diff --git a/CMakeLists.txt b/CMakeLists.txt index 67bc28cab9aaa70bb2e15ca924363aa9933c9da9..dea914f147b2a7ffcb4831dd05d15c7d91107859 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -547,8 +547,8 @@ ENDIF (GLOG_FOUND) IF(BUILD_EXAMPLES) #Build examples - MESSAGE("Building examples.") - ADD_SUBDIRECTORY(src/examples) + MESSAGE("Building demos.") + ADD_SUBDIRECTORY(demos) ENDIF(BUILD_EXAMPLES) diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake index 75fffc965dca8e814e75185e674c873b319b583f..54a4b4edf5f01dd03e237eeb97d30178ccb14645 100644 --- a/cmake_modules/wolfConfig.cmake +++ b/cmake_modules/wolfConfig.cmake @@ -4,9 +4,9 @@ FIND_PATH( NAMES wolf.found PATHS /usr/local/include/iri-algorithms/wolf/plugin_core) IF(wolf_INCLUDE_DIR) - MESSAGE("Found vision include dirs: ${wolf_INCLUDE_DIR}") + MESSAGE("Found wolf include dirs: ${wolf_INCLUDE_DIR}") ELSE(wolf_INCLUDE_DIR) - MESSAGE("Couldn't find vision include dirs") + MESSAGE("Couldn't find wolf include dirs") ENDIF(wolf_INCLUDE_DIR) FIND_LIBRARY( @@ -59,7 +59,7 @@ macro(wolf_report_not_found REASON_MSG) endmacro(wolf_report_not_found) if(NOT wolf_FOUND) - wolf_report_not_found("TROUBLE DUDE.") + wolf_report_not_found("Something went wrong while setting up wolf.") endif(NOT wolf_FOUND) # Set the include directories for wolf (itself). set(wolf_FOUND TRUE) \ No newline at end of file diff --git a/src/examples/.gitignore b/demos/.gitignore similarity index 100% rename from src/examples/.gitignore rename to demos/.gitignore diff --git a/src/examples/ACTIVESEARCH.yaml b/demos/ACTIVESEARCH.yaml similarity index 100% rename from src/examples/ACTIVESEARCH.yaml rename to demos/ACTIVESEARCH.yaml diff --git a/src/examples/CMakeLists.txt b/demos/CMakeLists.txt similarity index 100% rename from src/examples/CMakeLists.txt rename to demos/CMakeLists.txt diff --git a/src/examples/camera_Dinesh_LAAS_params.yaml b/demos/camera_Dinesh_LAAS_params.yaml similarity index 100% rename from src/examples/camera_Dinesh_LAAS_params.yaml rename to demos/camera_Dinesh_LAAS_params.yaml diff --git a/src/examples/camera_Dinesh_LAAS_params_notangentrect.yaml b/demos/camera_Dinesh_LAAS_params_notangentrect.yaml similarity index 100% rename from src/examples/camera_Dinesh_LAAS_params_notangentrect.yaml rename to demos/camera_Dinesh_LAAS_params_notangentrect.yaml diff --git a/src/examples/camera_logitech_c300_640_480.yaml b/demos/camera_logitech_c300_640_480.yaml similarity index 100% rename from src/examples/camera_logitech_c300_640_480.yaml rename to demos/camera_logitech_c300_640_480.yaml diff --git a/src/examples/camera_params.yaml b/demos/camera_params.yaml similarity index 100% rename from src/examples/camera_params.yaml rename to demos/camera_params.yaml diff --git a/src/examples/camera_params_canonical.yaml b/demos/camera_params_canonical.yaml similarity index 100% rename from src/examples/camera_params_canonical.yaml rename to demos/camera_params_canonical.yaml diff --git a/src/examples/camera_params_ueye.yaml b/demos/camera_params_ueye.yaml similarity index 100% rename from src/examples/camera_params_ueye.yaml rename to demos/camera_params_ueye.yaml diff --git a/src/examples/camera_params_ueye_radial_dist.yaml b/demos/camera_params_ueye_radial_dist.yaml similarity index 100% rename from src/examples/camera_params_ueye_radial_dist.yaml rename to demos/camera_params_ueye_radial_dist.yaml diff --git a/src/examples/camera_params_ueye_sim.yaml b/demos/camera_params_ueye_sim.yaml similarity index 100% rename from src/examples/camera_params_ueye_sim.yaml rename to demos/camera_params_ueye_sim.yaml diff --git a/src/examples/test_2_lasers_offline.cpp b/demos/demo_2_lasers_offline.cpp similarity index 100% rename from src/examples/test_2_lasers_offline.cpp rename to demos/demo_2_lasers_offline.cpp diff --git a/src/examples/Test_ORB.png b/demos/demo_ORB.png similarity index 100% rename from src/examples/Test_ORB.png rename to demos/demo_ORB.png diff --git a/src/examples/test_analytic_odom_factor.cpp b/demos/demo_analytic_odom_factor.cpp similarity index 100% rename from src/examples/test_analytic_odom_factor.cpp rename to demos/demo_analytic_odom_factor.cpp diff --git a/src/examples/test_apriltag.cpp b/demos/demo_apriltag.cpp similarity index 100% rename from src/examples/test_apriltag.cpp rename to demos/demo_apriltag.cpp diff --git a/src/examples/test_autodiff.cpp b/demos/demo_autodiff.cpp similarity index 100% rename from src/examples/test_autodiff.cpp rename to demos/demo_autodiff.cpp diff --git a/src/examples/test_capture_laser_2D.cpp b/demos/demo_capture_laser_2D.cpp similarity index 100% rename from src/examples/test_capture_laser_2D.cpp rename to demos/demo_capture_laser_2D.cpp diff --git a/src/examples/test_ceres_2_lasers.cpp b/demos/demo_ceres_2_lasers.cpp similarity index 100% rename from src/examples/test_ceres_2_lasers.cpp rename to demos/demo_ceres_2_lasers.cpp diff --git a/src/examples/test_ceres_2_lasers_polylines.cpp b/demos/demo_ceres_2_lasers_polylines.cpp similarity index 100% rename from src/examples/test_ceres_2_lasers_polylines.cpp rename to demos/demo_ceres_2_lasers_polylines.cpp diff --git a/src/examples/test_diff_drive.cpp b/demos/demo_diff_drive.cpp similarity index 100% rename from src/examples/test_diff_drive.cpp rename to demos/demo_diff_drive.cpp diff --git a/src/examples/test_eigen_quaternion.cpp b/demos/demo_eigen_quaternion.cpp similarity index 100% rename from src/examples/test_eigen_quaternion.cpp rename to demos/demo_eigen_quaternion.cpp diff --git a/src/examples/test_eigen_template.cpp b/demos/demo_eigen_template.cpp similarity index 100% rename from src/examples/test_eigen_template.cpp rename to demos/demo_eigen_template.cpp diff --git a/src/examples/test_factor_AHP.cpp b/demos/demo_factor_AHP.cpp similarity index 100% rename from src/examples/test_factor_AHP.cpp rename to demos/demo_factor_AHP.cpp diff --git a/src/examples/test_factor_imu.cpp b/demos/demo_factor_imu.cpp similarity index 100% rename from src/examples/test_factor_imu.cpp rename to demos/demo_factor_imu.cpp diff --git a/src/examples/test_factor_odom_3D.cpp b/demos/demo_factor_odom_3D.cpp similarity index 100% rename from src/examples/test_factor_odom_3D.cpp rename to demos/demo_factor_odom_3D.cpp diff --git a/src/examples/test_faramotics_simulation.cpp b/demos/demo_faramotics_simulation.cpp similarity index 100% rename from src/examples/test_faramotics_simulation.cpp rename to demos/demo_faramotics_simulation.cpp diff --git a/src/examples/test_fcn_ptr.cpp b/demos/demo_fcn_ptr.cpp similarity index 100% rename from src/examples/test_fcn_ptr.cpp rename to demos/demo_fcn_ptr.cpp diff --git a/src/examples/test_image.cpp b/demos/demo_image.cpp similarity index 100% rename from src/examples/test_image.cpp rename to demos/demo_image.cpp diff --git a/src/examples/test_imuDock.cpp b/demos/demo_imuDock.cpp similarity index 100% rename from src/examples/test_imuDock.cpp rename to demos/demo_imuDock.cpp diff --git a/src/examples/test_imuDock_autoKFs.cpp b/demos/demo_imuDock_autoKFs.cpp similarity index 100% rename from src/examples/test_imuDock_autoKFs.cpp rename to demos/demo_imuDock_autoKFs.cpp diff --git a/src/examples/test_imuPlateform_Offline.cpp b/demos/demo_imuPlateform_Offline.cpp similarity index 100% rename from src/examples/test_imuPlateform_Offline.cpp rename to demos/demo_imuPlateform_Offline.cpp diff --git a/src/examples/test_imu_constrained0.cpp b/demos/demo_imu_constrained0.cpp similarity index 100% rename from src/examples/test_imu_constrained0.cpp rename to demos/demo_imu_constrained0.cpp diff --git a/src/examples/test_kf_callback.cpp b/demos/demo_kf_callback.cpp similarity index 100% rename from src/examples/test_kf_callback.cpp rename to demos/demo_kf_callback.cpp diff --git a/src/examples/test_list_remove.cpp b/demos/demo_list_remove.cpp similarity index 100% rename from src/examples/test_list_remove.cpp rename to demos/demo_list_remove.cpp diff --git a/src/examples/test_map_yaml.cpp b/demos/demo_map_yaml.cpp similarity index 100% rename from src/examples/test_map_yaml.cpp rename to demos/demo_map_yaml.cpp diff --git a/src/examples/test_matrix_prod.cpp b/demos/demo_matrix_prod.cpp similarity index 100% rename from src/examples/test_matrix_prod.cpp rename to demos/demo_matrix_prod.cpp diff --git a/src/examples/test_mpu.cpp b/demos/demo_mpu.cpp similarity index 100% rename from src/examples/test_mpu.cpp rename to demos/demo_mpu.cpp diff --git a/src/examples/test_processor_imu.cpp b/demos/demo_processor_imu.cpp similarity index 100% rename from src/examples/test_processor_imu.cpp rename to demos/demo_processor_imu.cpp diff --git a/src/examples/test_processor_imu_jacobians.cpp b/demos/demo_processor_imu_jacobians.cpp similarity index 100% rename from src/examples/test_processor_imu_jacobians.cpp rename to demos/demo_processor_imu_jacobians.cpp diff --git a/src/examples/test_processor_odom_3D.cpp b/demos/demo_processor_odom_3D.cpp similarity index 100% rename from src/examples/test_processor_odom_3D.cpp rename to demos/demo_processor_odom_3D.cpp diff --git a/src/examples/test_processor_tracker_feature.cpp b/demos/demo_processor_tracker_feature.cpp similarity index 100% rename from src/examples/test_processor_tracker_feature.cpp rename to demos/demo_processor_tracker_feature.cpp diff --git a/src/examples/test_processor_tracker_landmark.cpp b/demos/demo_processor_tracker_landmark.cpp similarity index 100% rename from src/examples/test_processor_tracker_landmark.cpp rename to demos/demo_processor_tracker_landmark.cpp diff --git a/src/examples/test_processor_tracker_landmark_image.cpp b/demos/demo_processor_tracker_landmark_image.cpp similarity index 100% rename from src/examples/test_processor_tracker_landmark_image.cpp rename to demos/demo_processor_tracker_landmark_image.cpp diff --git a/src/examples/test_projection_points.cpp b/demos/demo_projection_points.cpp similarity index 100% rename from src/examples/test_projection_points.cpp rename to demos/demo_projection_points.cpp diff --git a/src/examples/test_sh_ptr.cpp b/demos/demo_sh_ptr.cpp similarity index 100% rename from src/examples/test_sh_ptr.cpp rename to demos/demo_sh_ptr.cpp diff --git a/src/examples/test_simple_AHP.cpp b/demos/demo_simple_AHP.cpp similarity index 100% rename from src/examples/test_simple_AHP.cpp rename to demos/demo_simple_AHP.cpp diff --git a/src/examples/test_sort_keyframes.cpp b/demos/demo_sort_keyframes.cpp similarity index 100% rename from src/examples/test_sort_keyframes.cpp rename to demos/demo_sort_keyframes.cpp diff --git a/src/examples/test_sparsification.cpp b/demos/demo_sparsification.cpp similarity index 100% rename from src/examples/test_sparsification.cpp rename to demos/demo_sparsification.cpp diff --git a/src/examples/test_state_quaternion.cpp b/demos/demo_state_quaternion.cpp similarity index 100% rename from src/examples/test_state_quaternion.cpp rename to demos/demo_state_quaternion.cpp diff --git a/src/examples/test_tracker_ORB.cpp b/demos/demo_tracker_ORB.cpp similarity index 100% rename from src/examples/test_tracker_ORB.cpp rename to demos/demo_tracker_ORB.cpp diff --git a/src/examples/test_virtual_hierarchy.cpp b/demos/demo_virtual_hierarchy.cpp similarity index 100% rename from src/examples/test_virtual_hierarchy.cpp rename to demos/demo_virtual_hierarchy.cpp diff --git a/src/examples/test_wolf_autodiffwrapper.cpp b/demos/demo_wolf_autodiffwrapper.cpp similarity index 100% rename from src/examples/test_wolf_autodiffwrapper.cpp rename to demos/demo_wolf_autodiffwrapper.cpp diff --git a/src/examples/test_wolf_factories.cpp b/demos/demo_wolf_factories.cpp similarity index 100% rename from src/examples/test_wolf_factories.cpp rename to demos/demo_wolf_factories.cpp diff --git a/src/examples/test_wolf_imported_graph.cpp b/demos/demo_wolf_imported_graph.cpp similarity index 100% rename from src/examples/test_wolf_imported_graph.cpp rename to demos/demo_wolf_imported_graph.cpp diff --git a/src/examples/test_wolf_logging.cpp b/demos/demo_wolf_logging.cpp similarity index 100% rename from src/examples/test_wolf_logging.cpp rename to demos/demo_wolf_logging.cpp diff --git a/src/examples/test_wolf_prunning.cpp b/demos/demo_wolf_prunning.cpp similarity index 100% rename from src/examples/test_wolf_prunning.cpp rename to demos/demo_wolf_prunning.cpp diff --git a/src/examples/test_wolf_root.cpp b/demos/demo_wolf_root.cpp similarity index 100% rename from src/examples/test_wolf_root.cpp rename to demos/demo_wolf_root.cpp diff --git a/src/examples/test_wolf_tree.cpp b/demos/demo_wolf_tree.cpp similarity index 100% rename from src/examples/test_wolf_tree.cpp rename to demos/demo_wolf_tree.cpp diff --git a/src/examples/test_yaml.cpp b/demos/demo_yaml.cpp similarity index 100% rename from src/examples/test_yaml.cpp rename to demos/demo_yaml.cpp diff --git a/src/examples/test_yaml_conversions.cpp b/demos/demo_yaml_conversions.cpp similarity index 100% rename from src/examples/test_yaml_conversions.cpp rename to demos/demo_yaml_conversions.cpp diff --git a/src/examples/input_M3500b_toro.graph b/demos/input_M3500b_toro.graph similarity index 100% rename from src/examples/input_M3500b_toro.graph rename to demos/input_M3500b_toro.graph diff --git a/src/examples/map_apriltag_1.yaml b/demos/map_apriltag_1.yaml similarity index 100% rename from src/examples/map_apriltag_1.yaml rename to demos/map_apriltag_1.yaml diff --git a/src/examples/map_polyline_example.yaml b/demos/map_polyline_example.yaml similarity index 100% rename from src/examples/map_polyline_example.yaml rename to demos/map_polyline_example.yaml diff --git a/src/examples/maps/map_apriltag_logitech_1234.yaml b/demos/maps/map_apriltag_logitech_1234.yaml similarity index 100% rename from src/examples/maps/map_apriltag_logitech_1234.yaml rename to demos/maps/map_apriltag_logitech_1234.yaml diff --git a/src/examples/processor_image_feature.yaml b/demos/processor_image_feature.yaml similarity index 100% rename from src/examples/processor_image_feature.yaml rename to demos/processor_image_feature.yaml diff --git a/src/examples/processor_image_vision_utils.yaml b/demos/processor_image_vision_utils.yaml similarity index 100% rename from src/examples/processor_image_vision_utils.yaml rename to demos/processor_image_vision_utils.yaml diff --git a/src/examples/processor_imu.yaml b/demos/processor_imu.yaml similarity index 100% rename from src/examples/processor_imu.yaml rename to demos/processor_imu.yaml diff --git a/src/examples/processor_imu_no_vote.yaml b/demos/processor_imu_no_vote.yaml similarity index 100% rename from src/examples/processor_imu_no_vote.yaml rename to demos/processor_imu_no_vote.yaml diff --git a/src/examples/processor_imu_t1.yaml b/demos/processor_imu_t1.yaml similarity index 100% rename from src/examples/processor_imu_t1.yaml rename to demos/processor_imu_t1.yaml diff --git a/src/examples/processor_imu_t6.yaml b/demos/processor_imu_t6.yaml similarity index 100% rename from src/examples/processor_imu_t6.yaml rename to demos/processor_imu_t6.yaml diff --git a/src/examples/processor_odom_3D.yaml b/demos/processor_odom_3D.yaml similarity index 100% rename from src/examples/processor_odom_3D.yaml rename to demos/processor_odom_3D.yaml diff --git a/src/examples/processor_tracker_feature_trifocal.yaml b/demos/processor_tracker_feature_trifocal.yaml similarity index 100% rename from src/examples/processor_tracker_feature_trifocal.yaml rename to demos/processor_tracker_feature_trifocal.yaml diff --git a/src/examples/processor_tracker_landmark_apriltag.yaml b/demos/processor_tracker_landmark_apriltag.yaml similarity index 100% rename from src/examples/processor_tracker_landmark_apriltag.yaml rename to demos/processor_tracker_landmark_apriltag.yaml diff --git a/src/examples/sensor_imu.yaml b/demos/sensor_imu.yaml similarity index 100% rename from src/examples/sensor_imu.yaml rename to demos/sensor_imu.yaml diff --git a/src/examples/sensor_odom_3D.yaml b/demos/sensor_odom_3D.yaml similarity index 100% rename from src/examples/sensor_odom_3D.yaml rename to demos/sensor_odom_3D.yaml diff --git a/src/examples/sensor_odom_3D_HQ.yaml b/demos/sensor_odom_3D_HQ.yaml similarity index 100% rename from src/examples/sensor_odom_3D_HQ.yaml rename to demos/sensor_odom_3D_HQ.yaml diff --git a/src/examples/solver/test_SPQR.cpp b/demos/solver/test_SPQR.cpp similarity index 100% rename from src/examples/solver/test_SPQR.cpp rename to demos/solver/test_SPQR.cpp diff --git a/src/examples/solver/test_ccolamd.cpp b/demos/solver/test_ccolamd.cpp similarity index 100% rename from src/examples/solver/test_ccolamd.cpp rename to demos/solver/test_ccolamd.cpp diff --git a/src/examples/solver/test_ccolamd_blocks.cpp b/demos/solver/test_ccolamd_blocks.cpp similarity index 100% rename from src/examples/solver/test_ccolamd_blocks.cpp rename to demos/solver/test_ccolamd_blocks.cpp diff --git a/src/examples/solver/test_iQR.cpp b/demos/solver/test_iQR.cpp similarity index 100% rename from src/examples/solver/test_iQR.cpp rename to demos/solver/test_iQR.cpp diff --git a/src/examples/solver/test_iQR_wolf.cpp b/demos/solver/test_iQR_wolf.cpp similarity index 100% rename from src/examples/solver/test_iQR_wolf.cpp rename to demos/solver/test_iQR_wolf.cpp diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/demos/solver/test_iQR_wolf2.cpp similarity index 100% rename from src/examples/solver/test_iQR_wolf2.cpp rename to demos/solver/test_iQR_wolf2.cpp diff --git a/src/examples/solver/test_incremental_ccolamd_blocks.cpp b/demos/solver/test_incremental_ccolamd_blocks.cpp similarity index 100% rename from src/examples/solver/test_incremental_ccolamd_blocks.cpp rename to demos/solver/test_incremental_ccolamd_blocks.cpp diff --git a/src/examples/solver/test_permutations.cpp b/demos/solver/test_permutations.cpp similarity index 100% rename from src/examples/solver/test_permutations.cpp rename to demos/solver/test_permutations.cpp diff --git a/src/examples/vision_utils_active_search.yaml b/demos/vision_utils_active_search.yaml similarity index 100% rename from src/examples/vision_utils_active_search.yaml rename to demos/vision_utils_active_search.yaml diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp index 4c4710918ce02e79ccefd92dbf8889c7d0b23243..3e810a8484b069fa96f320592ef3d510bb76c29d 100644 --- a/test/gtest_problem.cpp +++ b/test/gtest_problem.cpp @@ -107,7 +107,7 @@ TEST(Problem, Installers) ProblemPtr P = Problem::create("PO", 3); Eigen::Vector7s xs; - SensorBasePtr S = P->installSensor ("ODOM 3D", "odometer", xs, wolf_root + "/src/examples/sensor_odom_3D.yaml"); + SensorBasePtr S = P->installSensor ("ODOM 3D", "odometer", xs, wolf_root + "/demos/sensor_odom_3D.yaml"); // install processor tracker (dummy installation under an Odometry sensor -- it's OK for this test) ProcessorParamsTrackerFeaturePtr params = std::make_shared<ProcessorParamsTrackerFeature>(); @@ -122,7 +122,7 @@ TEST(Problem, Installers) ASSERT_FALSE(P->getProcessorMotion()); // install processor motion - ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml"); + ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/demos/processor_odom_3D.yaml"); // check motion processor is set ASSERT_TRUE(P->getProcessorMotion()); @@ -239,7 +239,7 @@ TEST(Problem, StateBlocks) Eigen::Vector3s xs2d; // 2 state blocks, fixed - SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs3d, wolf_root + "/src/examples/sensor_odom_3D.yaml"); + SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs3d, wolf_root + "/demos/sensor_odom_3D.yaml"); ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 2); // 2 state blocks, fixed @@ -253,7 +253,7 @@ TEST(Problem, StateBlocks) // ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(params)); auto pt = ProcessorBase::emplace<ProcessorTrackerFeatureDummy>(St, ProcessorTrackerFeatureDummy(params)); // St->addProcessor(pt); - ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml"); + ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/demos/processor_odom_3D.yaml"); // 2 state blocks, estimated auto KF = P->emplaceFrame("PO", 3, KEY, xs3d, 0); @@ -302,7 +302,7 @@ TEST(Problem, Covariances) Eigen::Vector7s xs3d; Eigen::Vector3s xs2d; - SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs3d, wolf_root + "/src/examples/sensor_odom_3D.yaml"); + SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs3d, wolf_root + "/demos/sensor_odom_3D.yaml"); SensorBasePtr St = P->installSensor ("ODOM 2D", "other odometer", xs2d, ""); ProcessorParamsTrackerFeaturePtr params = std::make_shared<ProcessorParamsTrackerFeature>(); @@ -313,7 +313,7 @@ TEST(Problem, Covariances) auto pt = ProcessorBase::emplace<ProcessorTrackerFeatureDummy>(St, ProcessorTrackerFeatureDummy(params)); // St->addProcessor(pt); - ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml"); + ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/demos/processor_odom_3D.yaml"); // 4 state blocks, estimated St->unfixExtrinsics();