From 2b7ac5a1df28661fbc1acb3d15a437aaf6797504 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Thu, 15 Feb 2024 10:51:33 +0100
Subject: [PATCH] Main
---
.gitlab-ci.yml | 6 +-
CMakeLists.txt | 2 +-
examples/polyline_demo.cpp | 2 +-
include/laser_scan_utils/corner_falko_2d.h | 2 +-
include/laser_scan_utils/corner_finder.h | 2 +-
.../corner_finder_inscribed_angle.h | 2 +-
include/laser_scan_utils/corner_point.h | 2 +-
include/laser_scan_utils/grid_2d.h | 2 +-
include/laser_scan_utils/grid_cluster.h | 2 +-
include/laser_scan_utils/icp.h | 2 +-
include/laser_scan_utils/laser_scan.h | 2 +-
include/laser_scan_utils/laser_scan_utils.h | 2 +-
.../laser_scan_utils/laser_scan_with_params.h | 2 +-
include/laser_scan_utils/line_finder.h | 2 +-
include/laser_scan_utils/line_finder_hough.h | 2 +-
.../laser_scan_utils/line_finder_iterative.h | 2 +-
.../laser_scan_utils/line_finder_jump_fit.h | 2 +-
include/laser_scan_utils/line_segment.h | 2 +-
include/laser_scan_utils/loop_closure_base.h | 2 +-
include/laser_scan_utils/loop_closure_falko.h | 2 +-
.../match_loop_closure_scene.h | 2 +-
include/laser_scan_utils/point_set.h | 2 +-
include/laser_scan_utils/polyline.h | 2 +-
include/laser_scan_utils/scan_segment.h | 2 +-
include/laser_scan_utils/scene_base.h | 2 +-
include/laser_scan_utils/scene_falko.h | 2 +-
...eader_2022.txt => license_header_2024.txt} | 2 +-
src/corner_falko_2d.cpp | 2 +-
src/corner_finder.cpp | 2 +-
src/corner_finder_inscribed_angle.cpp | 2 +-
src/corner_point.cpp | 2 +-
src/grid_2d.cpp | 2 +-
src/grid_cluster.cpp | 2 +-
src/icp.cpp | 24 +++---
src/laser_scan.cpp | 2 +-
src/laser_scan_with_params.cpp | 2 +-
src/line_finder.cpp | 2 +-
src/line_finder_hough.cpp | 2 +-
src/line_finder_iterative.cpp | 2 +-
src/line_finder_jump_fit.cpp | 2 +-
src/line_segment.cpp | 2 +-
src/loop_closure_base.cpp | 2 +-
src/point_set.cpp | 2 +-
src/polyline.cpp | 2 +-
src/scan_segment.cpp | 2 +-
test/CMakeLists.txt | 8 +-
test/data/scan_data.h | 2 +-
test/gtest/CMakeLists.txt | 76 +++----------------
test/gtest/utils_gtest.h | 2 +-
test/gtest_example.cpp | 2 +-
test/gtest_icp.cpp | 2 +-
test/gtest_loop_closure_falko.cpp | 2 +-
test/matplotlibcpp.h | 2 +-
53 files changed, 78 insertions(+), 134 deletions(-)
rename scripts/{license_header_2022.txt => license_header_2024.txt} (88%)
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 077d37a..2d763fb 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -34,9 +34,11 @@ stages:
- cd $CI_PROJECT_DIR
# configure git
- - export CI_NEW_BRANCH=ci_processing$RANDOM
+ - if [ `git rev-parse --verify ci_processing 2>/dev/null` ]; then
+ - git branch --delete ci_processing
+ - fi
+ - export CI_NEW_BRANCH=ci_processing
- echo creating new temporary branch... $CI_NEW_BRANCH
- #- export CI_NEW_BRANCH=ci_processing$CI_COMMIT_SHORT_SHA
- git config --global user.email "${CI_EMAIL}"
- git config --global user.name "${CI_USERNAME}"
- git checkout -b $CI_NEW_BRANCH # temporary branch
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 11db195..c83af3b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
# Pre-requisites about cmake itself
-CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.16)
# The project name and the type of project
PROJECT(laser_scan_utils)
diff --git a/examples/polyline_demo.cpp b/examples/polyline_demo.cpp
index 634f8eb..4bb848c 100644
--- a/examples/polyline_demo.cpp
+++ b/examples/polyline_demo.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/corner_falko_2d.h b/include/laser_scan_utils/corner_falko_2d.h
index 6c951fd..94911a4 100644
--- a/include/laser_scan_utils/corner_falko_2d.h
+++ b/include/laser_scan_utils/corner_falko_2d.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/corner_finder.h b/include/laser_scan_utils/corner_finder.h
index c4a7d3a..fdab44a 100644
--- a/include/laser_scan_utils/corner_finder.h
+++ b/include/laser_scan_utils/corner_finder.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/corner_finder_inscribed_angle.h b/include/laser_scan_utils/corner_finder_inscribed_angle.h
index 65518f4..6f16c9c 100644
--- a/include/laser_scan_utils/corner_finder_inscribed_angle.h
+++ b/include/laser_scan_utils/corner_finder_inscribed_angle.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/corner_point.h b/include/laser_scan_utils/corner_point.h
index 0863751..a85ff03 100644
--- a/include/laser_scan_utils/corner_point.h
+++ b/include/laser_scan_utils/corner_point.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/grid_2d.h b/include/laser_scan_utils/grid_2d.h
index 5da0737..00b6154 100644
--- a/include/laser_scan_utils/grid_2d.h
+++ b/include/laser_scan_utils/grid_2d.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/grid_cluster.h b/include/laser_scan_utils/grid_cluster.h
index be510ba..026b621 100644
--- a/include/laser_scan_utils/grid_cluster.h
+++ b/include/laser_scan_utils/grid_cluster.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/icp.h b/include/laser_scan_utils/icp.h
index 113b23e..71ba967 100644
--- a/include/laser_scan_utils/icp.h
+++ b/include/laser_scan_utils/icp.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/laser_scan.h b/include/laser_scan_utils/laser_scan.h
index 8871fcc..144f031 100644
--- a/include/laser_scan_utils/laser_scan.h
+++ b/include/laser_scan_utils/laser_scan.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/laser_scan_utils.h b/include/laser_scan_utils/laser_scan_utils.h
index 7eb29a6..b055283 100644
--- a/include/laser_scan_utils/laser_scan_utils.h
+++ b/include/laser_scan_utils/laser_scan_utils.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/laser_scan_with_params.h b/include/laser_scan_utils/laser_scan_with_params.h
index 45ab37d..db93fc0 100644
--- a/include/laser_scan_utils/laser_scan_with_params.h
+++ b/include/laser_scan_utils/laser_scan_with_params.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/line_finder.h b/include/laser_scan_utils/line_finder.h
index c2281ae..5696da1 100644
--- a/include/laser_scan_utils/line_finder.h
+++ b/include/laser_scan_utils/line_finder.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/line_finder_hough.h b/include/laser_scan_utils/line_finder_hough.h
index eaf5386..1b4f884 100644
--- a/include/laser_scan_utils/line_finder_hough.h
+++ b/include/laser_scan_utils/line_finder_hough.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/line_finder_iterative.h b/include/laser_scan_utils/line_finder_iterative.h
index 2e04dfe..c68055c 100644
--- a/include/laser_scan_utils/line_finder_iterative.h
+++ b/include/laser_scan_utils/line_finder_iterative.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/line_finder_jump_fit.h b/include/laser_scan_utils/line_finder_jump_fit.h
index d967615..ed3acb1 100644
--- a/include/laser_scan_utils/line_finder_jump_fit.h
+++ b/include/laser_scan_utils/line_finder_jump_fit.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/line_segment.h b/include/laser_scan_utils/line_segment.h
index bd03fa8..6b5b28a 100644
--- a/include/laser_scan_utils/line_segment.h
+++ b/include/laser_scan_utils/line_segment.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/loop_closure_base.h b/include/laser_scan_utils/loop_closure_base.h
index 1bd342b..f509f86 100644
--- a/include/laser_scan_utils/loop_closure_base.h
+++ b/include/laser_scan_utils/loop_closure_base.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/loop_closure_falko.h b/include/laser_scan_utils/loop_closure_falko.h
index 52559da..c5b3e1d 100644
--- a/include/laser_scan_utils/loop_closure_falko.h
+++ b/include/laser_scan_utils/loop_closure_falko.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/match_loop_closure_scene.h b/include/laser_scan_utils/match_loop_closure_scene.h
index 96e0cd6..9805393 100644
--- a/include/laser_scan_utils/match_loop_closure_scene.h
+++ b/include/laser_scan_utils/match_loop_closure_scene.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/point_set.h b/include/laser_scan_utils/point_set.h
index 516efd5..1dc8b8e 100644
--- a/include/laser_scan_utils/point_set.h
+++ b/include/laser_scan_utils/point_set.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/polyline.h b/include/laser_scan_utils/polyline.h
index 7769a2a..03012f6 100644
--- a/include/laser_scan_utils/polyline.h
+++ b/include/laser_scan_utils/polyline.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/scan_segment.h b/include/laser_scan_utils/scan_segment.h
index 39bad35..21520f7 100644
--- a/include/laser_scan_utils/scan_segment.h
+++ b/include/laser_scan_utils/scan_segment.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/scene_base.h b/include/laser_scan_utils/scene_base.h
index b53bd00..cb3d222 100644
--- a/include/laser_scan_utils/scene_base.h
+++ b/include/laser_scan_utils/scene_base.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/include/laser_scan_utils/scene_falko.h b/include/laser_scan_utils/scene_falko.h
index b341c80..9719b46 100644
--- a/include/laser_scan_utils/scene_falko.h
+++ b/include/laser_scan_utils/scene_falko.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/scripts/license_header_2022.txt b/scripts/license_header_2024.txt
similarity index 88%
rename from scripts/license_header_2022.txt
rename to scripts/license_header_2024.txt
index 2e6616c..79c7f8e 100644
--- a/scripts/license_header_2022.txt
+++ b/scripts/license_header_2024.txt
@@ -1,4 +1,4 @@
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
index 3b98f1e..1b49e33 100644
--- a/src/corner_falko_2d.cpp
+++ b/src/corner_falko_2d.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/corner_finder.cpp b/src/corner_finder.cpp
index d4d5f6d..023b6cd 100644
--- a/src/corner_finder.cpp
+++ b/src/corner_finder.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/corner_finder_inscribed_angle.cpp b/src/corner_finder_inscribed_angle.cpp
index 3783b8d..5e8d7e4 100644
--- a/src/corner_finder_inscribed_angle.cpp
+++ b/src/corner_finder_inscribed_angle.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/corner_point.cpp b/src/corner_point.cpp
index d966f38..ebc5338 100644
--- a/src/corner_point.cpp
+++ b/src/corner_point.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/grid_2d.cpp b/src/grid_2d.cpp
index b4dff7e..a9cafde 100644
--- a/src/grid_2d.cpp
+++ b/src/grid_2d.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/grid_cluster.cpp b/src/grid_cluster.cpp
index 17168cf..aa12943 100644
--- a/src/grid_cluster.cpp
+++ b/src/grid_cluster.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/icp.cpp b/src/icp.cpp
index 1e60fbc..354a905 100644
--- a/src/icp.cpp
+++ b/src/icp.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
@@ -165,9 +165,9 @@ icpOutput ICP::align(const LaserScan &_current_ls,
if (result.valid)
{
- result.res_transf(0) = csm_output.x[0];//*_current_scan_params.range_max_/100;
- result.res_transf(1) = csm_output.x[1];//*_current_scan_params.range_max_/100;
- result.res_transf(2) = csm_output.x[2];//*_current_scan_params.range_max_/100;
+ result.res_transf(0) = csm_output.x[0];
+ result.res_transf(1) = csm_output.x[1];
+ result.res_transf(2) = csm_output.x[2];
if (csm_input.do_compute_covariance)
{
@@ -176,21 +176,21 @@ icpOutput ICP::align(const LaserScan &_current_ls,
result.res_covar(i, j) = _icp_params.cov_factor *
csm_output.cov_x_m->data[i * csm_output.cov_x_m->tda + j];
- // Multiply variance in bigger eigenvalue direction
- if (abs(_icp_params.cov_factor - 1) > 1e3)
+ // Grow covariance in the biggest eigenvalue direction
+ if (_icp_params.cov_max_eigv_factor - 1 > 1e-6)
{
- Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> eigensolver(result.res_covar);
+ Eigen::SelfAdjointEigenSolver<Eigen::Matrix2d> eigensolver(result.res_covar.topLeftCorner<2,2>());
if (eigensolver.info() == Eigen::Success)
{
- Eigen::Vector3d eigvs = eigensolver.eigenvalues();
+ Eigen::Vector2d eigvs = eigensolver.eigenvalues();
Eigen::Index maxRow, maxCol;
float max_eigv = eigvs.maxCoeff(&maxRow, &maxCol);
- eigvs(maxRow) = _icp_params.cov_factor * max_eigv;
- result.res_covar = eigensolver.eigenvectors() *
- eigvs.asDiagonal() *
- eigensolver.eigenvectors().transpose();
+ eigvs(maxRow) = _icp_params.cov_max_eigv_factor * max_eigv;
+ result.res_covar.topLeftCorner<2,2>() = eigensolver.eigenvectors() *
+ eigvs.asDiagonal() *
+ eigensolver.eigenvectors().transpose();
}
}
}
diff --git a/src/laser_scan.cpp b/src/laser_scan.cpp
index 2827e90..18a0cb2 100644
--- a/src/laser_scan.cpp
+++ b/src/laser_scan.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/laser_scan_with_params.cpp b/src/laser_scan_with_params.cpp
index 8e5ce0d..7bfe8b2 100644
--- a/src/laser_scan_with_params.cpp
+++ b/src/laser_scan_with_params.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/line_finder.cpp b/src/line_finder.cpp
index 418a404..964482a 100644
--- a/src/line_finder.cpp
+++ b/src/line_finder.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/line_finder_hough.cpp b/src/line_finder_hough.cpp
index 930015c..79a2e3c 100644
--- a/src/line_finder_hough.cpp
+++ b/src/line_finder_hough.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/line_finder_iterative.cpp b/src/line_finder_iterative.cpp
index d83e5ee..bd6150c 100644
--- a/src/line_finder_iterative.cpp
+++ b/src/line_finder_iterative.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/line_finder_jump_fit.cpp b/src/line_finder_jump_fit.cpp
index 38a1ea7..614049c 100644
--- a/src/line_finder_jump_fit.cpp
+++ b/src/line_finder_jump_fit.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/line_segment.cpp b/src/line_segment.cpp
index a5c9c89..66d3a55 100644
--- a/src/line_segment.cpp
+++ b/src/line_segment.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/loop_closure_base.cpp b/src/loop_closure_base.cpp
index 177a7b8..68c76bf 100644
--- a/src/loop_closure_base.cpp
+++ b/src/loop_closure_base.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/point_set.cpp b/src/point_set.cpp
index a20fb16..80b1eb2 100644
--- a/src/point_set.cpp
+++ b/src/point_set.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/polyline.cpp b/src/polyline.cpp
index 28bc1d6..75e1ab8 100644
--- a/src/polyline.cpp
+++ b/src/polyline.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/src/scan_segment.cpp b/src/scan_segment.cpp
index 94b81a4..7abb6ea 100644
--- a/src/scan_segment.cpp
+++ b/src/scan_segment.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 3234bd9..da699ec 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -4,18 +4,18 @@ add_subdirectory(gtest)
############# USE THIS TEST AS AN EXAMPLE ####################
# #
# Create a specific test executable for gtest_example #
-# laser_scan_utils_add_gtest(gtest_example gtest_example.cpp)#
+# add_gtest(gtest_example gtest_example.cpp)#
# #
##############################################################
# gtest example
-laser_scan_utils_add_gtest(gtest_example gtest_example.cpp)
+add_gtest(gtest_example gtest_example.cpp)
# gtest icp
IF(csm_FOUND)
- laser_scan_utils_add_gtest(gtest_icp gtest_icp.cpp)
+ add_gtest(gtest_icp gtest_icp.cpp)
ENDIF(csm_FOUND)
IF(falkolib_FOUND)
- laser_scan_utils_add_gtest(gtest_loop_closure_falko gtest_loop_closure_falko.cpp)
+ add_gtest(gtest_loop_closure_falko gtest_loop_closure_falko.cpp)
ENDIF(falkolib_FOUND)
\ No newline at end of file
diff --git a/test/data/scan_data.h b/test/data/scan_data.h
index 46516f6..4c48f05 100644
--- a/test/data/scan_data.h
+++ b/test/data/scan_data.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
index 00fa077..3b52f51 100644
--- a/test/gtest/CMakeLists.txt
+++ b/test/gtest/CMakeLists.txt
@@ -1,73 +1,15 @@
-if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
- message("CMake version less than 3.11.0")
+include(FetchContent)
- # Enable ExternalProject CMake module
- include(ExternalProject)
+FetchContent_Declare(
+ googletest
+ GIT_REPOSITORY https://github.com/google/googletest.git
+ GIT_TAG main)
- set(GTEST_FORCE_SHARED_CRT ON)
- set(GTEST_DISABLE_PTHREADS ON) # without this in ubuntu 18.04 we get linking errors
+SET(INSTALL_GTEST OFF) # Disable installation of googletest
+FetchContent_MakeAvailable(googletest)
- # Download GoogleTest
- ExternalProject_Add(googletest
- GIT_REPOSITORY https://github.com/google/googletest.git
- GIT_TAG v1.8.x
- # TIMEOUT 1 # We'll try this
- CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
- -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
- -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
- -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
- -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
- -DBUILD_GTEST=ON
- PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
- # Disable install step
- INSTALL_COMMAND ""
- UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
- )
-
- # Get GTest source and binary directories from CMake project
-
- # Specify include dir
- ExternalProject_Get_Property(googletest source_dir)
- set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
-
- # Specify MainTest's link libraries
- ExternalProject_Get_Property(googletest binary_dir)
- set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
-
- # Create a libgtest target to be used as a dependency by test programs
- add_library(libgtest IMPORTED STATIC GLOBAL)
- add_dependencies(libgtest googletest)
-
- # Set libgtest properties
- set_target_properties(libgtest PROPERTIES
- "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
- "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
- )
-
-else()
-
- message("CMake version equal or greater than 3.11.0")
-
- include(FetchContent)
-
- FetchContent_Declare(
- googletest
- GIT_REPOSITORY https://github.com/google/googletest.git
- GIT_TAG v1.8.x)
-
- SET(INSTALL_GTEST OFF) # Disable installation of googletest
- FetchContent_MakeAvailable(googletest)
-
-endif()
-
-function(laser_scan_utils_add_gtest target)
+function(add_gtest target)
add_executable(${target} ${ARGN})
- if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
- add_dependencies(${target} libgtest)
- target_link_libraries(${target} PUBLIC libgtest ${PROJECT_NAME})
- target_include_directories(${target} PUBLIC ${GTEST_INCLUDE_DIRS})
- else()
- target_link_libraries(${target} PUBLIC gtest_main ${PROJECT_NAME})
- endif()
+ target_link_libraries(${target} PUBLIC gtest_main ${PROJECT_NAME})
add_test(NAME ${target} COMMAND ${target})
endfunction()
diff --git a/test/gtest/utils_gtest.h b/test/gtest/utils_gtest.h
index cdc9cf0..15ab238 100644
--- a/test/gtest/utils_gtest.h
+++ b/test/gtest/utils_gtest.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index f2258b6..3fd271c 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/test/gtest_icp.cpp b/test/gtest_icp.cpp
index 481f367..e3ec9b4 100644
--- a/test/gtest_icp.cpp
+++ b/test/gtest_icp.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/test/gtest_loop_closure_falko.cpp b/test/gtest_loop_closure_falko.cpp
index 56be534..6225f5f 100644
--- a/test/gtest_loop_closure_falko.cpp
+++ b/test/gtest_loop_closure_falko.cpp
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
diff --git a/test/matplotlibcpp.h b/test/matplotlibcpp.h
index cd41047..c1b2d9b 100644
--- a/test/matplotlibcpp.h
+++ b/test/matplotlibcpp.h
@@ -1,6 +1,6 @@
//--------LICENSE_START--------
//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
--
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