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mobile_robotics
wolf_projects
wolf_lib
plugins
vision
Merge requests
!5
Remove serialization
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Remove serialization
remove-serialization
into
devel
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68
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0
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64
Closed
Joan Solà Ortega
requested to merge
remove-serialization
into
devel
5 years ago
Overview
1
Commits
68
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0
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64
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Following #238 in wolf core
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demos/CMakeLists.txt
+
14
−
228
Options
# Dynamically remove objects from list
# add_executable(test_list_remove test_list_remove.cpp)
# Matrix product test
if
(
OpenCV_FOUND
)
#ADD_EXECUTABLE(test_matrix_prod test_matrix_prod.cpp)
if
(
${
OpenCV_VERSION_MAJOR
}
GREATER 1
)
message
(
"-- [INFO] Found OpenCV support"
)
ADD_DEFINITIONS
(
-DHAVE_OPENCV_H
)
SET
(
USE_CV true
)
else
(
${
OpenCV_VERSION_MAJOR
}
GREATER 1
)
message
(
"[WARN] OpenCV support not installed. Minimum 2.4 version required."
)
message
(
"[WARN] Current version
${
OpenCV_VERSION_MAJOR
}
"
)
endif
(
${
OpenCV_VERSION_MAJOR
}
GREATER 1
)
else
(
OpenCV_FOUND
)
message
(
"[WARN] OpenCV support not installed. Minimum 2.4 version required."
)
endif
(
OpenCV_FOUND
)
#ADD_EXECUTABLE(test_eigen_template test_eigen_template.cpp)
ADD_EXECUTABLE
(
demo_processor_bundle_adjustment demo_processor_bundle_adjustment.cpp
)
TARGET_LINK_LIBRARIES
(
demo_processor_bundle_adjustment
${
PLUGIN_NAME
}
${
OpenCV_LIBS
}
)
ADD_EXECUTABLE
(
test_fcn_ptr test_fcn_ptr.cpp
)
ADD_EXECUTABLE
(
test_kf_callback test_kf_callback.cpp
)
TARGET_LINK_LIBRARIES
(
test_kf_callback
${
PROJECT_NAME
}
)
ADD_EXECUTABLE
(
test_wolf_logging test_wolf_logging.cpp
)
TARGET_LINK_LIBRARIES
(
test_wolf_logging
${
PROJECT_NAME
}
)
IF
(
Ceres_FOUND
)
# test_processor_odom_3D
ADD_EXECUTABLE
(
test_processor_odom_3D test_processor_odom_3D.cpp
)
TARGET_LINK_LIBRARIES
(
test_processor_odom_3D
${
PROJECT_NAME
}
)
# ADD_EXECUTABLE(test_motion_2d test_motion_2d.cpp)
# TARGET_LINK_LIBRARIES(test_motion_2d ${PROJECT_NAME})
ENDIF
(
Ceres_FOUND
)
# State blocks with local parametrizations test
#ADD_EXECUTABLE(test_state_quaternion test_state_quaternion.cpp)
#TARGET_LINK_LIBRARIES(test_state_quaternion ${PROJECT_NAME})
# Testing Eigen Permutations
#ADD_EXECUTABLE(test_permutations solver/test_permutations.cpp)
#TARGET_LINK_LIBRARIES(test_permutations ${PROJECT_NAME})
# Enable Yaml config files
IF
(
YAMLCPP_FOUND
)
# ADD_EXECUTABLE(test_yaml test_yaml.cpp)
# TARGET_LINK_LIBRARIES(test_yaml ${PROJECT_NAME})
# ADD_EXECUTABLE(test_yaml_conversions test_yaml_conversions.cpp)
# TARGET_LINK_LIBRARIES(test_yaml_conversions ${PROJECT_NAME})
# SensorFactory classes test
# ADD_EXECUTABLE(test_wolf_factories test_wolf_factories.cpp)
# TARGET_LINK_LIBRARIES(test_wolf_factories ${PROJECT_NAME})
# Map load and save test
# ADD_EXECUTABLE(test_map_yaml test_map_yaml.cpp)
# TARGET_LINK_LIBRARIES(test_map_yaml ${PROJECT_NAME})
ENDIF
(
YAMLCPP_FOUND
)
IF
(
Suitesparse_FOUND
)
IF
(
0
)
# These cannot compile on MacOSX -- we'll fix it some day.
# Testing a ccolamd test
ADD_EXECUTABLE
(
test_ccolamd solver/test_ccolamd.cpp
)
TARGET_LINK_LIBRARIES
(
test_ccolamd
${
PROJECT_NAME
}
)
# Testing a blocks ccolamd test
ADD_EXECUTABLE
(
test_ccolamd_blocks solver/test_ccolamd_blocks.cpp
)
TARGET_LINK_LIBRARIES
(
test_ccolamd_blocks
${
PROJECT_NAME
}
)
# Testing an incremental blocks ccolamd test
ADD_EXECUTABLE
(
test_incremental_ccolamd_blocks solver/test_incremental_ccolamd_blocks.cpp
)
TARGET_LINK_LIBRARIES
(
test_incremental_ccolamd_blocks
${
PROJECT_NAME
}
)
# Testing an incremental QR with block ccolamd test
ADD_EXECUTABLE
(
test_iQR solver/test_iQR.cpp
)
TARGET_LINK_LIBRARIES
(
test_iQR
${
PROJECT_NAME
}
)
# Testing QR solver test tending to wolf
ADD_EXECUTABLE
(
test_iQR_wolf solver/test_iQR_wolf.cpp
)
TARGET_LINK_LIBRARIES
(
test_iQR_wolf
${
PROJECT_NAME
}
)
# Testing SPQR simple test
#ADD_EXECUTABLE(test_SPQR solver/test_SPQR.cpp)
#TARGET_LINK_LIBRARIES(test_SPQR ${PROJECT_NAME})
ENDIF
(
0
)
ENDIF
(
Suitesparse_FOUND
)
# Building and populating the wolf tree
# ADD_EXECUTABLE(test_wolf_tree test_wolf_tree.cpp)
# TARGET_LINK_LIBRARIES(test_wolf_tree ${PROJECT_NAME})
# Building and populating the wolf tree from .graph file (TORO)
#ADD_EXECUTABLE(test_wolf_imported_graph test_wolf_imported_graph.cpp)
#TARGET_LINK_LIBRARIES(test_wolf_imported_graph ${PROJECT_NAME})
# Comparing performance of wolf auto_diff and ceres auto_diff
#ADD_EXECUTABLE(test_wolf_autodiffwrapper test_wolf_autodiffwrapper.cpp)
#TARGET_LINK_LIBRARIES(test_wolf_autodiffwrapper ${PROJECT_NAME})
# Prunning wolf tree from .graph file (TORO)
#ADD_EXECUTABLE(test_wolf_prunning test_wolf_prunning.cpp)
#TARGET_LINK_LIBRARIES(test_wolf_prunning ${PROJECT_NAME})
# Sparsification from wolf tree from .graph file (TORO)
ADD_EXECUTABLE
(
test_sparsification test_sparsification.cpp
)
TARGET_LINK_LIBRARIES
(
test_sparsification
${
PROJECT_NAME
}
)
# Comparing analytic and autodiff odometry factors
#ADD_EXECUTABLE(test_analytic_odom_factor test_analytic_odom_factor.cpp)
#TARGET_LINK_LIBRARIES(test_analytic_odom_factor ${PROJECT_NAME})
# Vision
IF
(
vision_utils_FOUND
)
IF
(
Ceres_FOUND
)
# Testing many things for the 3D image odometry
ADD_EXECUTABLE
(
test_image test_image.cpp
)
TARGET_LINK_LIBRARIES
(
test_image
${
PROJECT_NAME
}
)
# Processor Image Landmark test
ADD_EXECUTABLE
(
test_processor_tracker_landmark_image test_processor_tracker_landmark_image.cpp
)
TARGET_LINK_LIBRARIES
(
test_processor_tracker_landmark_image
${
PROJECT_NAME
}
)
# Simple AHP test
ADD_EXECUTABLE
(
test_simple_AHP test_simple_AHP.cpp
)
TARGET_LINK_LIBRARIES
(
test_simple_AHP
${
PROJECT_NAME
}
)
IF
(
APRILTAG_LIBRARY
)
ADD_EXECUTABLE
(
test_apriltag test_apriltag.cpp
)
TARGET_LINK_LIBRARIES
(
test_apriltag
${
PROJECT_NAME
}
)
ENDIF
(
APRILTAG_LIBRARY
)
ENDIF
(
Ceres_FOUND
)
# Testing OpenCV functions for projection of points
ADD_EXECUTABLE
(
test_projection_points test_projection_points.cpp
)
TARGET_LINK_LIBRARIES
(
test_projection_points
${
PROJECT_NAME
}
)
# Factor test
ADD_EXECUTABLE
(
test_factor_AHP test_factor_AHP.cpp
)
TARGET_LINK_LIBRARIES
(
test_factor_AHP
${
PROJECT_NAME
}
)
# ORB tracker test
ADD_EXECUTABLE
(
test_tracker_ORB test_tracker_ORB.cpp
)
TARGET_LINK_LIBRARIES
(
test_tracker_ORB
${
PROJECT_NAME
}
)
# Trifocal optimization test
ADD_EXECUTABLE
(
test_trifocal_optimization test_trifocal_optimization.cpp
)
TARGET_LINK_LIBRARIES
(
test_trifocal_optimization
${
PROJECT_NAME
}
)
ENDIF
(
vision_utils_FOUND
)
# Processor Tracker Feature test
ADD_EXECUTABLE
(
test_processor_tracker_feature test_processor_tracker_feature.cpp
)
TARGET_LINK_LIBRARIES
(
test_processor_tracker_feature
${
PROJECT_NAME
}
)
# Processor Tracker Landmark test
ADD_EXECUTABLE
(
test_processor_tracker_landmark test_processor_tracker_landmark.cpp
)
TARGET_LINK_LIBRARIES
(
test_processor_tracker_landmark
${
PROJECT_NAME
}
)
# Processor IMU test
ADD_EXECUTABLE
(
test_processor_imu test_processor_imu.cpp
)
TARGET_LINK_LIBRARIES
(
test_processor_imu
${
PROJECT_NAME
}
)
# Processor Diff-Drive test
ADD_EXECUTABLE
(
test_processor_diff_drive test_diff_drive.cpp
)
TARGET_LINK_LIBRARIES
(
test_processor_diff_drive
${
PROJECT_NAME
}
)
# MPU6050 IMU test
#ADD_EXECUTABLE(test_mpu test_mpu.cpp)
#TARGET_LINK_LIBRARIES(test_mpu ${PROJECT_NAME})
# Processor IMU - Jacobian checking test
#ADD_EXECUTABLE(test_processor_imu_jacobians test_processor_imu_jacobians.cpp)
#TARGET_LINK_LIBRARIES(test_processor_imu_jacobians ${PROJECT_NAME})
# Test IMU using printed Dock
#ADD_EXECUTABLE(test_imuDock test_imuDock.cpp)
#TARGET_LINK_LIBRARIES(test_imuDock ${PROJECT_NAME})
# Test IMU with auto KF generation (Humanoids 20017)
#ADD_EXECUTABLE(test_imuDock_autoKFs test_imuDock_autoKFs.cpp)
#TARGET_LINK_LIBRARIES(test_imuDock_autoKFs ${PROJECT_NAME})
# FactorIMU - factors test
#ADD_EXECUTABLE(test_imu_constrained0 test_imu_constrained0.cpp)
#TARGET_LINK_LIBRARIES(test_imu_constrained0 ${PROJECT_NAME})
# IMU - Offline plateform test
#ADD_EXECUTABLE(test_imuPlateform_Offline test_imuPlateform_Offline.cpp)
#TARGET_LINK_LIBRARIES(test_imuPlateform_Offline ${PROJECT_NAME})
# IMU - factorIMU
#ADD_EXECUTABLE(test_factor_imu test_factor_imu.cpp)
#TARGET_LINK_LIBRARIES(test_factor_imu ${PROJECT_NAME})
# IF (laser_scan_utils_FOUND)
# ADD_EXECUTABLE(test_capture_laser_2D test_capture_laser_2D.cpp)
# TARGET_LINK_LIBRARIES(test_capture_laser_2D ${PROJECT_NAME})
# #ENDIF (laser_scan_utils_FOUND)
# IF(faramotics_FOUND)
# IF (laser_scan_utils_FOUND)
# ADD_EXECUTABLE(test_ceres_2_lasers test_ceres_2_lasers.cpp)
# TARGET_LINK_LIBRARIES(test_ceres_2_lasers
# ${pose_state_time_LIBRARIES}
# ${faramotics_LIBRARIES}
# ${PROJECT_NAME})
# ADD_EXECUTABLE(test_ceres_2_lasers_polylines test_ceres_2_lasers_polylines.cpp)
# TARGET_LINK_LIBRARIES(test_ceres_2_lasers_polylines
# ${pose_state_time_LIBRARIES}
# ${faramotics_LIBRARIES}
# ${PROJECT_NAME})
# ADD_EXECUTABLE(test_2_lasers_offline test_2_lasers_offline.cpp)
# TARGET_LINK_LIBRARIES(test_2_lasers_offline
# ${pose_state_time_LIBRARIES}
# ${faramotics_LIBRARIES}
# ${PROJECT_NAME})
# ADD_EXECUTABLE(test_faramotics_simulation test_faramotics_simulation.cpp)
# TARGET_LINK_LIBRARIES(test_faramotics_simulation
# ${pose_state_time_LIBRARIES}
# ${faramotics_LIBRARIES}
# ${PROJECT_NAME})
# # ADD_EXECUTABLE(test_autodiff test_autodiff.cpp)
# # TARGET_LINK_LIBRARIES(test_autodiff
# # ${pose_state_time_LIBRARIES}
# # ${faramotics_LIBRARIES}
# # ${PROJECT_NAME})
# # IF(Suitesparse_FOUND)
# # ADD_EXECUTABLE(test_iQR_wolf2 solver/test_iQR_wolf2.cpp)
# # TARGET_LINK_LIBRARIES(test_iQR_wolf2
# # ${pose_state_time_LIBRARIES}
# # ${faramotics_LIBRARIES}
# # ${PROJECT_NAME})
# # ENDIF(Suitesparse_FOUND)
# # ENDIF (laser_scan_utils_FOUND)
# # ENDIF(faramotics_FOUND)
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