curdir = cd;

p = mfilename('fullpath');
curdirvision = p(1:end-length(mfilename));
cd(curdirvision);

%disp('%%%%%%%%%%%%% Installing vision tools %%%%%%%%%%%%%%%%')

cd src; srcdir = cd;
cFiles = {
    %vision main
    'grab_adaptive.c'
    'get_photo.c -lpng'
    'get_video.c -lpng'
    'collect_sonar_pthread.c -I../../Libs/TUeDACS-2.0/RbmIo/ -I../../Libs/TUeDACS-2.0/UgcIo/ -lRbmIo'
    %label and mask
    'labellerconvhull.c'
    'maskimage.c'
    'greenforadaptshutter.c'
    'YUVmask.c'   
    'staticmask.c'
    % histogram
    'histogram.c'
    %local feature detection
    'findball.c'
    'findball3D.c'
    'findlinepoints.c'
    'findobstacles.c'
    'ballsizefilter.c'
    %general
    'adaptivepolygonmask.c'
    'lobdetection.c'
    'local2global.c'
    'removeobstaclesoutsidefield.c'
    %findpose and flip
    'localisationaid.c'
    'findpose.c'
    'compasscheck.c'
    %tracking and estimation
    'sf_predict.c -I../../Libs/ipcomm2'
    'sf_sc.c -I../../Libs/ipcomm2'
    'ball_global2local.c'    
    'getvisiontime.c'
    %tools: MIC
    'ballcheck.c'
    'costfcn_fast.c'
    %tools: test_vision
    'mapping.c'
    % Error corrction for local clustering
    'error_correction.c'
    'maskcalibrationintheloop.c'
    %tools: greenfield3D
    {'../Tools/greenfield3D','make_greenfield3D'}
    };
% clear cFiles;
%  cFiles = {'histogram.c'};

    includes = [' -I../../Libs/camlib/include -I/home/robocup/svn/trunk/src/Turtle2/Global_par -I' buspath ' -I' genfunpath ' -lgeneral_functions'];
    for i1=1:length(cFiles),
        if iscell(cFiles{i1}),
            eval(['cd ',cFiles{i1}{1}]);
            eval(cFiles{i1}{2});
            disp(['Created ',cFiles{i1}{2}(6:end)]);
            cd(srcdir);
        else
            name = strread(cFiles{i1},'%s',1);
            disp(['> Mexing ',name{1},' ...']);
            eval(['mex ',cFiles{i1}, includes]);
            fprintf('\b done\n')
        end
    end    
    cd(curdir)