diff --git a/CMakeLists.txt b/CMakeLists.txt index 3095dbd1400cfa0c323882c3fa9ead6fab51039b..cb5229b3ad44d7b0259b17b3dc45e751adb54ddb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -283,13 +283,27 @@ include/base/time_stamp.h include/base/track_matrix.h include/base/trajectory_base.h include/base/wolf.h - ) -SET(HDRS +include/base/IMU_tools.h +include/base/local_parametrization_polyline_extreme.h + ) +SET(HDRS_CAPTURE +include/base/capture/capture_base.h +include/base/capture/capture_buffer.h +include/base/capture/capture_pose.h +include/base/capture/capture_void.h include/base/capture/capture_motion.h include/base/capture/capture_GPS_fix.h include/base/capture/capture_IMU.h include/base/capture/capture_odom_2D.h include/base/capture/capture_odom_3D.h +include/base/capture/capture_GPS_fix.h +include/base/capture/capture_IMU.h +include/base/capture/capture_odom_2D.h +include/base/capture/capture_odom_3D.h +include/base/capture/capture_velocity.h +include/base/capture/capture_wheel_joint_position.h + ) + SET(HDRS_CONSTRAINT include/base/constraint/constraint_block_absolute.h include/base/constraint/constraint_container.h include/base/constraint/constraint_corner_2D.h @@ -309,41 +323,6 @@ include/base/constraint/constraint_pose_2D.h include/base/constraint/constraint_pose_3D.h include/base/constraint/constraint_quaternion_absolute.h include/base/constraint/constraint_relative_2D_analytic.h -include/base/feature/feature_corner_2D.h -include/base/feature/feature_GPS_fix.h -include/base/feature/feature_GPS_pseudorange.h -include/base/feature/feature_IMU.h -include/base/feature/feature_odom_2D.h -include/base/feature/feature_polyline_2D.h -include/base/IMU_tools.h -include/base/landmark/landmark_corner_2D.h -include/base/landmark/landmark_container.h -include/base/landmark/landmark_line_2D.h -include/base/landmark/landmark_polyline_2D.h -include/base/local_parametrization_polyline_extreme.h -include/base/processor/processor_frame_nearest_neighbor_filter.h -include/base/processor/processor_IMU.h -test/processor_IMU_UnitTester.h -include/base/processor/processor_odom_2D.h -include/base/processor/processor_odom_3D.h -include/base/processor/processor_tracker_feature_dummy.h -include/base/processor/processor_tracker_landmark_dummy.h -include/base/sensor/sensor_camera.h -include/base/sensor/sensor_GPS.h -include/base/sensor/sensor_GPS_fix.h -include/base/sensor/sensor_IMU.h -include/base/sensor/sensor_odom_2D.h -include/base/sensor/sensor_odom_3D.h - ) - SET(HDRS_CAPTURE -include/base/capture/capture_GPS_fix.h -include/base/capture/capture_IMU.h -include/base/capture/capture_odom_2D.h -include/base/capture/capture_odom_3D.h -include/base/capture/capture_velocity.h -include/base/capture/capture_wheel_joint_position.h - ) - SET(HDRS_CONSTRAINT include/base/constraint/constraint_autodiff_trifocal.h include/base/constraint/constraint_autodiff_distance_3D.h include/base/constraint/constraint_AHP.h @@ -366,21 +345,38 @@ include/base/constraint/constraint_pose_2D.h include/base/constraint/constraint_pose_3D.h include/base/constraint/constraint_quaternion_absolute.h include/base/constraint/constraint_relative_2D_analytic.h +include/base/constraint/constraint_analytic.h +include/base/constraint/constraint_autodiff.h +include/base/constraint/constraint_base.h ) SET(HDRS_FEATURE include/base/feature/feature_corner_2D.h +include/base/feature/feature_GPS_fix.h +include/base/feature/feature_GPS_pseudorange.h +include/base/feature/feature_IMU.h +include/base/feature/feature_odom_2D.h +include/base/feature/feature_polyline_2D.h +include/base/feature/feature_corner_2D.h include/base/feature/feature_diff_drive.h include/base/feature/feature_GPS_fix.h include/base/feature/feature_GPS_pseudorange.h include/base/feature/feature_IMU.h include/base/feature/feature_odom_2D.h include/base/feature/feature_polyline_2D.h +include/base/feature/feature_base.h +include/base/feature/feature_match.h +include/base/feature/feature_pose.h ) SET(HDRS_LANDMARK +include/base/landmark/landmark_base.h include/base/landmark/landmark_match.h include/base/landmark/landmark_corner_2D.h include/base/landmark/landmark_container.h include/base/landmark/landmark_line_2D.h +include/base/landmark/landmark_polyline_2D.h +include/base/landmark/landmark_corner_2D.h +include/base/landmark/landmark_container.h +include/base/landmark/landmark_line_2D.h include/base/landmark/landmark_polyline_2D.h ) SET(HDRS_PROCESSOR @@ -393,8 +389,24 @@ include/base/processor/processor_odom_3D.h include/base/processor/processor_tracker_feature_dummy.h include/base/processor/processor_tracker_landmark.h include/base/processor/processor_tracker_landmark_dummy.h +include/base/processor/processor_frame_nearest_neighbor_filter.h +include/base/processor/processor_IMU.h +include/base/processor/processor_odom_2D.h +include/base/processor/processor_odom_3D.h +include/base/processor/processor_tracker_feature_dummy.h +include/base/processor/processor_tracker_landmark_dummy.h +include/base/processor/processor_factory.h +include/base/processor/new_processor_factory.h +include/base/processor/processor_logging.h +include/base/processor/processor_base.h +include/base/processor/processor_factory.h +include/base/processor/processor_loopclosure_base.h +include/base/processor/processor_motion.h +include/base/processor/processor_tracker_feature.h +include/base/processor/processor_tracker.h ) SET(HDRS_SENSOR +include/base/sensor/sensor_base.h include/base/sensor/sensor_camera.h include/base/sensor/sensor_diff_drive.h include/base/sensor/sensor_GPS.h @@ -402,6 +414,14 @@ include/base/sensor/sensor_GPS_fix.h include/base/sensor/sensor_IMU.h include/base/sensor/sensor_odom_2D.h include/base/sensor/sensor_odom_3D.h +include/base/sensor/sensor_camera.h +include/base/sensor/sensor_GPS.h +include/base/sensor/sensor_GPS_fix.h +include/base/sensor/sensor_IMU.h +include/base/sensor/sensor_odom_2D.h +include/base/sensor/sensor_odom_3D.h +include/base/sensor/sensor_factory.h +include/base/sensor/new_sensor_factory.h ) SET(HDRS_SOLVER include/base/solver/solver_manager.h @@ -759,6 +779,8 @@ INSTALL(FILES ${HDRS_SENSOR} DESTINATION include/iri-algorithms/wolf/base/sensor) INSTALL(FILES ${HDRS_PROCESSOR} DESTINATION include/iri-algorithms/wolf/base/processor) +INSTALL(FILES ${HDRS_LANDMARK} + DESTINATION include/iri-algorithms/wolf/base/landmark) INSTALL(FILES ${HDRS_WRAPPER} DESTINATION include/iri-algorithms/wolf/base/ceres_wrapper) INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE} diff --git a/cmake_modules/Findwolf.cmake b/cmake_modules/Findwolf.cmake index 0756365b68e1e48fd153a75a07652c1e000be624..19dee9a0bc06e908bffaa2231a55dfdc53718589 100644 --- a/cmake_modules/Findwolf.cmake +++ b/cmake_modules/Findwolf.cmake @@ -1,7 +1,7 @@ #edit the following line to add the librarie's header files FIND_PATH( wolf_INCLUDE_DIRS - NAMES wolf.h + # NAMES wolf.h PATHS /usr/local/include/iri-algorithms/wolf) #change INCLUDE_DIRS to its parent directory get_filename_component(wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIRS} DIRECTORY) diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake index 4e15cc1d44b19135e96a1c67dd0f8e187982734f..ed9ca5a7637881296727dcaa4efcb587a6534697 100644 --- a/cmake_modules/wolfConfig.cmake +++ b/cmake_modules/wolfConfig.cmake @@ -17,6 +17,7 @@ # specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE @@ -129,14 +130,16 @@ endif (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR}) # Set the include directories for wolf (itself). set(wolf_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include/iri-algorithms") -if (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h) +# if (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h) +if (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf) wolf_report_not_found( "wolf install root: ${CURRENT_ROOT_INSTALL_DIR}, " "determined from relative path from wolfConfig.cmake install location: " "${wolf_CURRENT_CONFIG_DIR}, does not contain wolf headers. " "Either the install directory was deleted, or the install tree was only " "partially relocated outside of CMake after wolf was built.") -endif (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h) +# endif (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h) +endif (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf) list(APPEND wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIR}) # Set the version.