diff --git a/.gitignore b/.gitignore index 6c5bf11964b51ece53f21d2cc93e962a6c9e461b..4e3260228c4926fe56eefdb58fc1eaf926acdc23 100644 --- a/.gitignore +++ b/.gitignore @@ -33,3 +33,4 @@ src/examples/map_apriltag_save.yaml \.vscode/ build_release/ +laser.found diff --git a/CMakeLists.txt b/CMakeLists.txt index 02f71d1d6c0ae88527b9cac3c5c0048228aec1d8..c6893a044403fe5731597ed29db05313d894fd57 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -111,19 +111,19 @@ IF(Ceres_FOUND) ENDIF(Ceres_FOUND) -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) +#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 ${PROJECT_BINARY_DIR}/conf/${PROJECT_NAME}/internal) @@ -269,12 +269,11 @@ ADD_LIBRARY(${PLUGIN_NAME} ${SRCS_WRAPPER} ${SRCS_YAML} ) +#Link the created libraries +#===============EXAMPLE========================= TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CMAKE_THREAD_LIBS_INIT}) TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolf_LIBRARY} ${laser_scan_utils_LIBRARY}) TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${YAMLCPP_LIBRARY}) - -#Link the created libraries -#===============EXAMPLE========================= # IF (Ceres_FOUND) # TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CERES_LIBRARIES}) # ENDIF(Ceres_FOUND) @@ -320,8 +319,8 @@ INSTALL(FILES ${HDRS_LANDMARK} DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/landmark) INSTALL(FILES ${HDRS_WRAPPER} DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/ceres_wrapper) -INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE} - DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver_suitesparse) +#INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE} +# DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver_suitesparse) INSTALL(FILES ${HDRS_SOLVER} DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver) INSTALL(FILES ${HDRS_SERIALIZATION} diff --git a/include/laser/processor/processor_tracker_feature_polyline_2D.h b/include/laser/processor/processor_tracker_feature_polyline_2D.h index add094f3d876d2a5bffe8c5288fde811672dc97d..b4ba9c815a8edb36f22415754bb0663c00f235c9 100644 --- a/include/laser/processor/processor_tracker_feature_polyline_2D.h +++ b/include/laser/processor/processor_tracker_feature_polyline_2D.h @@ -105,7 +105,7 @@ class ProcessorTrackerFeaturePolyline2D : public ProcessorTrackerFeature /**\brief Process new Features * */ - virtual unsigned int processNew(const unsigned int& _max_features); + virtual unsigned int processNew(const int& _max_features); /** \brief Detect new Features * \param _max_features maximum number of features detected (-1: unlimited. 0: none) diff --git a/src/processor/processor_tracker_feature_polyline_2D.cpp b/src/processor/processor_tracker_feature_polyline_2D.cpp index ec39aa406a4b930d1c03c5ac99ab2320eaf53a8d..46f839049b620d24181fc491fdb52249219f1a77 100644 --- a/src/processor/processor_tracker_feature_polyline_2D.cpp +++ b/src/processor/processor_tracker_feature_polyline_2D.cpp @@ -161,7 +161,7 @@ bool ProcessorTrackerFeaturePolyline2D::voteForKeyFrame() return false; } -unsigned int ProcessorTrackerFeaturePolyline2D::processNew(const unsigned int& _max_features) +unsigned int ProcessorTrackerFeaturePolyline2D::processNew(const int& _max_features) { WOLF_DEBUG("PTFP ", getName(), "::processNew: "); unsigned int n = ProcessorTrackerFeature::processNew(_max_features);