Merge branch 'devel' into feature/plugins

CMakeLists.txt

@@ -569,13 +569,13 @@ SET(SRCS_SENSOR
   )
 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_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)
@@ -600,71 +600,70 @@ ELSE(Ceres_FOUND)
 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
-   )
- ENDIF(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
+    )
+ENDIF(raw_gps_utils_FOUND)
 
 # Vision
 IF (vision_utils_FOUND)
-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_LANDMARK ${HDRS_LANDMARK}
- 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_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(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_LANDMARK ${HDRS_LANDMARK}
+    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_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)
 add_subdirectory(hello_plugin)
@@ -673,38 +672,38 @@ ADD_SUBDIRECTORY(serialization/cereal)
 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
- 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)
+  # 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/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