)
      # skip directory if we removed it already
      if (NOT EXISTS "${D}" OR NOT IS_DIRECTORY "${D}")
        if ("${D}" STREQUAL "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
          return () # we are done, the installation root has been removed
        endif ()
        break ()
      endif ()
      # skip directory if it is in list of excluded directories
      list (FIND EXCLUDE_DIRS "${D}" IDX)
      if (NOT IDX EQUAL -1)
        break ()
      endif ()
      # glob files in directory to make sure it is empty
      file (GLOB FILES "${D}/*")
      if (NOT FILES)
        # remove directory
        message (STATUS "Uninstalling: ${D}")
        execute_process (COMMAND "${CMAKE_COMMAND}" -E remove_directory "${D}" RESULT_VARIABLE RT)
        if (NOT RT EQUAL 0)
          set (OK FALSE)
          message (STATUS "Failed to remove ${D}")
        endif ()
      endif ()
      if ("${D}" STREQUAL "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
        # we reached the root installation direcory
        break ()
      endif ()
      # procede with parent directory
      get_filename_component (D "${D}" PATH)
    endwhile ()
  endif ()
endforeach ()


================================================
FILE: cmake/fast_methods-config.cmake.in
================================================
set(fast_methods_FOUND 1)

set(fast_methods_INCLUDE_DIRS
    @Boost_INCLUDE_DIRS@
    @CImg_INCLUDE_DIRS@
    @CMAKE_INSTALL_PREFIX@/include
)

set(fast_methods_LIBRARIES
    @CMAKE_INSTALL_PREFIX@/lib/${CMAKE_SHARED_LIBRARY_PREFIX}fast_methods${CMAKE_SHARED_LIBRARY_SUFFIX}
    @CImg_SYSTEM_LIBS@
    @Boost_LIBRARIES@
)


================================================
FILE: data/3dbarriers_9.grid
================================================
FMCell - Fast Marching Cell
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1.0