From b26e5d914c882eb34ce1fcfb1b5713bd3202ef29 Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Mon, 4 Mar 2019 15:22:22 +0100
Subject: [PATCH] WIP
---
CMakeLists.txt | 36 ++++++++++++-----------
cmake_modules/Findwolf.cmake | 2 +-
cmake_modules/wolfConfig.cmake | 2 +-
hello_plugin/CMakeLists.txt | 2 +-
hello_plugin/hello_plugin.cpp | 2 +-
hello_plugin/params.yaml | 2 +-
hello_plugin/params_autoconf.cpp | 3 +-
hello_wolf/CMakeLists.txt | 35 +++++++++++-----------
{hello_plugin => include/base}/loader.hpp | 0
include/base/yaml/parser_yaml.hpp | 11 +++++++
10 files changed, 54 insertions(+), 41 deletions(-)
rename {hello_plugin => include/base}/loader.hpp (100%)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d6ba1eb3f..420a26fb2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
if(COMMAND cmake_policy)
- cmake_policy(SET CMP0005 NEW)
+ cmake_policy(SET CMP0005 NEW)
cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)
# MAC OSX RPATH
@@ -207,8 +207,8 @@ IF (SPDLOG_INCLUDE_DIR)
MESSAGE(STATUS "Found spdlog: ${SPDLOG_INCLUDE_DIR}")
ELSE (SPDLOG_INCLUDE_DIR)
MESSAGE(FATAL_ERROR "Could not find spdlog")
-ENDIF (SPDLOG_INCLUDE_DIR)
-
+ENDIF (SPDLOG_INCLUDE_DIR)
+
INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
include_directories("include")
include_directories(.)
@@ -289,6 +289,7 @@ SET(HDRS_BASE
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_base.h
@@ -440,7 +441,7 @@ SET(HDRS_DTASSC
include/base/association/association_nnls.h
)
-SET(HDRS_CORE
+SET(HDRS_CORE
include/base/capture/capture_base.h
include/base/capture/capture_buffer.h
include/base/capture/capture_pose.h
@@ -484,9 +485,11 @@ SET(HDRS_CORE
include/base/trajectory_base.h
include/base/wolf.h
)
-
+SET(HDRS_YAML
+ include/base/yaml/parser_yaml.hpp
+ )
#SOURCES
-SET(SRCS_CORE
+SET(SRCS_CORE
src/capture/capture_base.cpp
src/capture/capture_pose.cpp
src/capture/capture_void.cpp
@@ -586,13 +589,13 @@ IF (Ceres_FOUND)
#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/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/ceres_wrapper/local_parametrization_wrapper.cpp
)
ELSE(Ceres_FOUND)
SET(HDRS_WRAPPER)
@@ -672,7 +675,7 @@ ADD_SUBDIRECTORY(serialization/cereal)
ENDIF(cereal_FOUND)
IF (Suitesparse_FOUND)
- #DOES NOTHING?!
+ #DOES NOTHING?!
#ADD_SUBDIRECTORY(solver_suitesparse)
ENDIF(Suitesparse_FOUND)
# LEAVE YAML FILES ALWAYS IN THE LAST POSITION !!
@@ -684,7 +687,7 @@ IF(YAMLCPP_FOUND)
SET(HDRS_YAML ${HDRS_YAML}
include/base/yaml/yaml_conversion.h
)
-
+
# sources
SET(SRCS ${SRCS}
src/yaml/processor_odom_3D_yaml.cpp
@@ -705,11 +708,11 @@ IF(YAMLCPP_FOUND)
)
ENDIF(vision_utils_FOUND)
ENDIF(YAMLCPP_FOUND)
-
+
# create the shared library
-ADD_LIBRARY(${PROJECT_NAME}
- SHARED
- ${SRCS_BASE}
+ADD_LIBRARY(${PROJECT_NAME}
+ SHARED
+ ${SRCS_BASE}
${SRCS_CORE}
${SRCS}
${SRCS_CAPTURE}
@@ -718,7 +721,7 @@ ADD_LIBRARY(${PROJECT_NAME}
${SRCS_LANDMARK}
${SRCS_PROCESSOR}
${SRCS_SENSOR}
- #${SRCS_DTASSC}
+ #${SRCS_DTASSC}
${SRCS_SOLVER}
${SRCS_WRAPPER}
)
@@ -835,7 +838,7 @@ IF (UNIX)
COMMENT "distribution clean"
COMMAND make ARGS clean
COMMAND rm ARGS -rf ${CMAKE_SOURCE_DIR}/build/*
-
+
TARGET distclean
)
ELSE(UNIX)
@@ -875,4 +878,3 @@ ELSE(UNIX)
COMMENT "packaging only implemented in unix"
TARGET uninstall)
ENDIF(UNIX)
-
diff --git a/cmake_modules/Findwolf.cmake b/cmake_modules/Findwolf.cmake
index 19dee9a0b..488bbda10 100644
--- a/cmake_modules/Findwolf.cmake
+++ b/cmake_modules/Findwolf.cmake
@@ -4,7 +4,7 @@ FIND_PATH(
# NAMES wolf.h
PATHS /usr/local/include/iri-algorithms/wolf)
#change INCLUDE_DIRS to its parent directory
-get_filename_component(wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIRS} DIRECTORY)
+# get_filename_component(wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIRS} DIRECTORY)
MESSAGE("Found wolf include dirs: ${wolf_INCLUDE_DIRS}")
FIND_LIBRARY(
diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake
index 82bb7cf0a..6944aead5 100644
--- a/cmake_modules/wolfConfig.cmake
+++ b/cmake_modules/wolfConfig.cmake
@@ -156,7 +156,7 @@ 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)
diff --git a/hello_plugin/CMakeLists.txt b/hello_plugin/CMakeLists.txt
index 5546382d7..8df392f87 100644
--- a/hello_plugin/CMakeLists.txt
+++ b/hello_plugin/CMakeLists.txt
@@ -2,13 +2,13 @@ INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
# INCLUDE_DIRECTORIES(/home/jcasals/workspace/wolf/src)
# link_directories(/home/jcasals/workspace/wolf/lib)
-# ADD_EXECUTABLE(hello_plugin hello_plugin.cpp sensor_odom_2D.cpp processor_odom_2D.cpp)
ADD_EXECUTABLE(hello_plugin hello_plugin.cpp)
ADD_EXECUTABLE(params_autoconf params_autoconf.cpp)
# target_link_libraries(hello_plugin class_loader boost_system console_bridge wolf yaml-cpp ${CERES_LIBRARIES})
# target_link_libraries(params_autoconf class_loader boost_system console_bridge wolf yaml-cpp )
target_link_libraries(hello_plugin wolf yaml-cpp ${CERES_LIBRARIES} dl)
target_link_libraries(params_autoconf wolf yaml-cpp dl)
+
# These lines always at the end
SET(HDRS_PLUGIN ${HDRS_PLUGIN} PARENT_SCOPE )
SET(SRCS_PLUGIN ${SRCS_PLUGIN} PARENT_SCOPE )
diff --git a/hello_plugin/hello_plugin.cpp b/hello_plugin/hello_plugin.cpp
index 0f73b2ffe..1ca7e4266 100644
--- a/hello_plugin/hello_plugin.cpp
+++ b/hello_plugin/hello_plugin.cpp
@@ -15,7 +15,7 @@
#include "../hello_wolf/feature_range_bearing.h"
#include "../hello_wolf/constraint_range_bearing.h"
#include "../hello_wolf/landmark_point_2D.h"
-#include "loader.hpp"
+#include "base/loader.hpp"
#include "base/processor/processor_odom_2D.h"
#include "base/solver/solver_factory.h"
diff --git a/hello_plugin/params.yaml b/hello_plugin/params.yaml
index db5fab3fa..baeb49c7a 100644
--- a/hello_plugin/params.yaml
+++ b/hello_plugin/params.yaml
@@ -26,5 +26,5 @@ config:
sensorname: "odom"
follow: "../hello_plugin/params_conf.yaml"
files:
- - "/home/jcasals/workspace/wip/wolf/lib/libsensor_odo.so"
+ - "/home/jcasals/workspace/wip/wolf/lib/libsensor_odom.so"
- "/home/jcasals/workspace/wip/wolf/lib/librange_bearing.so"
\ No newline at end of file
diff --git a/hello_plugin/params_autoconf.cpp b/hello_plugin/params_autoconf.cpp
index e987769c1..aea1b890d 100644
--- a/hello_plugin/params_autoconf.cpp
+++ b/hello_plugin/params_autoconf.cpp
@@ -15,7 +15,7 @@
#include "../hello_wolf/feature_range_bearing.h"
#include "../hello_wolf/constraint_range_bearing.h"
#include "../hello_wolf/landmark_point_2D.h"
-#include "loader.hpp"
+#include "base/loader.hpp"
#include "base/processor/processor_odom_2D.h"
#include "base/solver/solver_factory.h"
@@ -42,6 +42,7 @@ int main(int argc, char** argv) {
auto loaders = vector<Loader*>();
for(auto it : parser.getFiles()) {
auto l = new LoaderRaw(it);
+ l->load();
loaders.push_back(l);
}
ProblemPtr problem = Problem::create("PO 2D");
diff --git a/hello_wolf/CMakeLists.txt b/hello_wolf/CMakeLists.txt
index 96b4a4b48..d23d0a242 100644
--- a/hello_wolf/CMakeLists.txt
+++ b/hello_wolf/CMakeLists.txt
@@ -3,32 +3,31 @@ INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
# Forward var to parent scope
SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
- ${CMAKE_CURRENT_SOURCE_DIR}/capture_range_bearing.h
- ${CMAKE_CURRENT_SOURCE_DIR}/constraint_bearing.h
- ${CMAKE_CURRENT_SOURCE_DIR}/constraint_range_bearing.h
- ${CMAKE_CURRENT_SOURCE_DIR}/feature_range_bearing.h
- ${CMAKE_CURRENT_SOURCE_DIR}/landmark_point_2D.h
- ${CMAKE_CURRENT_SOURCE_DIR}/processor_range_bearing.h
- ${CMAKE_CURRENT_SOURCE_DIR}/sensor_range_bearing.h
+ ${CMAKE_CURRENT_SOURCE_DIR}/capture_range_bearing.h
+ ${CMAKE_CURRENT_SOURCE_DIR}/constraint_bearing.h
+ ${CMAKE_CURRENT_SOURCE_DIR}/constraint_range_bearing.h
+ ${CMAKE_CURRENT_SOURCE_DIR}/feature_range_bearing.h
+ ${CMAKE_CURRENT_SOURCE_DIR}/landmark_point_2D.h
+ ${CMAKE_CURRENT_SOURCE_DIR}/processor_range_bearing.h
+ ${CMAKE_CURRENT_SOURCE_DIR}/sensor_range_bearing.h
)
SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
-# ${CMAKE_CURRENT_SOURCE_DIR}/hello_wolf.cpp
- ${CMAKE_CURRENT_SOURCE_DIR}/capture_range_bearing.cpp
- ${CMAKE_CURRENT_SOURCE_DIR}/feature_range_bearing.cpp
- ${CMAKE_CURRENT_SOURCE_DIR}/landmark_point_2D.cpp
- ${CMAKE_CURRENT_SOURCE_DIR}/processor_range_bearing.cpp
- ${CMAKE_CURRENT_SOURCE_DIR}/sensor_range_bearing.cpp
+# ${CMAKE_CURRENT_SOURCE_DIR}/hello_wolf.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/capture_range_bearing.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/feature_range_bearing.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/landmark_point_2D.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/processor_range_bearing.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/sensor_range_bearing.cpp
)
ADD_EXECUTABLE(hello_wolf hello_wolf.cpp)
TARGET_LINK_LIBRARIES(hello_wolf ${PROJECT_NAME})
-
+add_library(sensor_odom SHARED ../src/sensor/sensor_odom_2D.cpp ../src/processor/processor_odom_2D.cpp)
+TARGET_LINK_LIBRARIES(sensor_odom ${PROJECT_NAME})
+add_library(range_bearing SHARED sensor_range_bearing.cpp processor_range_bearing.cpp)
+TARGET_LINK_LIBRARIES(range_bearing ${PROJECT_NAME})
-
-
# These lines always at the end
SET(HDRS_PROCESSOR ${HDRS_PROCESSOR} PARENT_SCOPE )
SET(SRCS_PROCESSOR ${SRCS_PROCESSOR} PARENT_SCOPE )
-
-
diff --git a/hello_plugin/loader.hpp b/include/base/loader.hpp
similarity index 100%
rename from hello_plugin/loader.hpp
rename to include/base/loader.hpp
diff --git a/include/base/yaml/parser_yaml.hpp b/include/base/yaml/parser_yaml.hpp
index 491c15f6b..1e7b71765 100644
--- a/include/base/yaml/parser_yaml.hpp
+++ b/include/base/yaml/parser_yaml.hpp
@@ -64,6 +64,7 @@ class parserYAML {
string _file;
bool _relative_path;
string _path_root;
+ vector<array<string, 2>> _callbacks;
public:
parserYAML(){
_params = map<string, string>();
@@ -74,6 +75,7 @@ public:
_files = vector<string>();
_path_root = "";
_relative_path = false;
+ _callbacks = vector<array<string, 2>>();
}
parserYAML(string file){
_params = map<string, string>();
@@ -84,6 +86,7 @@ public:
_file = file;
_path_root = "";
_relative_path = false;
+ _callbacks = vector<array<string, 2>>();
}
parserYAML(string file, string path_root){
_params = map<string, string>();
@@ -94,6 +97,7 @@ public:
_file = file;
_path_root = path_root;
_relative_path = true;
+ _callbacks = vector<array<string, 2>>();
}
~parserYAML(){
//
@@ -108,6 +112,7 @@ public:
vector<array<string, 2>> sensorsSerialization();
vector<array<string, 3>> processorsSerialization();
vector<string> getFiles();
+ vector<array<string, 2>> getCallbacks();
map<string,string> getParams();
void parse();
map<string, string> fetchAsMap(YAML::Node);
@@ -211,6 +216,9 @@ void parserYAML::parseFirstLevel(string file){
ParamsInitProcessor pProc = {kv["type"].Scalar(), kv["name"].Scalar(), kv["sensorname"].Scalar(), kv};
_paramsProc.push_back(pProc);
}
+ for(const auto& kv : n_config["callbacks"]){
+ _callbacks.push_back({{kv[0].as<std::string>(), kv[1].as<std::string>()}});
+ }
YAML::Node n_files = n["files"];
assert(n_files.Type() == YAML::NodeType::Sequence && "trying to parse files node but found a non-Sequence node");
for(const auto& kv : n_files){
@@ -232,6 +240,9 @@ vector<array<string, 3>> parserYAML::processorsSerialization(){
vector<string> parserYAML::getFiles(){
return this->_files;
}
+vector<array<string, 2>> parserYAML::getCallbacks(){
+ return this->_callbacks;
+}
map<string,string> parserYAML::getParams(){
map<string,string> rtn = _params;
return rtn;
--
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