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Commit 83f626df authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
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Minor fixes

parent b26e5d91
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1 merge request!260WIP: params autoconf
...@@ -254,6 +254,8 @@ ENDIF(GLOG_FOUND) ...@@ -254,6 +254,8 @@ ENDIF(GLOG_FOUND)
#HEADERS #HEADERS
SET(HDRS_BASE SET(HDRS_BASE
include/base/IMU_tools.h
include/base/SE3.h
include/base/converter.h include/base/converter.h
include/base/diff_drive_tools.h include/base/diff_drive_tools.h
include/base/diff_drive_tools.hpp include/base/diff_drive_tools.hpp
...@@ -262,7 +264,7 @@ SET(HDRS_BASE ...@@ -262,7 +264,7 @@ SET(HDRS_BASE
include/base/factory.h include/base/factory.h
include/base/frame_base.h include/base/frame_base.h
include/base/hardware_base.h include/base/hardware_base.h
include/base/IMU_tools.h include/base/loader.hpp
include/base/local_parametrization_angle.h include/base/local_parametrization_angle.h
include/base/local_parametrization_base.h include/base/local_parametrization_base.h
include/base/local_parametrization_homogeneous.h include/base/local_parametrization_homogeneous.h
...@@ -282,65 +284,41 @@ SET(HDRS_BASE ...@@ -282,65 +284,41 @@ SET(HDRS_BASE
include/base/state_block.h include/base/state_block.h
include/base/state_homogeneous_3D.h include/base/state_homogeneous_3D.h
include/base/state_quaternion.h include/base/state_quaternion.h
include/base/SE3.h
include/base/time_stamp.h include/base/time_stamp.h
include/base/track_matrix.h include/base/track_matrix.h
include/base/trajectory_base.h include/base/trajectory_base.h
include/base/wolf.h include/base/wolf.h
include/base/IMU_tools.h
include/base/local_parametrization_polyline_extreme.h
include/base/loader.hpp
) )
SET(HDRS_CAPTURE SET(HDRS_CAPTURE
include/base/capture/capture_GPS_fix.h
include/base/capture/capture_IMU.h
include/base/capture/capture_base.h include/base/capture/capture_base.h
include/base/capture/capture_buffer.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_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_2D.h
include/base/capture/capture_odom_3D.h include/base/capture/capture_odom_3D.h
include/base/capture/capture_pose.h
include/base/capture/capture_velocity.h include/base/capture/capture_velocity.h
include/base/capture/capture_void.h
include/base/capture/capture_wheel_joint_position.h include/base/capture/capture_wheel_joint_position.h
) )
SET(HDRS_CONSTRAINT 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_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_2D.h
include/base/constraint/constraint_GPS_pseudorange_3D.h
include/base/constraint/constraint_GPS_pseudorange_2D.h include/base/constraint/constraint_GPS_pseudorange_2D.h
include/base/constraint/constraint_odom_2D.h include/base/constraint/constraint_GPS_pseudorange_3D.h
include/base/constraint/constraint_odom_2D_analytic.h include/base/constraint/constraint_IMU.h
include/base/constraint/constraint_odom_3D.h include/base/constraint/constraint_analytic.h
include/base/constraint/constraint_point_2D.h include/base/constraint/constraint_autodiff.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_autodiff_distance_3D.h
include/base/constraint/constraint_AHP.h include/base/constraint/constraint_autodiff_trifocal.h
include/base/constraint/constraint_base.h
include/base/constraint/constraint_block_absolute.h include/base/constraint/constraint_block_absolute.h
include/base/constraint/constraint_container.h include/base/constraint/constraint_container.h
include/base/constraint/constraint_corner_2D.h include/base/constraint/constraint_corner_2D.h
include/base/constraint/constraint_diff_drive.h include/base/constraint/constraint_diff_drive.h
include/base/constraint/constraint_epipolar.h include/base/constraint/constraint_epipolar.h
include/base/constraint/constraint_IMU.h
include/base/constraint/constraint_fix_bias.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.h
include/base/constraint/constraint_odom_2D_analytic.h include/base/constraint/constraint_odom_2D_analytic.h
include/base/constraint/constraint_odom_3D.h include/base/constraint/constraint_odom_3D.h
...@@ -350,83 +328,57 @@ SET(HDRS_CONSTRAINT ...@@ -350,83 +328,57 @@ SET(HDRS_CONSTRAINT
include/base/constraint/constraint_pose_3D.h include/base/constraint/constraint_pose_3D.h
include/base/constraint/constraint_quaternion_absolute.h include/base/constraint/constraint_quaternion_absolute.h
include/base/constraint/constraint_relative_2D_analytic.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 SET(HDRS_FEATURE
include/base/feature/feature_corner_2D.h
include/base/feature/feature_GPS_fix.h include/base/feature/feature_GPS_fix.h
include/base/feature/feature_GPS_pseudorange.h include/base/feature/feature_GPS_pseudorange.h
include/base/feature/feature_IMU.h include/base/feature/feature_IMU.h
include/base/feature/feature_odom_2D.h include/base/feature/feature_base.h
include/base/feature/feature_polyline_2D.h
include/base/feature/feature_corner_2D.h include/base/feature/feature_corner_2D.h
include/base/feature/feature_diff_drive.h include/base/feature/feature_diff_drive.h
include/base/feature/feature_GPS_fix.h include/base/feature/feature_match.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_odom_2D.h
include/base/feature/feature_polyline_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 include/base/feature/feature_pose.h
) )
SET(HDRS_LANDMARK SET(HDRS_LANDMARK
include/base/landmark/landmark_base.h 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_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_corner_2D.h
include/base/landmark/landmark_container.h
include/base/landmark/landmark_line_2D.h include/base/landmark/landmark_line_2D.h
include/base/landmark/landmark_match.h
include/base/landmark/landmark_polyline_2D.h include/base/landmark/landmark_polyline_2D.h
) )
SET(HDRS_PROCESSOR SET(HDRS_PROCESSOR
include/base/processor/new_processor_factory.h
include/base/processor/processor_IMU.h
include/base/processor/processor_base.h
include/base/processor/processor_capture_holder.h include/base/processor/processor_capture_holder.h
include/base/processor/processor_diff_drive.h include/base/processor/processor_diff_drive.h
include/base/processor/processor_factory.h
include/base/processor/processor_frame_nearest_neighbor_filter.h include/base/processor/processor_frame_nearest_neighbor_filter.h
include/base/processor/processor_IMU.h include/base/processor/processor_logging.h
include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_motion.h
include/base/processor/processor_odom_2D.h include/base/processor/processor_odom_2D.h
include/base/processor/processor_odom_3D.h include/base/processor/processor_odom_3D.h
include/base/processor/processor_tracker.h
include/base/processor/processor_tracker_feature.h
include/base/processor/processor_tracker_feature_dummy.h include/base/processor/processor_tracker_feature_dummy.h
include/base/processor/processor_tracker_landmark.h include/base/processor/processor_tracker_landmark.h
include/base/processor/processor_tracker_landmark_dummy.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 SET(HDRS_SENSOR
include/base/sensor/sensor_base.h include/base/sensor/new_sensor_factory.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.h
include/base/sensor/sensor_GPS_fix.h include/base/sensor/sensor_GPS_fix.h
include/base/sensor/sensor_IMU.h include/base/sensor/sensor_IMU.h
include/base/sensor/sensor_odom_2D.h include/base/sensor/sensor_base.h
include/base/sensor/sensor_odom_3D.h
include/base/sensor/sensor_camera.h include/base/sensor/sensor_camera.h
include/base/sensor/sensor_GPS.h include/base/sensor/sensor_diff_drive.h
include/base/sensor/sensor_GPS_fix.h include/base/sensor/sensor_factory.h
include/base/sensor/sensor_IMU.h
include/base/sensor/sensor_odom_2D.h include/base/sensor/sensor_odom_2D.h
include/base/sensor/sensor_odom_3D.h include/base/sensor/sensor_odom_3D.h
include/base/sensor/sensor_factory.h
include/base/sensor/new_sensor_factory.h
) )
SET(HDRS_SOLVER SET(HDRS_SOLVER
include/base/solver/solver_manager.h include/base/solver/solver_manager.h
...@@ -442,6 +394,7 @@ SET(HDRS_DTASSC ...@@ -442,6 +394,7 @@ SET(HDRS_DTASSC
) )
SET(HDRS_CORE SET(HDRS_CORE
include/base/SE3.h
include/base/capture/capture_base.h include/base/capture/capture_base.h
include/base/capture/capture_buffer.h include/base/capture/capture_buffer.h
include/base/capture/capture_pose.h include/base/capture/capture_pose.h
...@@ -449,7 +402,6 @@ SET(HDRS_CORE ...@@ -449,7 +402,6 @@ SET(HDRS_CORE
include/base/constraint/constraint_analytic.h include/base/constraint/constraint_analytic.h
include/base/constraint/constraint_autodiff.h include/base/constraint/constraint_autodiff.h
include/base/constraint/constraint_base.h include/base/constraint/constraint_base.h
include/base/processor/processor_factory.h
include/base/feature/feature_base.h include/base/feature/feature_base.h
include/base/feature/feature_match.h include/base/feature/feature_match.h
include/base/feature/feature_pose.h include/base/feature/feature_pose.h
...@@ -460,26 +412,24 @@ SET(HDRS_CORE ...@@ -460,26 +412,24 @@ SET(HDRS_CORE
include/base/local_parametrization_base.h include/base/local_parametrization_base.h
include/base/local_parametrization_homogeneous.h include/base/local_parametrization_homogeneous.h
include/base/local_parametrization_quaternion.h include/base/local_parametrization_quaternion.h
include/base/processor/processor_logging.h
include/base/map_base.h include/base/map_base.h
include/base/motion_buffer.h include/base/motion_buffer.h
include/base/node_base.h include/base/node_base.h
include/base/problem.h include/base/problem.h
include/base/processor/processor_base.h include/base/processor/processor_base.h
include/base/processor/processor_factory.h include/base/processor/processor_factory.h
include/base/processor/processor_logging.h
include/base/processor/processor_loopclosure_base.h include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_motion.h include/base/processor/processor_motion.h
include/base/processor/processor_tracker_feature.h
include/base/processor/processor_tracker.h include/base/processor/processor_tracker.h
include/base/processor/processor_tracker_feature.h
include/base/rotations.h include/base/rotations.h
include/base/sensor/sensor_base.h include/base/sensor/sensor_base.h
include/base/processor/processor_factory.h
include/base/singleton.h include/base/singleton.h
include/base/state_angle.h include/base/state_angle.h
include/base/state_block.h include/base/state_block.h
include/base/state_homogeneous_3D.h include/base/state_homogeneous_3D.h
include/base/state_quaternion.h include/base/state_quaternion.h
include/base/SE3.h
include/base/time_stamp.h include/base/time_stamp.h
include/base/track_matrix.h include/base/track_matrix.h
include/base/trajectory_base.h include/base/trajectory_base.h
...@@ -536,11 +486,11 @@ SET(SRCS_CAPTURE ...@@ -536,11 +486,11 @@ SET(SRCS_CAPTURE
src/capture/capture_wheel_joint_position.cpp src/capture/capture_wheel_joint_position.cpp
) )
SET(SRCS_FEATURE 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_fix.cpp
src/feature/feature_GPS_pseudorange.cpp src/feature/feature_GPS_pseudorange.cpp
src/feature/feature_IMU.cpp src/feature/feature_IMU.cpp
src/feature/feature_corner_2D.cpp
src/feature/feature_diff_drive.cpp
src/feature/feature_odom_2D.cpp src/feature/feature_odom_2D.cpp
src/feature/feature_polyline_2D.cpp src/feature/feature_polyline_2D.cpp
) )
...@@ -551,22 +501,22 @@ SET(SRCS_LANDMARK ...@@ -551,22 +501,22 @@ SET(SRCS_LANDMARK
src/landmark/landmark_polyline_2D.cpp src/landmark/landmark_polyline_2D.cpp
) )
SET(SRCS_PROCESSOR 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_IMU.cpp
src/processor/processor_diff_drive.cpp
src/processor/processor_frame_nearest_neighbor_filter.cpp
src/processor/processor_odom_2D.cpp src/processor/processor_odom_2D.cpp
src/processor/processor_odom_3D.cpp src/processor/processor_odom_3D.cpp
src/processor/processor_tracker_feature.cpp src/processor/processor_tracker_feature.cpp
src/processor/processor_tracker_feature_dummy.cpp src/processor/processor_tracker_feature_dummy.cpp
src/processor/processor_tracker_landmark_dummy.cpp
src/processor/processor_tracker_landmark.cpp src/processor/processor_tracker_landmark.cpp
src/processor/processor_tracker_landmark_dummy.cpp
) )
SET(SRCS_SENSOR SET(SRCS_SENSOR
src/sensor/sensor_camera.cpp
src/sensor/sensor_diff_drive.cpp
src/sensor/sensor_GPS.cpp src/sensor/sensor_GPS.cpp
src/sensor/sensor_GPS_fix.cpp src/sensor/sensor_GPS_fix.cpp
src/sensor/sensor_IMU.cpp src/sensor/sensor_IMU.cpp
src/sensor/sensor_camera.cpp
src/sensor/sensor_diff_drive.cpp
src/sensor/sensor_odom_2D.cpp src/sensor/sensor_odom_2D.cpp
src/sensor/sensor_odom_3D.cpp src/sensor/sensor_odom_3D.cpp
) )
...@@ -583,13 +533,13 @@ SET(SRCS_SOLVER ...@@ -583,13 +533,13 @@ SET(SRCS_SOLVER
#optional HDRS and SRCS #optional HDRS and SRCS
IF (Ceres_FOUND) IF (Ceres_FOUND)
SET(HDRS_WRAPPER 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 #ceres_wrapper/qr_manager.h
include/base/ceres_wrapper/ceres_manager.h
include/base/ceres_wrapper/cost_function_wrapper.h include/base/ceres_wrapper/cost_function_wrapper.h
include/base/ceres_wrapper/create_numeric_diff_cost_function.h include/base/ceres_wrapper/create_numeric_diff_cost_function.h
include/base/ceres_wrapper/local_parametrization_wrapper.h include/base/ceres_wrapper/local_parametrization_wrapper.h
include/base/solver/solver_manager.h
include/base/solver_suitesparse/sparse_utils.h
) )
SET(SRCS_WRAPPER SET(SRCS_WRAPPER
src/solver/solver_manager.cpp src/solver/solver_manager.cpp
......
...@@ -156,7 +156,6 @@ list(APPEND EIGEN_INCLUDE_DIR_HINTS /usr/include/eigen3) ...@@ -156,7 +156,6 @@ list(APPEND EIGEN_INCLUDE_DIR_HINTS /usr/include/eigen3)
# match and reject with an explanation below. # match and reject with an explanation below.
find_package(Eigen3 ${wolf_EIGEN_VERSION} QUIET) find_package(Eigen3 ${wolf_EIGEN_VERSION} QUIET)
message("FOUND EIGEN? "${EIGEN3_FOUND})
# Flag set with currently found Eigen version. # Flag set with currently found Eigen version.
set(EIGEN_VERSION @EIGEN_VERSION@) set(EIGEN_VERSION @EIGEN_VERSION@)
if (EIGEN3_FOUND) if (EIGEN3_FOUND)
......
...@@ -174,6 +174,28 @@ void parserYAML::walkTreeR(YAML::Node n, vector<string>& tags, string hdr){ ...@@ -174,6 +174,28 @@ void parserYAML::walkTreeR(YAML::Node n, vector<string>& tags, string hdr){
//otherwise the parser recursively parses the map //otherwise the parser recursively parses the map
regex r("^\\$.*"); regex r("^\\$.*");
if(not regex_match(kv.first.as<string>(), r)){ if(not regex_match(kv.first.as<string>(), r)){
/*
If key=="follow" then the parser will assume that the value is a path and will parse
the (expected) yaml file at the specified path. Note that this does not increase the header depth
The following example shows how the header remains unafected:
@my_main_config | @some_path
- cov_det: 1 | - my_value : 23
- follow: "some_path" |
- var: 1.2 |
Resulting map:
cov_det -> 1
my_value-> 23
var: 1.2
Instead of:
cov_det -> 1
follow/my_value-> 23
var: 1.2
Which would result from the following yaml files
@my_main_config | @some_path
- cov_det: 1 | - my_value : 23
- $follow: "some_path" |
- var: 1.2 |
*/
regex rr("follow"); regex rr("follow");
if(not regex_match(kv.first.as<string>(), rr)) { if(not regex_match(kv.first.as<string>(), rr)) {
tags.push_back(kv.first.as<string>()); tags.push_back(kv.first.as<string>());
......
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