diff --git a/cmake_modules/wolfIMUConfig.cmake b/cmake_modules/wolfIMUConfig.cmake index fcdade1e0b53b2a1f19863f5800a0b0decfa984e..1735bf08fd762c56a7ac20363a20974d25e1f38e 100644 --- a/cmake_modules/wolfIMUConfig.cmake +++ b/cmake_modules/wolfIMUConfig.cmake @@ -59,7 +59,7 @@ macro(wolf_report_not_found REASON_MSG) endmacro(wolf_report_not_found) if(NOT wolfIMU_FOUND) - wolf_report_not_found("TROUBLE DUDE.") + wolf_report_not_found("Something went wrong while setting up wolf IMU.") endif(NOT wolfIMU_FOUND) # Set the include directories for wolf (itself). set(wolfIMU_FOUND TRUE) \ No newline at end of file diff --git a/src/examples/.gitignore b/demos/.gitignore similarity index 100% rename from src/examples/.gitignore rename to demos/.gitignore diff --git a/src/examples/ACTIVESEARCH.yaml b/demos/ACTIVESEARCH.yaml similarity index 100% rename from src/examples/ACTIVESEARCH.yaml rename to demos/ACTIVESEARCH.yaml diff --git a/src/examples/CMakeLists.txt b/demos/CMakeLists.txt similarity index 100% rename from src/examples/CMakeLists.txt rename to demos/CMakeLists.txt diff --git a/src/examples/camera_Dinesh_LAAS_params.yaml b/demos/camera_Dinesh_LAAS_params.yaml similarity index 100% rename from src/examples/camera_Dinesh_LAAS_params.yaml rename to demos/camera_Dinesh_LAAS_params.yaml diff --git a/src/examples/camera_Dinesh_LAAS_params_notangentrect.yaml b/demos/camera_Dinesh_LAAS_params_notangentrect.yaml similarity index 100% rename from src/examples/camera_Dinesh_LAAS_params_notangentrect.yaml rename to demos/camera_Dinesh_LAAS_params_notangentrect.yaml diff --git a/src/examples/camera_logitech_c300_640_480.yaml b/demos/camera_logitech_c300_640_480.yaml similarity index 100% rename from src/examples/camera_logitech_c300_640_480.yaml rename to demos/camera_logitech_c300_640_480.yaml diff --git a/src/examples/camera_params.yaml b/demos/camera_params.yaml similarity index 100% rename from src/examples/camera_params.yaml rename to demos/camera_params.yaml diff --git a/src/examples/camera_params_canonical.yaml b/demos/camera_params_canonical.yaml similarity index 100% rename from src/examples/camera_params_canonical.yaml rename to demos/camera_params_canonical.yaml diff --git a/src/examples/camera_params_ueye.yaml b/demos/camera_params_ueye.yaml similarity index 100% rename from src/examples/camera_params_ueye.yaml rename to demos/camera_params_ueye.yaml diff --git a/src/examples/camera_params_ueye_radial_dist.yaml b/demos/camera_params_ueye_radial_dist.yaml similarity index 100% rename from src/examples/camera_params_ueye_radial_dist.yaml rename to demos/camera_params_ueye_radial_dist.yaml diff --git a/src/examples/camera_params_ueye_sim.yaml b/demos/camera_params_ueye_sim.yaml similarity index 100% rename from src/examples/camera_params_ueye_sim.yaml rename to demos/camera_params_ueye_sim.yaml diff --git a/src/examples/test_2_lasers_offline.cpp b/demos/demo_2_lasers_offline.cpp similarity index 100% rename from src/examples/test_2_lasers_offline.cpp rename to demos/demo_2_lasers_offline.cpp diff --git a/src/examples/Test_ORB.png b/demos/demo_ORB.png similarity index 100% rename from src/examples/Test_ORB.png rename to demos/demo_ORB.png diff --git a/src/examples/test_analytic_odom_factor.cpp b/demos/demo_analytic_odom_factor.cpp similarity index 100% rename from src/examples/test_analytic_odom_factor.cpp rename to demos/demo_analytic_odom_factor.cpp diff --git a/src/examples/test_apriltag.cpp b/demos/demo_apriltag.cpp similarity index 100% rename from src/examples/test_apriltag.cpp rename to demos/demo_apriltag.cpp diff --git a/src/examples/test_autodiff.cpp b/demos/demo_autodiff.cpp similarity index 100% rename from src/examples/test_autodiff.cpp rename to demos/demo_autodiff.cpp diff --git a/src/examples/test_capture_laser_2D.cpp b/demos/demo_capture_laser_2D.cpp similarity index 100% rename from src/examples/test_capture_laser_2D.cpp rename to demos/demo_capture_laser_2D.cpp diff --git a/src/examples/test_ceres_2_lasers.cpp b/demos/demo_ceres_2_lasers.cpp similarity index 100% rename from src/examples/test_ceres_2_lasers.cpp rename to demos/demo_ceres_2_lasers.cpp diff --git a/src/examples/test_ceres_2_lasers_polylines.cpp b/demos/demo_ceres_2_lasers_polylines.cpp similarity index 100% rename from src/examples/test_ceres_2_lasers_polylines.cpp rename to demos/demo_ceres_2_lasers_polylines.cpp diff --git a/src/examples/test_diff_drive.cpp b/demos/demo_diff_drive.cpp similarity index 100% rename from src/examples/test_diff_drive.cpp rename to demos/demo_diff_drive.cpp diff --git a/src/examples/test_eigen_quaternion.cpp b/demos/demo_eigen_quaternion.cpp similarity index 100% rename from src/examples/test_eigen_quaternion.cpp rename to demos/demo_eigen_quaternion.cpp diff --git a/src/examples/test_eigen_template.cpp b/demos/demo_eigen_template.cpp similarity index 100% rename from src/examples/test_eigen_template.cpp rename to demos/demo_eigen_template.cpp diff --git a/src/examples/test_factor_AHP.cpp b/demos/demo_factor_AHP.cpp similarity index 100% rename from src/examples/test_factor_AHP.cpp rename to demos/demo_factor_AHP.cpp diff --git a/src/examples/test_factor_imu.cpp b/demos/demo_factor_imu.cpp similarity index 100% rename from src/examples/test_factor_imu.cpp rename to demos/demo_factor_imu.cpp diff --git a/src/examples/test_factor_odom_3D.cpp b/demos/demo_factor_odom_3D.cpp similarity index 100% rename from src/examples/test_factor_odom_3D.cpp rename to demos/demo_factor_odom_3D.cpp diff --git a/src/examples/test_faramotics_simulation.cpp b/demos/demo_faramotics_simulation.cpp similarity index 100% rename from src/examples/test_faramotics_simulation.cpp rename to demos/demo_faramotics_simulation.cpp diff --git a/src/examples/test_fcn_ptr.cpp b/demos/demo_fcn_ptr.cpp similarity index 100% rename from src/examples/test_fcn_ptr.cpp rename to demos/demo_fcn_ptr.cpp diff --git a/src/examples/test_image.cpp b/demos/demo_image.cpp similarity index 100% rename from src/examples/test_image.cpp rename to demos/demo_image.cpp diff --git a/src/examples/test_imuDock.cpp b/demos/demo_imuDock.cpp similarity index 100% rename from src/examples/test_imuDock.cpp rename to demos/demo_imuDock.cpp diff --git a/src/examples/test_imuDock_autoKFs.cpp b/demos/demo_imuDock_autoKFs.cpp similarity index 100% rename from src/examples/test_imuDock_autoKFs.cpp rename to demos/demo_imuDock_autoKFs.cpp diff --git a/src/examples/test_imuPlateform_Offline.cpp b/demos/demo_imuPlateform_Offline.cpp similarity index 100% rename from src/examples/test_imuPlateform_Offline.cpp rename to demos/demo_imuPlateform_Offline.cpp diff --git a/src/examples/test_imu_constrained0.cpp b/demos/demo_imu_constrained0.cpp similarity index 100% rename from src/examples/test_imu_constrained0.cpp rename to demos/demo_imu_constrained0.cpp diff --git a/src/examples/test_kf_callback.cpp b/demos/demo_kf_callback.cpp similarity index 100% rename from src/examples/test_kf_callback.cpp rename to demos/demo_kf_callback.cpp diff --git a/src/examples/test_list_remove.cpp b/demos/demo_list_remove.cpp similarity index 100% rename from src/examples/test_list_remove.cpp rename to demos/demo_list_remove.cpp diff --git a/src/examples/test_map_yaml.cpp b/demos/demo_map_yaml.cpp similarity index 100% rename from src/examples/test_map_yaml.cpp rename to demos/demo_map_yaml.cpp diff --git a/src/examples/test_matrix_prod.cpp b/demos/demo_matrix_prod.cpp similarity index 100% rename from src/examples/test_matrix_prod.cpp rename to demos/demo_matrix_prod.cpp diff --git a/src/examples/test_mpu.cpp b/demos/demo_mpu.cpp similarity index 100% rename from src/examples/test_mpu.cpp rename to demos/demo_mpu.cpp diff --git a/src/examples/test_processor_imu.cpp b/demos/demo_processor_imu.cpp similarity index 100% rename from src/examples/test_processor_imu.cpp rename to demos/demo_processor_imu.cpp diff --git a/src/examples/test_processor_imu_jacobians.cpp b/demos/demo_processor_imu_jacobians.cpp similarity index 100% rename from src/examples/test_processor_imu_jacobians.cpp rename to demos/demo_processor_imu_jacobians.cpp diff --git a/src/examples/test_processor_odom_3D.cpp b/demos/demo_processor_odom_3D.cpp similarity index 100% rename from src/examples/test_processor_odom_3D.cpp rename to demos/demo_processor_odom_3D.cpp diff --git a/src/examples/test_processor_tracker_feature.cpp b/demos/demo_processor_tracker_feature.cpp similarity index 100% rename from src/examples/test_processor_tracker_feature.cpp rename to demos/demo_processor_tracker_feature.cpp diff --git a/src/examples/test_processor_tracker_landmark.cpp b/demos/demo_processor_tracker_landmark.cpp similarity index 100% rename from src/examples/test_processor_tracker_landmark.cpp rename to demos/demo_processor_tracker_landmark.cpp diff --git a/src/examples/test_processor_tracker_landmark_image.cpp b/demos/demo_processor_tracker_landmark_image.cpp similarity index 100% rename from src/examples/test_processor_tracker_landmark_image.cpp rename to demos/demo_processor_tracker_landmark_image.cpp diff --git a/src/examples/test_projection_points.cpp b/demos/demo_projection_points.cpp similarity index 100% rename from src/examples/test_projection_points.cpp rename to demos/demo_projection_points.cpp diff --git a/src/examples/test_sh_ptr.cpp b/demos/demo_sh_ptr.cpp similarity index 100% rename from src/examples/test_sh_ptr.cpp rename to demos/demo_sh_ptr.cpp diff --git a/src/examples/test_simple_AHP.cpp b/demos/demo_simple_AHP.cpp similarity index 100% rename from src/examples/test_simple_AHP.cpp rename to demos/demo_simple_AHP.cpp diff --git a/src/examples/test_sort_keyframes.cpp b/demos/demo_sort_keyframes.cpp similarity index 100% rename from src/examples/test_sort_keyframes.cpp rename to demos/demo_sort_keyframes.cpp diff --git a/src/examples/test_sparsification.cpp b/demos/demo_sparsification.cpp similarity index 100% rename from src/examples/test_sparsification.cpp rename to demos/demo_sparsification.cpp diff --git a/src/examples/test_state_quaternion.cpp b/demos/demo_state_quaternion.cpp similarity index 100% rename from src/examples/test_state_quaternion.cpp rename to demos/demo_state_quaternion.cpp diff --git a/src/examples/test_tracker_ORB.cpp b/demos/demo_tracker_ORB.cpp similarity index 100% rename from src/examples/test_tracker_ORB.cpp rename to demos/demo_tracker_ORB.cpp diff --git a/src/examples/test_virtual_hierarchy.cpp b/demos/demo_virtual_hierarchy.cpp similarity index 100% rename from src/examples/test_virtual_hierarchy.cpp rename to demos/demo_virtual_hierarchy.cpp diff --git a/src/examples/test_wolf_autodiffwrapper.cpp b/demos/demo_wolf_autodiffwrapper.cpp similarity index 100% rename from src/examples/test_wolf_autodiffwrapper.cpp rename to demos/demo_wolf_autodiffwrapper.cpp diff --git a/src/examples/test_wolf_factories.cpp b/demos/demo_wolf_factories.cpp similarity index 100% rename from src/examples/test_wolf_factories.cpp rename to demos/demo_wolf_factories.cpp diff --git a/src/examples/test_wolf_imported_graph.cpp b/demos/demo_wolf_imported_graph.cpp similarity index 100% rename from src/examples/test_wolf_imported_graph.cpp rename to demos/demo_wolf_imported_graph.cpp diff --git a/src/examples/test_wolf_logging.cpp b/demos/demo_wolf_logging.cpp similarity index 100% rename from src/examples/test_wolf_logging.cpp rename to demos/demo_wolf_logging.cpp diff --git a/src/examples/test_wolf_prunning.cpp b/demos/demo_wolf_prunning.cpp similarity index 100% rename from src/examples/test_wolf_prunning.cpp rename to demos/demo_wolf_prunning.cpp diff --git a/src/examples/test_wolf_root.cpp b/demos/demo_wolf_root.cpp similarity index 100% rename from src/examples/test_wolf_root.cpp rename to demos/demo_wolf_root.cpp diff --git a/src/examples/test_wolf_tree.cpp b/demos/demo_wolf_tree.cpp similarity index 100% rename from src/examples/test_wolf_tree.cpp rename to demos/demo_wolf_tree.cpp diff --git a/src/examples/test_yaml.cpp b/demos/demo_yaml.cpp similarity index 100% rename from src/examples/test_yaml.cpp rename to demos/demo_yaml.cpp diff --git a/src/examples/test_yaml_conversions.cpp b/demos/demo_yaml_conversions.cpp similarity index 100% rename from src/examples/test_yaml_conversions.cpp rename to demos/demo_yaml_conversions.cpp diff --git a/src/examples/input_M3500b_toro.graph b/demos/input_M3500b_toro.graph similarity index 100% rename from src/examples/input_M3500b_toro.graph rename to demos/input_M3500b_toro.graph diff --git a/src/examples/map_apriltag_1.yaml b/demos/map_apriltag_1.yaml similarity index 100% rename from src/examples/map_apriltag_1.yaml rename to demos/map_apriltag_1.yaml diff --git a/src/examples/map_polyline_example.yaml b/demos/map_polyline_example.yaml similarity index 100% rename from src/examples/map_polyline_example.yaml rename to demos/map_polyline_example.yaml diff --git a/src/examples/maps/map_apriltag_logitech_1234.yaml b/demos/maps/map_apriltag_logitech_1234.yaml similarity index 100% rename from src/examples/maps/map_apriltag_logitech_1234.yaml rename to demos/maps/map_apriltag_logitech_1234.yaml diff --git a/src/examples/processor_image_feature.yaml b/demos/processor_image_feature.yaml similarity index 100% rename from src/examples/processor_image_feature.yaml rename to demos/processor_image_feature.yaml diff --git a/src/examples/processor_image_vision_utils.yaml b/demos/processor_image_vision_utils.yaml similarity index 100% rename from src/examples/processor_image_vision_utils.yaml rename to demos/processor_image_vision_utils.yaml diff --git a/src/examples/processor_imu.yaml b/demos/processor_imu.yaml similarity index 100% rename from src/examples/processor_imu.yaml rename to demos/processor_imu.yaml diff --git a/src/examples/processor_imu_no_vote.yaml b/demos/processor_imu_no_vote.yaml similarity index 100% rename from src/examples/processor_imu_no_vote.yaml rename to demos/processor_imu_no_vote.yaml diff --git a/src/examples/processor_imu_t1.yaml b/demos/processor_imu_t1.yaml similarity index 100% rename from src/examples/processor_imu_t1.yaml rename to demos/processor_imu_t1.yaml diff --git a/src/examples/processor_imu_t6.yaml b/demos/processor_imu_t6.yaml similarity index 100% rename from src/examples/processor_imu_t6.yaml rename to demos/processor_imu_t6.yaml diff --git a/src/examples/processor_odom_3D.yaml b/demos/processor_odom_3D.yaml similarity index 100% rename from src/examples/processor_odom_3D.yaml rename to demos/processor_odom_3D.yaml diff --git a/src/examples/processor_tracker_feature_trifocal.yaml b/demos/processor_tracker_feature_trifocal.yaml similarity index 100% rename from src/examples/processor_tracker_feature_trifocal.yaml rename to demos/processor_tracker_feature_trifocal.yaml diff --git a/src/examples/processor_tracker_landmark_apriltag.yaml b/demos/processor_tracker_landmark_apriltag.yaml similarity index 100% rename from src/examples/processor_tracker_landmark_apriltag.yaml rename to demos/processor_tracker_landmark_apriltag.yaml diff --git a/src/examples/sensor_imu.yaml b/demos/sensor_imu.yaml similarity index 100% rename from src/examples/sensor_imu.yaml rename to demos/sensor_imu.yaml diff --git a/src/examples/sensor_odom_3D.yaml b/demos/sensor_odom_3D.yaml similarity index 100% rename from src/examples/sensor_odom_3D.yaml rename to demos/sensor_odom_3D.yaml diff --git a/src/examples/sensor_odom_3D_HQ.yaml b/demos/sensor_odom_3D_HQ.yaml similarity index 100% rename from src/examples/sensor_odom_3D_HQ.yaml rename to demos/sensor_odom_3D_HQ.yaml diff --git a/src/examples/solver/test_SPQR.cpp b/demos/solver/test_SPQR.cpp similarity index 100% rename from src/examples/solver/test_SPQR.cpp rename to demos/solver/test_SPQR.cpp diff --git a/src/examples/solver/test_ccolamd.cpp b/demos/solver/test_ccolamd.cpp similarity index 100% rename from src/examples/solver/test_ccolamd.cpp rename to demos/solver/test_ccolamd.cpp diff --git a/src/examples/solver/test_ccolamd_blocks.cpp b/demos/solver/test_ccolamd_blocks.cpp similarity index 100% rename from src/examples/solver/test_ccolamd_blocks.cpp rename to demos/solver/test_ccolamd_blocks.cpp diff --git a/src/examples/solver/test_iQR.cpp b/demos/solver/test_iQR.cpp similarity index 100% rename from src/examples/solver/test_iQR.cpp rename to demos/solver/test_iQR.cpp diff --git a/src/examples/solver/test_iQR_wolf.cpp b/demos/solver/test_iQR_wolf.cpp similarity index 100% rename from src/examples/solver/test_iQR_wolf.cpp rename to demos/solver/test_iQR_wolf.cpp diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/demos/solver/test_iQR_wolf2.cpp similarity index 100% rename from src/examples/solver/test_iQR_wolf2.cpp rename to demos/solver/test_iQR_wolf2.cpp diff --git a/src/examples/solver/test_incremental_ccolamd_blocks.cpp b/demos/solver/test_incremental_ccolamd_blocks.cpp similarity index 100% rename from src/examples/solver/test_incremental_ccolamd_blocks.cpp rename to demos/solver/test_incremental_ccolamd_blocks.cpp diff --git a/src/examples/solver/test_permutations.cpp b/demos/solver/test_permutations.cpp similarity index 100% rename from src/examples/solver/test_permutations.cpp rename to demos/solver/test_permutations.cpp diff --git a/src/examples/vision_utils_active_search.yaml b/demos/vision_utils_active_search.yaml similarity index 100% rename from src/examples/vision_utils_active_search.yaml rename to demos/vision_utils_active_search.yaml diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt deleted file mode 100644 index caab481fc894f13fb75ba9e388839589e12dbffa..0000000000000000000000000000000000000000 --- a/src/CMakeLists.txt +++ /dev/null @@ -1,762 +0,0 @@ -#Start WOLF build -MESSAGE("Starting WOLF CMakeLists ...") -CMAKE_MINIMUM_REQUIRED(VERSION 2.8) - -#CMAKE modules - -SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules") -MESSAGE(STATUS ${CMAKE_MODULE_PATH}) - -# Some wolf compilation options - -IF((CMAKE_BUILD_TYPE MATCHES DEBUG) OR (CMAKE_BUILD_TYPE MATCHES debug) OR (CMAKE_BUILD_TYPE MATCHES Debug)) - set(_WOLF_DEBUG true) -ENDIF() - -option(_WOLF_TRACE "Enable wolf tracing macro" ON) - -option(BUILD_EXAMPLES "Build examples" OFF) -set(BUILD_TESTS true) - -# Does this has any other interest -# but for the examples ? -# yes, for the tests ! -IF(BUILD_EXAMPLES OR BUILD_TESTS) - set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR}) -ENDIF(BUILD_EXAMPLES OR BUILD_TESTS) - -#find dependencies. - -FIND_PACKAGE(Eigen3 3.2.92 REQUIRED) - -FIND_PACKAGE(Threads REQUIRED) - -FIND_PACKAGE(Ceres QUIET) #Ceres is not required -IF(Ceres_FOUND) - MESSAGE("Ceres Library FOUND: Ceres related sources will be built.") -ENDIF(Ceres_FOUND) - -FIND_PACKAGE(faramotics QUIET) #faramotics is not required -IF(faramotics_FOUND) - FIND_PACKAGE(GLUT REQUIRED) - FIND_PACKAGE(pose_state_time REQUIRED) - MESSAGE("Faramotics Library FOUND: Faramotics related sources will be built.") -ENDIF(faramotics_FOUND) - -FIND_PACKAGE(laser_scan_utils QUIET) #laser_scan_utils is not required -IF(laser_scan_utils_FOUND) - MESSAGE("laser_scan_utils Library FOUND: laser_scan_utils related sources will be built.") -ENDIF(laser_scan_utils_FOUND) - -FIND_PACKAGE(raw_gps_utils QUIET) #raw_gps_utils is not required -IF(raw_gps_utils_FOUND) - MESSAGE("raw_gps_utils Library FOUND: raw_gps_utils related sources will be built.") -ENDIF(raw_gps_utils_FOUND) - -# Vision Utils -FIND_PACKAGE(vision_utils QUIET) -IF (vision_utils_FOUND) - MESSAGE("vision_utils Library FOUND: vision related sources will be built.") - SET(PRINT_INFO_VU false) - FIND_PACKAGE(OpenCV QUIET) -ENDIF(vision_utils_FOUND) - -# OpenCV -FIND_PACKAGE(OpenCV QUIET) -IF (OPENCV_FOUND) - MESSAGE("opencv Library FOUND: opencv related sources will be built.") -ENDIF(OPENCV_FOUND) - -# Cereal -FIND_PACKAGE(cereal QUIET) -IF(cereal_FOUND) - MESSAGE("cereal Library FOUND: cereal related sources will be built.") -ENDIF(cereal_FOUND) - -# Apriltag -# TODO: write proper files to be able to use find_package with apriltag library -FIND_PATH(APRILTAG_INCLUDE_DIR NAMES apriltag.h PATH_SUFFIXES "apriltag" ${APRILTAG_INCLUDE_PATH}) -FIND_LIBRARY(APRILTAG_LIBRARY NAMES apriltag PATH_SUFFIXES "${CMAKE_LIBRARY_ARCHITECTURE}" "apriltag" ${APRILTAG_LIBRARY_PATH}) - -IF(APRILTAG_LIBRARY) - SET(Apriltag_FOUND TRUE) - MESSAGE("apriltag Library FOUND in ${APRILTAG_LIBRARY}: apriltag related sources will be built.") -ENDIF(APRILTAG_LIBRARY) - -# YAML with yaml-cpp -INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindYamlCpp.cmake) -IF(YAMLCPP_FOUND) - MESSAGE("yaml-cpp Library FOUND: yaml-cpp related sources will be built.") -ELSEIF(YAMLCPP_FOUND) - MESSAGE("yaml-cpp Library NOT FOUND!") -ENDIF(YAMLCPP_FOUND) - -#GLOG -INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindGlog.cmake) -IF(GLOG_FOUND) - MESSAGE("glog Library FOUND: glog related sources will be built.") - MESSAGE(STATUS ${GLOG_INCLUDE_DIR}) - MESSAGE(STATUS ${GLOG_LIBRARY}) -ELSEIF(GLOG_FOUND) - MESSAGE("glog Library NOT FOUND!") -ENDIF(GLOG_FOUND) - -# SuiteSparse doesn't have find*.cmake: -FIND_PATH( - Suitesparse_INCLUDE_DIRS - NAMES SuiteSparse_config.h - PATHS /usr/include/suitesparse /usr/local/include/suitesparse) -MESSAGE("Found suitesparse_INCLUDE_DIRS:" ${Suitesparse_INCLUDE_DIRS}) - -IF(Suitesparse_INCLUDE_DIRS) - SET(Suitesparse_FOUND TRUE) - MESSAGE("Suitesparse FOUND: wolf_solver will be built.") -ELSE (Suitesparse_INCLUDE_DIRS) - SET(Suitesparse_FOUND FALSE) - MESSAGE(FATAL_ERROR "Suitesparse NOT FOUND") -ENDIF (Suitesparse_INCLUDE_DIRS) - -# Define the directory where will be the configured config.h -SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/internal) - -# Create the specified output directory if it does not exist. -IF(NOT EXISTS "${WOLF_CONFIG_DIR}") - message(STATUS "Creating config output directory: ${WOLF_CONFIG_DIR}") - file(MAKE_DIRECTORY "${WOLF_CONFIG_DIR}") -ENDIF() -IF(EXISTS "${WOLF_CONFIG_DIR}" AND NOT IS_DIRECTORY "${WOLF_CONFIG_DIR}") - message(FATAL_ERROR "Bug: Specified CONFIG_DIR: " - "${WOLF_CONFIG_DIR} exists, but is not a directory.") -ENDIF() -# Configure config.h -configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_DIR}/config.h") - -#TEMPORAL INCLUDE UNTIL WE FIGURE OUT WHAT TO DO WITH FILES in src/temp - -include_directories(${CMAKE_CURRENT_SOURCE_DIR}) -include_directories(../dummyInclude) - -# Include config.h directory at first. -include_directories("${PROJECT_BINARY_DIR}/conf") - -INCLUDE_DIRECTORIES(.) - -# include spdlog (logging library) -FIND_PATH(SPDLOG_INCLUDE_DIR spdlog.h /usr/local/include/spdlog /usr/include/spdlog) -IF (SPDLOG_INCLUDE_DIR) - INCLUDE_DIRECTORIES(${SPDLOG_INCLUDE_DIR}) - MESSAGE(STATUS "Found spdlog: ${SPDLOG_INCLUDE_DIR}") -ELSE (SPDLOG_INCLUDE_DIR) - MESSAGE(FATAL_ERROR "Could not find spdlog") -ENDIF (SPDLOG_INCLUDE_DIR) - -INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS}) - -IF(Ceres_FOUND) - INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS}) -ENDIF(Ceres_FOUND) - -IF(faramotics_FOUND) - INCLUDE_DIRECTORIES(${faramotics_INCLUDE_DIRS}) -ENDIF(faramotics_FOUND) - -IF(laser_scan_utils_FOUND) - INCLUDE_DIRECTORIES(${laser_scan_utils_INCLUDE_DIRS}) -ENDIF(laser_scan_utils_FOUND) - -IF(raw_gps_utils_FOUND) - INCLUDE_DIRECTORIES(${raw_gps_utils_INCLUDE_DIRS}) -ENDIF(raw_gps_utils_FOUND) - -IF(vision_utils_FOUND) - INCLUDE_DIRECTORIES(${vision_utils_INCLUDE_DIR}) - INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS}) -ENDIF(vision_utils_FOUND) - -IF(OPENCV_FOUND) - INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS}) -ENDIF(OPENCV_FOUND) - -# cereal -IF(cereal_FOUND) - INCLUDE_DIRECTORIES(${cereal_INCLUDE_DIRS}) -ENDIF(cereal_FOUND) - -IF(Suitesparse_FOUND) - INCLUDE_DIRECTORIES(${Suitesparse_INCLUDE_DIRS}) -ENDIF(Suitesparse_FOUND) - -IF(YAMLCPP_FOUND) - INCLUDE_DIRECTORIES(${YAMLCPP_INCLUDE_DIR}) -ENDIF(YAMLCPP_FOUND) - -IF(GLOG_FOUND) - INCLUDE_DIRECTORIES(${GLOG_INCLUDE_DIR}) -ENDIF(GLOG_FOUND) - -IF(APRILTAG_INCLUDE_DIR) - INCLUDE_DIRECTORIES(${APRILTAG_INCLUDE_DIR}) -ENDIF(APRILTAG_INCLUDE_DIR) - -#headers -SET(HDRS_BASE -capture/capture_motion.h - eigen_assert.h - eigen_predicates.h -landmark/landmark_match.h - make_unique.h - pinhole_tools.h -processor/processor_capture_holder.h -processor/processor_tracker_landmark.h - ) -SET(HDRS -capture/capture_motion.h -capture/capture_GPS_fix.h -capture/capture_IMU.h -capture/capture_odom_2D.h -capture/capture_odom_3D.h -factor/factor_block_absolute.h -factor/factor_container.h -factor/factor_corner_2D.h -factor/factor_AHP.h -factor/factor_epipolar.h -factor/factor_IMU.h -factor/factor_fix_bias.h -factor/factor_GPS_2D.h -factor/factor_GPS_pseudorange_3D.h -factor/factor_GPS_pseudorange_2D.h -factor/factor_odom_2D.h -factor/factor_odom_2D_analytic.h -factor/factor_odom_3D.h -factor/factor_point_2D.h -factor/factor_point_to_line_2D.h -factor/factor_pose_2D.h -factor/factor_pose_3D.h -factor/factor_quaternion_absolute.h -factor/factor_relative_2D_analytic.h - temp/diff_drive_tools.h - temp/diff_drive_tools.hpp -feature/feature_corner_2D.h -feature/feature_GPS_fix.h -feature/feature_GPS_pseudorange.h -feature/feature_IMU.h -feature/feature_odom_2D.h -feature/feature_polyline_2D.h - IMU_tools.h -landmark/landmark_corner_2D.h -landmark/landmark_container.h -landmark/landmark_line_2D.h -landmark/landmark_polyline_2D.h - local_parametrization_polyline_extreme.h -processor/processor_frame_nearest_neighbor_filter.h -processor/processor_IMU.h - test/processor_IMU_UnitTester.h -processor/processor_odom_2D.h -processor/processor_odom_3D.h -processor/processor_tracker_feature_dummy.h -processor/processor_tracker_landmark_dummy.h -sensor/sensor_camera.h -sensor/sensor_GPS.h -sensor/sensor_GPS_fix.h -sensor/sensor_IMU.h -sensor/sensor_odom_2D.h -sensor/sensor_odom_3D.h - ) - SET(HDRS_CAPTURE -capture/capture_GPS_fix.h -capture/capture_IMU.h -capture/capture_odom_2D.h -capture/capture_odom_3D.h -capture/capture_velocity.h -capture/capture_wheel_joint_position.h - ) - SET(HDRS_CONSTRAINT -factor/factor_autodiff_trifocal.h -factor/factor_autodiff_distance_3D.h -factor/factor_AHP.h -factor/factor_block_absolute.h -factor/factor_container.h -factor/factor_corner_2D.h -factor/factor_diff_drive.h -factor/factor_epipolar.h -factor/factor_IMU.h -factor/factor_fix_bias.h -factor/factor_GPS_2D.h -factor/factor_GPS_pseudorange_3D.h -factor/factor_GPS_pseudorange_2D.h -factor/factor_odom_2D.h -factor/factor_odom_2D_analytic.h -factor/factor_odom_3D.h -factor/factor_point_2D.h -factor/factor_point_to_line_2D.h -factor/factor_pose_2D.h -factor/factor_pose_3D.h -factor/factor_quaternion_absolute.h -factor/factor_relative_2D_analytic.h - ) - SET(HDRS_FEATURE -feature/feature_corner_2D.h -feature/feature_diff_drive.h -feature/feature_GPS_fix.h -feature/feature_GPS_pseudorange.h -feature/feature_IMU.h -feature/feature_odom_2D.h -feature/feature_polyline_2D.h - ) - SET(HDRS_LANDMARK -landmark/landmark_match.h -landmark/landmark_corner_2D.h -landmark/landmark_container.h -landmark/landmark_line_2D.h -landmark/landmark_polyline_2D.h - ) - SET(HDRS_PROCESSOR -processor/processor_capture_holder.h -processor/processor_diff_drive.h -processor/processor_frame_nearest_neighbor_filter.h -processor/processor_IMU.h -processor/processor_odom_2D.h -processor/processor_odom_3D.h -processor/processor_tracker_feature_dummy.h -processor/processor_tracker_landmark.h -processor/processor_tracker_landmark_dummy.h - ) - SET(HDRS_SENSOR -sensor/sensor_camera.h -sensor/sensor_diff_drive.h -sensor/sensor_GPS.h -sensor/sensor_GPS_fix.h -sensor/sensor_IMU.h -sensor/sensor_odom_2D.h -sensor/sensor_odom_3D.h - ) -# [Add generic derived header before this line] - -SET(HDRS_DTASSC - data_association/matrix.h - data_association/association_solver.h - data_association/association_node.h - data_association/association_tree.h - data_association/association_nnls.h - ) - -SET(HDRS_CORE -core/capture_base.h -core/capture_buffer.h -core/capture_pose.h -core/capture_void.h -core/factor_analytic.h -core/factor_autodiff.h -core/factor_base.h -core/factory.h -core/feature_base.h -core/feature_match.h -core/feature_pose.h -core/frame_base.h -core/hardware_base.h -core/landmark_base.h -core/local_parametrization_angle.h -core/local_parametrization_base.h -core/local_parametrization_homogeneous.h -core/local_parametrization_quaternion.h -core/logging.h -core/map_base.h -core/motion_buffer.h -core/node_base.h -core/problem.h -core/processor_base.h -core/factory.h -core/processor_loopclosure_base.h -core/processor_motion.h -core/processor_tracker_feature.h -core/processor_tracker.h -core/rotations.h -core/sensor_base.h -core/factory.h -core/singleton.h -core/state_angle.h -core/state_block.h -core/state_homogeneous_3D.h -core/state_quaternion.h -core/three_D_tools.h -core/time_stamp.h -core/track_matrix.h -core/trajectory_base.h -core/wolf.h - ) -SET(SRCS_CORE -core/capture_base.cpp -core/capture_pose.cpp -core/capture_void.cpp -core/factor_analytic.cpp -core/factor_base.cpp -core/feature_base.cpp -core/feature_pose.cpp -core/frame_base.cpp -core/hardware_base.cpp -core/landmark_base.cpp -core/local_parametrization_base.cpp -core/local_parametrization_homogeneous.cpp -core/local_parametrization_quaternion.cpp -core/map_base.cpp -core/motion_buffer.cpp -core/node_base.cpp -core/problem.cpp -core/processor_base.cpp -core/processor_loopclosure_base.cpp -core/processor_motion.cpp -core/processor_tracker.cpp -core/processor_tracker_feature.cpp -core/sensor_base.cpp -core/state_block.cpp -core/time_stamp.cpp -core/track_matrix.cpp -core/trajectory_base.cpp - ) -#sources -SET(SRCS_BASE -capture/capture_motion.cpp -processor/processor_capture_holder.cpp -processor/processor_tracker_landmark.cpp - ) - -SET(SRCS - local_parametrization_polyline_extreme.cpp - test/processor_IMU_UnitTester.cpp - ) - SET(SRCS_CAPTURE -capture/capture_GPS_fix.cpp -capture/capture_IMU.cpp -capture/capture_odom_2D.cpp -capture/capture_odom_3D.cpp -capture/capture_velocity.cpp -capture/capture_wheel_joint_position.cpp - ) - SET(SRCS_FEATURE -feature/feature_corner_2D.cpp -feature/feature_diff_drive.cpp -feature/feature_GPS_fix.cpp -feature/feature_GPS_pseudorange.cpp -feature/feature_IMU.cpp -feature/feature_odom_2D.cpp -feature/feature_polyline_2D.cpp - ) - SET(SRCS_LANDMARK -landmark/landmark_corner_2D.cpp -landmark/landmark_container.cpp -landmark/landmark_line_2D.cpp -landmark/landmark_polyline_2D.cpp - ) - SET(SRCS_PROCESSOR -processor/processor_frame_nearest_neighbor_filter.cpp -processor/processor_diff_drive.cpp -processor/processor_IMU.cpp -processor/processor_odom_2D.cpp -processor/processor_odom_3D.cpp -processor/processor_tracker_feature_dummy.cpp -processor/processor_tracker_landmark_dummy.cpp - ) - SET(SRCS_SENSOR -sensor/sensor_camera.cpp -sensor/sensor_diff_drive.cpp -sensor/sensor_GPS.cpp -sensor/sensor_GPS_fix.cpp -sensor/sensor_IMU.cpp -sensor/sensor_odom_2D.cpp -sensor/sensor_odom_3D.cpp - ) -SET(SRCS_DTASSC - data_association/association_solver.cpp - data_association/association_node.cpp - data_association/association_tree.cpp - data_association/association_nnls.cpp - ) - -# Add the solver sub-directory -add_subdirectory(solver) - -#optional HDRS and SRCS -IF (Ceres_FOUND) - SET(HDRS_WRAPPER - ceres_wrapper/sparse_utils.h - #ceres_wrapper/solver_manager.h - ceres_wrapper/ceres_manager.h - #ceres_wrapper/qr_manager.h - ceres_wrapper/cost_function_wrapper.h - ceres_wrapper/create_numeric_diff_cost_function.h - ceres_wrapper/local_parametrization_wrapper.h - ) - SET(SRCS_WRAPPER - #ceres_wrapper/solver_manager.cpp - ceres_wrapper/ceres_manager.cpp - #ceres_wrapper/qr_manager.cpp - ceres_wrapper/local_parametrization_wrapper.cpp - ) -ELSE(Ceres_FOUND) - SET(HDRS_WRAPPER) - SET(SRCS_WRAPPER) -ENDIF(Ceres_FOUND) - -IF (laser_scan_utils_FOUND) - SET(HDRS ${HDRS} -capture/capture_laser_2D.h -sensor/sensor_laser_2D.h -processor/processor_tracker_feature_corner.h -processor/processor_tracker_landmark_corner.h -processor/processor_tracker_landmark_polyline.h - ) - SET(SRCS ${SRCS} -capture/capture_laser_2D.cpp -sensor/sensor_laser_2D.cpp -processor/processor_tracker_feature_corner.cpp -processor/processor_tracker_landmark_corner.cpp -processor/processor_tracker_landmark_polyline.cpp - ) -ENDIF(laser_scan_utils_FOUND) - -IF (raw_gps_utils_FOUND) - SET(HDRS ${HDRS} -capture/capture_GPS.h -processor/processor_GPS.h - ) - SET(SRCS ${SRCS} -capture/capture_GPS.cpp -processor/processor_GPS.cpp - ) -ENDIF(raw_gps_utils_FOUND) - -# Vision -IF (vision_utils_FOUND) - SET(HDRS ${HDRS} -capture/capture_image.h -feature/feature_point_image.h -landmark/landmark_AHP.h -processor/processor_params_image.h -processor/processor_tracker_feature_image.h -processor/processor_tracker_landmark_image.h - ) - SET(HDRS_PROCESSOR ${HDRS_PROCESSOR} -processor/processor_tracker_feature_trifocal.h - ) - SET(HDRS_LANDMARK ${HDRS_LANDMARK} -landmark/landmark_point_3D.h - ) - SET(SRCS ${SRCS} -capture/capture_image.cpp -feature/feature_point_image.cpp -landmark/landmark_AHP.cpp -processor/processor_tracker_feature_image.cpp -processor/processor_tracker_landmark_image.cpp - ) - SET(SRCS_LANDMARK ${SRCS_LANDMARK} -landmark/landmark_point_3D.cpp - ) - SET(SRCS_PROCESSOR ${SRCS_PROCESSOR} -processor/processor_tracker_feature_trifocal.cpp - ) -ENDIF(vision_utils_FOUND) - -IF (OPENCV_FOUND AND Apriltag_FOUND) - SET(HDRS ${HDRS} - landmark_apriltag.h - ) - SET(SRCS ${SRCS} - landmark_apriltag.cpp - ) -ENDIF(OPENCV_FOUND AND Apriltag_FOUND) - -# Add the capture sub-directory -# ADD_SUBDIRECTORY(captures) - -# Add the factors sub-directory -# ADD_SUBDIRECTORY(factors) - -# Add the features sub-directory -# ADD_SUBDIRECTORY(features) - -# Add the landmarks sub-directory -# ADD_SUBDIRECTORY(landmarks) - -# Add the processors sub-directory -# ADD_SUBDIRECTORY(processors) - -# Add the sensors sub-directory -# ADD_SUBDIRECTORY(sensors) - -# Add the hello_wolf sub-directory -ADD_SUBDIRECTORY(hello_wolf) - -IF (cereal_FOUND) - ADD_SUBDIRECTORY(serialization/cereal) -ENDIF(cereal_FOUND) - -IF (Suitesparse_FOUND) - ADD_SUBDIRECTORY(solver_suitesparse) -ENDIF(Suitesparse_FOUND) - -# LEAVE YAML FILES ALWAYS IN THE LAST POSITION !! -IF(YAMLCPP_FOUND) - # headers - SET(HDRS ${HDRS} - yaml/yaml_conversion.h - ) - - # sources - SET(SRCS ${SRCS} - yaml/processor_odom_3D_yaml.cpp - yaml/processor_IMU_yaml.cpp - yaml/sensor_camera_yaml.cpp - yaml/sensor_odom_3D_yaml.cpp - yaml/sensor_IMU_yaml.cpp - ) - IF(laser_scan_utils_FOUND) - SET(SRCS ${SRCS} - yaml/sensor_laser_2D_yaml.cpp - ) - ENDIF(laser_scan_utils_FOUND) - IF(vision_utils_FOUND) - SET(SRCS ${SRCS} - yaml/processor_image_yaml.cpp - yaml/processor_tracker_feature_trifocal_yaml.cpp - ) - IF(Apriltag_FOUND) - SET(SRCS ${SRCS} - yaml/processor_tracker_landmark_apriltag_yaml.cpp - ) - ENDIF(Apriltag_FOUND) - ENDIF(vision_utils_FOUND) -ENDIF(YAMLCPP_FOUND) - -# create the shared library -add_library(${PROJECT_NAME}_core SHARED - ${SRCS_CORE} - ${SRCS_BASE} - ) -ADD_LIBRARY(${PROJECT_NAME} - SHARED - ${SRCS_BASE} - ${SRCS} - ${SRCS_CAPTURE} - ${SRCS_CONSTRAINT} - ${SRCS_FEATURE} - ${SRCS_LANDMARK} - ${SRCS_PROCESSOR} - ${SRCS_SENSOR} - #${SRCS_DTASSC} - ${SRCS_SOLVER} - ${SRCS_WRAPPER} - ) -TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT}) - -TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${PROJECT_NAME}_core) -#Link the created libraries -#============================================================= -IF (Ceres_FOUND) - TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CERES_LIBRARIES}) -ENDIF(Ceres_FOUND) - -IF (laser_scan_utils_FOUND) - TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${laser_scan_utils_LIBRARY}) -ENDIF (laser_scan_utils_FOUND) - -IF (raw_gps_utils_FOUND) - TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${raw_gps_utils_LIBRARY}) -ENDIF (raw_gps_utils_FOUND) - -IF (OPENCV_FOUND) - TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS}) - IF (vision_utils_FOUND) - TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${vision_utils_LIBRARY}) - ENDIF (vision_utils_FOUND) -ENDIF (OPENCV_FOUND) - -IF (OPENCV_FOUND) - TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS}) -ENDIF (OPENCV_FOUND) - -IF (YAMLCPP_FOUND) - TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${YAMLCPP_LIBRARY}) -ENDIF (YAMLCPP_FOUND) - -IF (GLOG_FOUND) - TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${GLOG_LIBRARY}) -ENDIF (GLOG_FOUND) - -#check if this is done correctly -IF (OPENCV_FOUND AND Apriltag_FOUND) - LINK_LIBRARIES(apriltag m) - TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${APRILTAG_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${OPENCV_LDFLAGS} m) -ENDIF(OPENCV_FOUND AND Apriltag_FOUND) - -#install library -install(TARGETS ${PROJECT_NAME}_core DESTINATION lib/iri-algorithms EXPORT ${PROJECT_NAME}_core-targets) -install(EXPORT ${PROJECT_NAME}_core-targets DESTINATION lib/iri-algorithms) -#============================================================= -INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets - RUNTIME DESTINATION bin - LIBRARY DESTINATION lib/iri-algorithms - ARCHIVE DESTINATION lib/iri-algorithms) - -install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME}) - -#install headers -INSTALL(FILES ${HDRS_BASE} - DESTINATION include/iri-algorithms/wolf) -INSTALL(FILES ${HDRS} - DESTINATION include/iri-algorithms/wolf) -INSTALL(FILES ${HDRS_CORE} - DESTINATION include/iri-algorithms/wolf/core) -#INSTALL(FILES ${HDRS_DTASSC} -# DESTINATION include/iri-algorithms/wolf/data_association) -INSTALL(FILES ${HDRS_CAPTURE} - DESTINATION include/iri-algorithms/wolf/capture) -INSTALL(FILES ${HDRS_CONSTRAINT} - DESTINATION include/iri-algorithms/wolf/factor) -INSTALL(FILES ${HDRS_FEATURE} - DESTINATION include/iri-algorithms/wolf/feature) -INSTALL(FILES ${HDRS_SENSOR} - DESTINATION include/iri-algorithms/wolf/sensor) -INSTALL(FILES ${HDRS_PROCESSOR} - DESTINATION include/iri-algorithms/wolf/processor) -INSTALL(FILES ${HDRS_LANDMARK} - DESTINATION include/iri-algorithms/wolf/landmark) -INSTALL(FILES ${HDRS_WRAPPER} - DESTINATION include/iri-algorithms/wolf/ceres_wrapper) -#INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE} -# DESTINATION include/iri-algorithms/wolf/solver_suitesparse) -INSTALL(FILES ${HDRS_SOLVER} - DESTINATION include/iri-algorithms/wolf/solver) -INSTALL(FILES ${HDRS_SERIALIZATION} - DESTINATION include/iri-algorithms/wolf/serialization) -INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf.cmake" - DESTINATION "lib/cmake/${PROJECT_NAME}") - -#install Find*.cmake -configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/wolfConfig.cmake" - "${CMAKE_BINARY_DIR}/wolfConfig.cmake" @ONLY) - -INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h" -DESTINATION include/iri-algorithms/wolf/internal) - -INSTALL(FILES "${CMAKE_BINARY_DIR}/wolfConfig.cmake" DESTINATION "lib/cmake/${PROJECT_NAME}") - -INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/") - -export(PACKAGE ${PROJECT_NAME}) - -############# -## Testing ## -############# -IF (GLOG_FOUND) - IF(BUILD_TESTS) - MESSAGE("Building tests.") - add_subdirectory(test) - ENDIF(BUILD_TESTS) -ENDIF (GLOG_FOUND) - -IF(BUILD_EXAMPLES) - #Build examples - MESSAGE("Building examples.") - ADD_SUBDIRECTORY(examples) -ENDIF(BUILD_EXAMPLES) - diff --git a/test/gtest_IMU.cpp b/test/gtest_IMU.cpp index f61cb7398d3e64f5f047c93d62d1953696c71d62..4f2f6025e6b73a16770dc49a1159c004b7cefe8c 100644 --- a/test/gtest_IMU.cpp +++ b/test/gtest_IMU.cpp @@ -94,8 +94,8 @@ class Process_Factor_IMU : public testing::Test ceres_manager = make_shared<CeresManager>(problem, ceres_options); // SENSOR + PROCESSOR IMU - SensorBasePtr sensor = problem->installSensor ("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml"); - ProcessorBasePtr processor = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/src/examples/processor_imu_no_vote.yaml"); + SensorBasePtr sensor = problem->installSensor ("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml"); + ProcessorBasePtr processor = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu_no_vote.yaml"); sensor_imu = static_pointer_cast<SensorIMU> (sensor); processor_imu = static_pointer_cast<ProcessorIMU>(processor); @@ -600,8 +600,8 @@ class Process_Factor_IMU_ODO : public Process_Factor_IMU // ===================================== ODO string wolf_root = _WOLF_ROOT_DIR; - SensorBasePtr sensor = problem->installSensor ("ODOM 3D", "Odometer", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_odom_3D.yaml" ); - ProcessorBasePtr processor = problem->installProcessor("ODOM 3D", "Odometer", "Odometer" , wolf_root + "/src/examples/processor_odom_3D.yaml"); + SensorBasePtr sensor = problem->installSensor ("ODOM 3D", "Odometer", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_odom_3D.yaml" ); + ProcessorBasePtr processor = problem->installProcessor("ODOM 3D", "Odometer", "Odometer" , wolf_root + "/demos/processor_odom_3D.yaml"); sensor_odo = static_pointer_cast<SensorOdom3D>(sensor); processor_odo = static_pointer_cast<ProcessorOdom3D>(processor); diff --git a/test/gtest_processor_IMU.cpp b/test/gtest_processor_IMU.cpp index 16bcaa48084f23a1167c664dfff2f1208137d411..5dbd53a11144e37663cbef6d4dfbfa20542ac205 100644 --- a/test/gtest_processor_IMU.cpp +++ b/test/gtest_processor_IMU.cpp @@ -50,8 +50,8 @@ class ProcessorIMUt : public testing::Test // Wolf problem problem = Problem::create("POV", 3); Vector7s extrinsics = (Vector7s() << 0,0,0, 0,0,0,1).finished(); - sensor_ptr = problem->installSensor("IMU", "Main IMU", extrinsics, wolf_root + "/src/examples/sensor_imu.yaml"); - ProcessorBasePtr processor_ptr = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/src/examples/processor_imu.yaml"); + sensor_ptr = problem->installSensor("IMU", "Main IMU", extrinsics, wolf_root + "/demos/sensor_imu.yaml"); + ProcessorBasePtr processor_ptr = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml"); // Time and data variables data = Vector6s::Zero(); @@ -99,7 +99,7 @@ TEST(ProcessorIMU_constructors, ALL) std::string wolf_root = _WOLF_ROOT_DIR; ProblemPtr problem = Problem::create("POV", 3); Vector7s extrinsics = (Vector7s()<<1,0,0, 0,0,0,1).finished(); - SensorBasePtr sensor_ptr = problem->installSensor("IMU", "Main IMU", extrinsics, wolf_root + "/src/examples/sensor_imu.yaml"); + SensorBasePtr sensor_ptr = problem->installSensor("IMU", "Main IMU", extrinsics, wolf_root + "/demos/sensor_imu.yaml"); ProcessorBasePtr processor_ptr = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", ""); ProcessorParamsIMU params_default; ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getMaxTimeSpan(), params_default.max_time_span); @@ -108,7 +108,7 @@ TEST(ProcessorIMU_constructors, ALL) ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getAngleTurned(), params_default.angle_turned); //Factory constructor with yaml - processor_ptr = problem->installProcessor("IMU", "Sec IMU pre-integrator", "Main IMU", wolf_root + "/src/examples/processor_imu.yaml"); + processor_ptr = problem->installProcessor("IMU", "Sec IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml"); ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getMaxTimeSpan(), 2.0); ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getMaxBuffLength(), 20000); ASSERT_EQ(std::static_pointer_cast<ProcessorIMU>(processor_ptr)->getDistTraveled(), 2.0); @@ -129,7 +129,7 @@ TEST(ProcessorIMU, voteForKeyFrame) // Wolf problem ProblemPtr problem = Problem::create("POV", 3); Vector7s extrinsics = (Vector7s()<<1,0,0, 0,0,0,1).finished(); - SensorBasePtr sensor_ptr = problem->installSensor("IMU", "Main IMU", extrinsics, wolf_root + "/src/examples/sensor_imu.yaml"); + SensorBasePtr sensor_ptr = problem->installSensor("IMU", "Main IMU", extrinsics, wolf_root + "/demos/sensor_imu.yaml"); ProcessorParamsIMUPtr prc_imu_params = std::make_shared<ProcessorParamsIMU>(); prc_imu_params->max_time_span = 1; prc_imu_params->max_buff_length = 1000000000; //make it very high so that this condition will not pass