Fixed a few bugs in cmake refactoring

CMakeLists.txt

@@ -15,6 +15,8 @@ set(PLUGIN_NAME wolf${PROJECT_NAME})
 
 MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
 
+SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
 set(INCLUDE_INSTALL_DIR include/iri-algorithms/wolf)
 set(LIB_INSTALL_DIR lib/)
 
@@ -95,6 +97,7 @@ ENDIF(BUILD_DEMOS OR BUILD_TESTS)
 #find dependencies.
 # ============EXAMPLE==================
 FIND_PACKAGE(wolfcore REQUIRED)
+FIND_PACKAGE(Eigen3 3.3 REQUIRED)
 
 # Define the directory where will be the configured config.h
 SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/${PROJECT_NAME}/internal)
@@ -206,11 +209,13 @@ elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 endif()
 
 
+#Link the created libraries
 TARGET_LINK_LIBRARIES(${PLUGIN_NAME} wolfcore)
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} Eigen3::Eigen)
 
 
-#Build tests
-#===============EXAMPLE=========================
+#===============Build tests=========================
+
 IF(BUILD_TESTS)
   MESSAGE("Building tests.")
   add_subdirectory(test)
@@ -230,7 +235,6 @@ INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
 )
 install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/${PLUGIN_NAME}/cmake)
 
-
 # Configure the package installation
 include(CMakePackageConfigHelpers)
 configure_package_config_file(

cmake_modules/wolfobjectslamConfig.cmake.in

@@ -3,11 +3,9 @@ set(@PLUGIN_NAME@_VERSION 0.0.1)
 
 @PACKAGE_INIT@
 
-set_and_check(@PLUGIN_NAME@_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
-set(@PLUGIN_NAME@_INCLUDE_DIRS @PLUGIN_NAME@_INCLUDE_DIR)
-set_and_check(@PLUGIN_NAME@_LIB_INSTALL_DIR "@PACKAGE_LIB_INSTALL_DIR@")
-set(@PLUGIN_NAME@_LIB_INSTALL_DIRS @PLUGIN_NAME@_LIB_INSTALL_DIR)
-
+# forwards the correct parameters given to FIND_DEPENDENCIES
+include(CMakeFindDependencyMacro)
+FIND_DEPENDENCY(Eigen3 3.3 REQUIRED)
 
 include("${CMAKE_CURRENT_LIST_DIR}/@PLUGIN_NAME@Targets.cmake")
 

demos/CMakeLists.txt

@@ -12,8 +12,8 @@ FIND_PACKAGE(catkin REQUIRED COMPONENTS
   std_msgs
   geometry_msgs
   tf
-  wolf_ros_objectslam
   wolf_ros_node
+  wolf_ros_objectslam
 )
 FIND_PACKAGE(wolfimu REQUIRED)
 
@@ -21,28 +21,26 @@ INCLUDE_DIRECTORIES(
     ${rosbag_INCLUDE_DIRS}
     ${wolf_ros_objectslam_INCLUDE_DIRS}
     ${std_msgs_INCLUDE_DIRS}
-    ${wolfimu_INCLUDE_DIRS}
 )
 
-
 ADD_EXECUTABLE(demo_toy_pbe demo_toy_pbe.cpp)
 TARGET_LINK_LIBRARIES(demo_toy_pbe 
-    ${wolfcore_LIBRARIES}
+    wolfcore
     ${PLUGIN_NAME}
     ${catkin_LIBRARIES}
 )
 
 ADD_EXECUTABLE(cosyslam cosyslam.cpp)
 TARGET_LINK_LIBRARIES(cosyslam 
-    ${wolfcore_LIBRARIES}
+    wolfcore
     ${PLUGIN_NAME}
     ${catkin_LIBRARIES}
 )
 
 ADD_EXECUTABLE(cosyslam_imu cosyslam_imu.cpp)
 TARGET_LINK_LIBRARIES(cosyslam_imu 
-    ${wolfcore_LIBRARIES}
+    wolfcore
+    wolfimu
     ${PLUGIN_NAME}
     ${catkin_LIBRARIES}
-    ${wolfimu_LIBRARIES}
 )

demos/yaml/cosyslam_imu.yaml

 # rosbag name
-bag: "/demos/bag/tless_circular_cp.bag"
+bag: "/demos/bag/shortIMU.bag"
 
 # Camera to IMU transformation
 unfix_extrinsic: false