Minor fixes

83f626df · Joaquim Casals Buñuel · b26e5d91 · 83f626df · 83f626df · 83f626df
Commit 83f626df authored 6 years ago by Joaquim Casals Buñuel
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -254,6 +254,8 @@ ENDIF(GLOG_FOUND)
 #HEADERS

 SET(HDRS_BASE
+  include/base/IMU_tools.h
+  include/base/SE3.h
  include/base/converter.h
  include/base/diff_drive_tools.h
  include/base/diff_drive_tools.hpp
@@ -262,7 +264,7 @@ SET(HDRS_BASE
  include/base/factory.h
  include/base/frame_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_base.h
  include/base/local_parametrization_homogeneous.h
@@ -282,65 +284,41 @@ SET(HDRS_BASE
  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/loader.hpp
  )
 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_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_pose.h
  include/base/capture/capture_velocity.h
+  include/base/capture/capture_void.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_GPS_pseudorange_3D.h
+  include/base/constraint/constraint_IMU.h
+  include/base/constraint/constraint_analytic.h
+  include/base/constraint/constraint_autodiff.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_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
@@ -350,83 +328,57 @@ SET(HDRS_CONSTRAINT
  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_base.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_match.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_match.h
  include/base/landmark/landmark_polyline_2D.h
  )
 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_diff_drive.h
+  include/base/processor/processor_factory.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_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_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/new_sensor_factory.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_base.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_diff_drive.h
+  include/base/sensor/sensor_factory.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
@@ -442,6 +394,7 @@ SET(HDRS_DTASSC
  )

 SET(HDRS_CORE
+  include/base/SE3.h
  include/base/capture/capture_base.h
  include/base/capture/capture_buffer.h
  include/base/capture/capture_pose.h
@@ -449,7 +402,6 @@ SET(HDRS_CORE
  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
@@ -460,26 +412,24 @@ SET(HDRS_CORE
  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_factory.h
+  include/base/processor/processor_logging.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/processor/processor_tracker_feature.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
@@ -536,11 +486,11 @@ SET(SRCS_CAPTURE
  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_corner_2D.cpp
+  src/feature/feature_diff_drive.cpp
  src/feature/feature_odom_2D.cpp
  src/feature/feature_polyline_2D.cpp
  )
@@ -551,22 +501,22 @@ SET(SRCS_LANDMARK
  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_diff_drive.cpp
+  src/processor/processor_frame_nearest_neighbor_filter.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
+  src/processor/processor_tracker_landmark_dummy.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_camera.cpp
+  src/sensor/sensor_diff_drive.cpp
  src/sensor/sensor_odom_2D.cpp
  src/sensor/sensor_odom_3D.cpp
  )
@@ -583,13 +533,13 @@ SET(SRCS_SOLVER
 #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/ceres_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/solver_manager.h
+   include/base/solver_suitesparse/sparse_utils.h
   )
 SET(SRCS_WRAPPER
   src/solver/solver_manager.cpp

--- a/cmake_modules/wolfConfig.cmake
+++ b/cmake_modules/wolfConfig.cmake
@@ -156,7 +156,6 @@ list(APPEND EIGEN_INCLUDE_DIR_HINTS /usr/include/eigen3)
 # match and reject with an explanation below.

 find_package(Eigen3 ${wolf_EIGEN_VERSION} QUIET)
-message("FOUND EIGEN? "${EIGEN3_FOUND})
 # Flag set with currently found Eigen version.
 set(EIGEN_VERSION @EIGEN_VERSION@)
 if (EIGEN3_FOUND)

--- a/include/base/yaml/parser_yaml.hpp
+++ b/include/base/yaml/parser_yaml.hpp
@@ -174,6 +174,28 @@ void parserYAML::walkTreeR(YAML::Node n, vector<string>& tags, string hdr){
            //otherwise the parser recursively parses the map
            regex 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");
                if(not regex_match(kv.first.as<string>(), rr)) {
                    tags.push_back(kv.first.as<string>());