diff --git a/CMakeLists.txt b/CMakeLists.txt index 6ffe566eb407fd0ee5ade59a5f0c0ceca5f711d9..b44f68d79c1ea47dd5b9cc8879b6b98ab44e7f6a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -254,413 +254,412 @@ ENDIF(GLOG_FOUND) #HEADERS SET(HDRS_BASE -include/base/diff_drive_tools.h -include/base/diff_drive_tools.hpp -include/base/eigen_assert.h -include/base/eigen_predicates.h -include/base/factory.h -include/base/frame_base.h -include/base/hardware_base.h -include/base/IMU_tools.h -include/base/local_parametrization_angle.h -include/base/local_parametrization_base.h -include/base/local_parametrization_homogeneous.h -include/base/local_parametrization_polyline_extreme.h -include/base/local_parametrization_quaternion.h -include/base/logging.h -include/base/make_unique.h -include/base/map_base.h -include/base/motion_buffer.h -include/base/node_base.h -include/base/pinhole_tools.h -include/base/problem.h -include/base/rotations.h -include/base/singleton.h -include/base/state_angle.h -include/base/state_block.h -include/base/state_homogeneous_3D.h -include/base/state_quaternion.h -include/base/SE3.h -include/base/time_stamp.h -include/base/track_matrix.h -include/base/trajectory_base.h -include/base/wolf.h -include/base/IMU_tools.h -include/base/local_parametrization_polyline_extreme.h + include/base/diff_drive_tools.h + include/base/diff_drive_tools.hpp + include/base/eigen_assert.h + include/base/eigen_predicates.h + include/base/factory.h + include/base/frame_base.h + include/base/hardware_base.h + include/base/IMU_tools.h + include/base/local_parametrization_angle.h + include/base/local_parametrization_base.h + include/base/local_parametrization_homogeneous.h + include/base/local_parametrization_polyline_extreme.h + include/base/local_parametrization_quaternion.h + include/base/logging.h + include/base/make_unique.h + include/base/map_base.h + include/base/motion_buffer.h + include/base/node_base.h + include/base/pinhole_tools.h + include/base/problem.h + include/base/rotations.h + include/base/singleton.h + include/base/state_angle.h + include/base/state_block.h + include/base/state_homogeneous_3D.h + include/base/state_quaternion.h + include/base/SE3.h + include/base/time_stamp.h + include/base/track_matrix.h + include/base/trajectory_base.h + include/base/wolf.h + 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 -include/base/constraint/constraint_AHP.h -include/base/constraint/constraint_epipolar.h -include/base/constraint/constraint_IMU.h -include/base/constraint/constraint_fix_bias.h -include/base/constraint/constraint_GPS_2D.h -include/base/constraint/constraint_GPS_pseudorange_3D.h -include/base/constraint/constraint_GPS_pseudorange_2D.h -include/base/constraint/constraint_odom_2D.h -include/base/constraint/constraint_odom_2D_analytic.h -include/base/constraint/constraint_odom_3D.h -include/base/constraint/constraint_point_2D.h -include/base/constraint/constraint_point_to_line_2D.h -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_autodiff_trifocal.h -include/base/constraint/constraint_autodiff_distance_3D.h -include/base/constraint/constraint_AHP.h -include/base/constraint/constraint_block_absolute.h -include/base/constraint/constraint_container.h -include/base/constraint/constraint_corner_2D.h -include/base/constraint/constraint_diff_drive.h -include/base/constraint/constraint_epipolar.h -include/base/constraint/constraint_IMU.h -include/base/constraint/constraint_fix_bias.h -include/base/constraint/constraint_GPS_2D.h -include/base/constraint/constraint_GPS_pseudorange_3D.h -include/base/constraint/constraint_GPS_pseudorange_2D.h -include/base/constraint/constraint_odom_2D.h -include/base/constraint/constraint_odom_2D_analytic.h -include/base/constraint/constraint_odom_3D.h -include/base/constraint/constraint_point_2D.h -include/base/constraint/constraint_point_to_line_2D.h -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 -include/base/processor/processor_capture_holder.h -include/base/processor/processor_diff_drive.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.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/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 -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/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 + include/base/constraint/constraint_AHP.h + include/base/constraint/constraint_epipolar.h + include/base/constraint/constraint_IMU.h + include/base/constraint/constraint_fix_bias.h + include/base/constraint/constraint_GPS_2D.h + include/base/constraint/constraint_GPS_pseudorange_3D.h + include/base/constraint/constraint_GPS_pseudorange_2D.h + include/base/constraint/constraint_odom_2D.h + include/base/constraint/constraint_odom_2D_analytic.h + include/base/constraint/constraint_odom_3D.h + include/base/constraint/constraint_point_2D.h + include/base/constraint/constraint_point_to_line_2D.h + 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_autodiff_trifocal.h + include/base/constraint/constraint_autodiff_distance_3D.h + include/base/constraint/constraint_AHP.h + include/base/constraint/constraint_block_absolute.h + include/base/constraint/constraint_container.h + include/base/constraint/constraint_corner_2D.h + include/base/constraint/constraint_diff_drive.h + include/base/constraint/constraint_epipolar.h + include/base/constraint/constraint_IMU.h + include/base/constraint/constraint_fix_bias.h + include/base/constraint/constraint_GPS_2D.h + include/base/constraint/constraint_GPS_pseudorange_3D.h + include/base/constraint/constraint_GPS_pseudorange_2D.h + include/base/constraint/constraint_odom_2D.h + include/base/constraint/constraint_odom_2D_analytic.h + include/base/constraint/constraint_odom_3D.h + include/base/constraint/constraint_point_2D.h + include/base/constraint/constraint_point_to_line_2D.h + 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 + include/base/processor/processor_capture_holder.h + include/base/processor/processor_diff_drive.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.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/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 + 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 + ) SET(HDRS_SOLVER -include/base/solver/solver_manager.h -) + include/base/solver/solver_manager.h + ) # [Add generic derived header before this line] SET(HDRS_DTASSC -include/base/track_matrix.h -include/base/association/association_solver.h -include/base/association/association_node.h -include/base/association/association_tree.h -include/base/association/association_nnls.h - ) + include/base/track_matrix.h + include/base/association/association_solver.h + include/base/association/association_node.h + include/base/association/association_tree.h + include/base/association/association_nnls.h + ) SET(HDRS_CORE -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/constraint/constraint_analytic.h -include/base/constraint/constraint_autodiff.h -include/base/constraint/constraint_base.h -include/base/processor/processor_factory.h -include/base/feature/feature_base.h -include/base/feature/feature_match.h -include/base/feature/feature_pose.h -include/base/frame_base.h -include/base/hardware_base.h -include/base/landmark/landmark_base.h -include/base/local_parametrization_angle.h -include/base/local_parametrization_base.h -include/base/local_parametrization_homogeneous.h -include/base/local_parametrization_quaternion.h -include/base/processor/processor_logging.h -include/base/map_base.h -include/base/motion_buffer.h -include/base/node_base.h -include/base/problem.h -include/base/processor/processor_base.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 -include/base/rotations.h -include/base/sensor/sensor_base.h -include/base/processor/processor_factory.h -include/base/singleton.h -include/base/state_angle.h -include/base/state_block.h -include/base/state_homogeneous_3D.h -include/base/state_quaternion.h -include/base/SE3.h -include/base/time_stamp.h -include/base/track_matrix.h -include/base/trajectory_base.h -include/base/wolf.h + 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/constraint/constraint_analytic.h + include/base/constraint/constraint_autodiff.h + include/base/constraint/constraint_base.h + include/base/processor/processor_factory.h + include/base/feature/feature_base.h + include/base/feature/feature_match.h + include/base/feature/feature_pose.h + include/base/frame_base.h + include/base/hardware_base.h + include/base/landmark/landmark_base.h + include/base/local_parametrization_angle.h + include/base/local_parametrization_base.h + include/base/local_parametrization_homogeneous.h + include/base/local_parametrization_quaternion.h + include/base/processor/processor_logging.h + include/base/map_base.h + include/base/motion_buffer.h + include/base/node_base.h + include/base/problem.h + include/base/processor/processor_base.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 + include/base/rotations.h + include/base/sensor/sensor_base.h + include/base/processor/processor_factory.h + include/base/singleton.h + include/base/state_angle.h + include/base/state_block.h + include/base/state_homogeneous_3D.h + include/base/state_quaternion.h + include/base/SE3.h + include/base/time_stamp.h + include/base/track_matrix.h + include/base/trajectory_base.h + include/base/wolf.h ) #SOURCES SET(SRCS_CORE -src/capture/capture_base.cpp -src/capture/capture_pose.cpp -src/capture/capture_void.cpp -src/constraint/constraint_analytic.cpp -src/constraint/constraint_base.cpp -src/feature/feature_base.cpp -src/feature/feature_pose.cpp -src/frame_base.cpp -src/hardware_base.cpp -src/landmark/landmark_base.cpp -src/local_parametrization_base.cpp -src/local_parametrization_homogeneous.cpp -src/local_parametrization_quaternion.cpp -src/map_base.cpp -src/motion_buffer.cpp -src/node_base.cpp -src/problem.cpp -src/processor/processor_base.cpp -src/processor/processor_loopclosure_base.cpp -src/processor/processor_motion.cpp -src/processor/processor_tracker.cpp -src/sensor/sensor_base.cpp -src/state_block.cpp -src/time_stamp.cpp -src/track_matrix.cpp -src/trajectory_base.cpp + src/capture/capture_base.cpp + src/capture/capture_pose.cpp + src/capture/capture_void.cpp + src/constraint/constraint_analytic.cpp + src/constraint/constraint_base.cpp + src/feature/feature_base.cpp + src/feature/feature_pose.cpp + src/frame_base.cpp + src/hardware_base.cpp + src/landmark/landmark_base.cpp + src/local_parametrization_base.cpp + src/local_parametrization_homogeneous.cpp + src/local_parametrization_quaternion.cpp + src/map_base.cpp + src/motion_buffer.cpp + src/node_base.cpp + src/problem.cpp + src/processor/processor_base.cpp + src/processor/processor_loopclosure_base.cpp + src/processor/processor_motion.cpp + src/processor/processor_tracker.cpp + src/sensor/sensor_base.cpp + src/state_block.cpp + src/time_stamp.cpp + src/track_matrix.cpp + src/trajectory_base.cpp ) SET(SRCS_BASE -src/capture/capture_motion.cpp -src/processor/processor_capture_holder.cpp -# examples/test_processor_tracker_landmark.cpp - ) + src/capture/capture_motion.cpp + src/processor/processor_capture_holder.cpp + # examples/test_processor_tracker_landmark.cpp + ) SET(SRCS -src/local_parametrization_polyline_extreme.cpp -test/processor_IMU_UnitTester.cpp + src/local_parametrization_polyline_extreme.cpp + test/processor_IMU_UnitTester.cpp + ) +SET(SRCS_CAPTURE + src/capture/capture_GPS_fix.cpp + src/capture/capture_IMU.cpp + src/capture/capture_odom_2D.cpp + src/capture/capture_odom_3D.cpp + src/capture/capture_velocity.cpp + src/capture/capture_wheel_joint_position.cpp + ) +SET(SRCS_FEATURE + src/feature/feature_corner_2D.cpp + src/feature/feature_diff_drive.cpp + src/feature/feature_GPS_fix.cpp + src/feature/feature_GPS_pseudorange.cpp + src/feature/feature_IMU.cpp + src/feature/feature_odom_2D.cpp + src/feature/feature_polyline_2D.cpp + ) +SET(SRCS_LANDMARK + src/landmark/landmark_corner_2D.cpp + src/landmark/landmark_container.cpp + src/landmark/landmark_line_2D.cpp + src/landmark/landmark_polyline_2D.cpp + ) +SET(SRCS_PROCESSOR + src/processor/processor_frame_nearest_neighbor_filter.cpp + src/processor/processor_diff_drive.cpp + src/processor/processor_IMU.cpp + src/processor/processor_odom_2D.cpp + src/processor/processor_odom_3D.cpp + src/processor/processor_tracker_feature.cpp + src/processor/processor_tracker_feature_dummy.cpp + src/processor/processor_tracker_landmark_dummy.cpp + src/processor/processor_tracker_landmark.cpp + ) +SET(SRCS_SENSOR + src/sensor/sensor_camera.cpp + src/sensor/sensor_diff_drive.cpp + src/sensor/sensor_GPS.cpp + src/sensor/sensor_GPS_fix.cpp + src/sensor/sensor_IMU.cpp + src/sensor/sensor_odom_2D.cpp + src/sensor/sensor_odom_3D.cpp ) - SET(SRCS_CAPTURE -src/capture/capture_GPS_fix.cpp -src/capture/capture_IMU.cpp -src/capture/capture_odom_2D.cpp -src/capture/capture_odom_3D.cpp -src/capture/capture_velocity.cpp -src/capture/capture_wheel_joint_position.cpp - ) - SET(SRCS_FEATURE -src/feature/feature_corner_2D.cpp -src/feature/feature_diff_drive.cpp -src/feature/feature_GPS_fix.cpp -src/feature/feature_GPS_pseudorange.cpp -src/feature/feature_IMU.cpp -src/feature/feature_odom_2D.cpp -src/feature/feature_polyline_2D.cpp - ) - SET(SRCS_LANDMARK -src/landmark/landmark_corner_2D.cpp -src/landmark/landmark_container.cpp -src/landmark/landmark_line_2D.cpp -src/landmark/landmark_polyline_2D.cpp - ) - SET(SRCS_PROCESSOR -src/processor/processor_frame_nearest_neighbor_filter.cpp -src/processor/processor_diff_drive.cpp -src/processor/processor_IMU.cpp -src/processor/processor_odom_2D.cpp -src/processor/processor_odom_3D.cpp -src/processor/processor_tracker_feature.cpp -src/processor/processor_tracker_feature_dummy.cpp -src/processor/processor_tracker_landmark_dummy.cpp -src/processor/processor_tracker_landmark.cpp - ) - SET(SRCS_SENSOR -src/sensor/sensor_camera.cpp -src/sensor/sensor_diff_drive.cpp -src/sensor/sensor_GPS.cpp -src/sensor/sensor_GPS_fix.cpp -src/sensor/sensor_IMU.cpp -src/sensor/sensor_odom_2D.cpp -src/sensor/sensor_odom_3D.cpp - ) SET(SRCS_DTASSC -src/association/association_solver.cpp -src/association/association_node.cpp -src/association/association_tree.cpp -src/association/association_nnls.cpp - ) + src/association/association_solver.cpp + src/association/association_node.cpp + src/association/association_tree.cpp + src/association/association_nnls.cpp + ) SET(SRCS_SOLVER -src/solver/solver_manager.cpp -) + src/solver/solver_manager.cpp + ) #OPTIONALS #optional HDRS and SRCS IF (Ceres_FOUND) SET(HDRS_WRAPPER -include/base/solver_suitesparse/sparse_utils.h -include/base/solver/solver_manager.h -include/base/ceres_wrapper/ceres_manager.h - #ceres_wrapper/qr_manager.h -include/base/ceres_wrapper/cost_function_wrapper.h -include/base/ceres_wrapper/create_numeric_diff_cost_function.h -include/base/ceres_wrapper/local_parametrization_wrapper.h - ) + include/base/solver_suitesparse/sparse_utils.h + include/base/solver/solver_manager.h + include/base/ceres_wrapper/ceres_manager.h + #ceres_wrapper/qr_manager.h + include/base/ceres_wrapper/cost_function_wrapper.h + include/base/ceres_wrapper/create_numeric_diff_cost_function.h + include/base/ceres_wrapper/local_parametrization_wrapper.h + ) SET(SRCS_WRAPPER -src/solver/solver_manager.cpp -src/ceres_wrapper/ceres_manager.cpp - #ceres_wrapper/qr_manager.cpp -src/ceres_wrapper/local_parametrization_wrapper.cpp - ) + src/solver/solver_manager.cpp + src/ceres_wrapper/ceres_manager.cpp + #ceres_wrapper/qr_manager.cpp + src/ceres_wrapper/local_parametrization_wrapper.cpp + ) ELSE(Ceres_FOUND) - SET(HDRS_WRAPPER) - SET(SRCS_WRAPPER) + SET(HDRS_WRAPPER) + SET(SRCS_WRAPPER) ENDIF(Ceres_FOUND) IF (laser_scan_utils_FOUND) - SET(HDRS_CAPTURE ${HDRS_CAPTURE} - include/base/capture/capture_laser_2D.h - ) - SET(HDRS_PROCESSOR ${HDRS_PROCESSOR} - include/base/processor/processor_tracker_feature_corner.h - include/base/processor/processor_tracker_landmark_corner.h - include/base/processor/processor_tracker_landmark_polyline.h - ) - SET(HDRS_SENSOR ${HDRS_SENSOR} - include/base/sensor/sensor_laser_2D.h - ) - SET(SRCS ${SRCS} -src/sensor/sensor_laser_2D.cpp -src/processor/processor_tracker_feature_corner.cpp -src/processor/processor_tracker_landmark_corner.cpp -src/processor/processor_tracker_landmark_polyline.cpp - ) + SET(HDRS_CAPTURE ${HDRS_CAPTURE} + include/base/capture/capture_laser_2D.h + ) + SET(HDRS_PROCESSOR ${HDRS_PROCESSOR} + include/base/processor/processor_tracker_feature_corner.h + include/base/processor/processor_tracker_landmark_corner.h + include/base/processor/processor_tracker_landmark_polyline.h + ) + SET(HDRS_SENSOR ${HDRS_SENSOR} + include/base/sensor/sensor_laser_2D.h + ) + SET(SRCS ${SRCS} + src/sensor/sensor_laser_2D.cpp + src/processor/processor_tracker_feature_corner.cpp + src/processor/processor_tracker_landmark_corner.cpp + src/processor/processor_tracker_landmark_polyline.cpp + ) ENDIF(laser_scan_utils_FOUND) IF (raw_gps_utils_FOUND) - SET(HDRS_CAPTURE ${HDRS_CAPTURE} - include/base/capture/capture_GPS.h - ) - SET(HDRS_PROCESSOR ${HDRS_PROCESSOR} - include/base/processor/processor_GPS.h - ) - SET(SRCS ${SRCS} -src/capture/capture_GPS.cpp -src/processor/processor_GPS.cpp - ) + SET(HDRS_CAPTURE ${HDRS_CAPTURE} + include/base/capture/capture_GPS.h + ) + SET(HDRS_PROCESSOR ${HDRS_PROCESSOR} + include/base/processor/processor_GPS.h + ) + SET(SRCS ${SRCS} + src/capture/capture_GPS.cpp + src/processor/processor_GPS.cpp + ) ENDIF(raw_gps_utils_FOUND) # Vision IF (vision_utils_FOUND) - SET(HDRS_CAPTURE ${HDRS_CAPTURE} - include/base/capture/capture_image.h + SET(HDRS_CAPTURE ${HDRS_CAPTURE} + include/base/capture/capture_image.h ) SET(HDRS_FEATURE ${HDRS_FEATURE} include/base/feature/feature_point_image.h ) - SET(HDRS_PROCESSOR ${HDRS_PROCESSOR} -include/base/processor/processor_tracker_feature_trifocal.h -include/base/processor/processor_params_image.h -include/base/processor/processor_tracker_feature_image.h -include/base/processor/processor_tracker_landmark_image.h + SET(HDRS_PROCESSOR ${HDRS_PROCESSOR} + include/base/processor/processor_tracker_feature_trifocal.h + include/base/processor/processor_params_image.h + include/base/processor/processor_tracker_feature_image.h + include/base/processor/processor_tracker_landmark_image.h ) SET(HDRS_LANDMARK ${HDRS_LANDMARK} -include/base/landmark/landmark_point_3D.h -include/base/landmark/landmark_AHP.h + include/base/landmark/landmark_point_3D.h + include/base/landmark/landmark_AHP.h ) - SET(SRCS ${SRCS} -src/capture/capture_image.cpp -src/feature/feature_point_image.cpp - ) - SET(SRCS_LANDMARK ${SRCS_LANDMARK} -src/landmark/landmark_point_3D.cpp -src/landmark/landmark_AHP.cpp + SET(SRCS ${SRCS} + src/capture/capture_image.cpp + src/feature/feature_point_image.cpp ) - SET(SRCS_PROCESSOR ${SRCS_PROCESSOR} -src/processor/processor_tracker_feature_trifocal.cpp -src/processor/processor_tracker_feature_image.cpp -src/processor/processor_tracker_landmark_image.cpp + SET(SRCS_LANDMARK ${SRCS_LANDMARK} + src/landmark/landmark_point_3D.cpp + src/landmark/landmark_AHP.cpp + ) + SET(SRCS_PROCESSOR ${SRCS_PROCESSOR} + src/processor/processor_tracker_feature_trifocal.cpp + src/processor/processor_tracker_feature_image.cpp + src/processor/processor_tracker_landmark_image.cpp ) ENDIF(vision_utils_FOUND) - #SUBDIRECTORIES add_subdirectory(hello_wolf) IF (cereal_FOUND) @@ -668,56 +667,56 @@ IF (cereal_FOUND) ENDIF(cereal_FOUND) IF (Suitesparse_FOUND) - #DOES NOTHING?! - #ADD_SUBDIRECTORY(solver_suitesparse) + #DOES NOTHING?! + #ADD_SUBDIRECTORY(solver_suitesparse) ENDIF(Suitesparse_FOUND) # LEAVE YAML FILES ALWAYS IN THE LAST POSITION !! IF(YAMLCPP_FOUND) - # headers - SET(HDRS ${HDRS} -include/base/yaml/yaml_conversion.h - ) - SET(HDRS_YAML ${HDRS_YAML} -include/base/yaml/yaml_conversion.h - ) - - # sources + # headers + SET(HDRS ${HDRS} + include/base/yaml/yaml_conversion.h + ) + SET(HDRS_YAML ${HDRS_YAML} + include/base/yaml/yaml_conversion.h + ) + + # sources + SET(SRCS ${SRCS} + src/yaml/processor_odom_3D_yaml.cpp + src/yaml/processor_IMU_yaml.cpp + src/yaml/sensor_camera_yaml.cpp + src/yaml/sensor_odom_3D_yaml.cpp + src/yaml/sensor_IMU_yaml.cpp + ) + IF(laser_scan_utils_FOUND) SET(SRCS ${SRCS} -src/yaml/processor_odom_3D_yaml.cpp -src/yaml/processor_IMU_yaml.cpp -src/yaml/sensor_camera_yaml.cpp -src/yaml/sensor_odom_3D_yaml.cpp -src/yaml/sensor_IMU_yaml.cpp - ) - IF(laser_scan_utils_FOUND) - SET(SRCS ${SRCS} -src/yaml/sensor_laser_2D_yaml.cpp - ) - ENDIF(laser_scan_utils_FOUND) - IF(vision_utils_FOUND) - SET(SRCS ${SRCS} -src/yaml/processor_image_yaml.cpp -src/yaml/processor_tracker_feature_trifocal_yaml.cpp - ) - ENDIF(vision_utils_FOUND) + src/yaml/sensor_laser_2D_yaml.cpp + ) + ENDIF(laser_scan_utils_FOUND) + IF(vision_utils_FOUND) + SET(SRCS ${SRCS} + src/yaml/processor_image_yaml.cpp + src/yaml/processor_tracker_feature_trifocal_yaml.cpp + ) + ENDIF(vision_utils_FOUND) ENDIF(YAMLCPP_FOUND) # create the shared library ADD_LIBRARY(${PROJECT_NAME} - SHARED - ${SRCS_BASE} - ${SRCS_CORE} - ${SRCS} - ${SRCS_CAPTURE} - ${SRCS_CONSTRAINT} - ${SRCS_FEATURE} - ${SRCS_LANDMARK} - ${SRCS_PROCESSOR} - ${SRCS_SENSOR} - #${SRCS_DTASSC} - ${SRCS_SOLVER} - ${SRCS_WRAPPER} - ) + SHARED + ${SRCS_BASE} + ${SRCS_CORE} + ${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}) #Link the created libraries