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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
d245a62d
Commit
d245a62d
authored
6 years ago
by
Joaquim Casals Buñuel
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HOTFIX: addFeatureList
parent
43857cae
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Changes
4
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4 changed files
CMakeLists.txt
+7
-9
7 additions, 9 deletions
CMakeLists.txt
src/capture/capture_base.cpp
+2
-2
2 additions, 2 deletions
src/capture/capture_base.cpp
src/map/map_base.cpp
+10
-8
10 additions, 8 deletions
src/map/map_base.cpp
test/gtest_capture_base.cpp
+1
-1
1 addition, 1 deletion
test/gtest_capture_base.cpp
with
20 additions
and
20 deletions
CMakeLists.txt
+
7
−
9
View file @
d245a62d
...
@@ -195,8 +195,6 @@ ENDIF (SPDLOG_INCLUDE_DIR)
...
@@ -195,8 +195,6 @@ ENDIF (SPDLOG_INCLUDE_DIR)
INCLUDE_DIRECTORIES
(
${
EIGEN_INCLUDE_DIRS
}
)
INCLUDE_DIRECTORIES
(
${
EIGEN_INCLUDE_DIRS
}
)
include_directories
(
"include"
)
include_directories
(
"include"
)
include_directories
(
.
)
# include_directories("templinks")
IF
(
Ceres_FOUND
)
IF
(
Ceres_FOUND
)
INCLUDE_DIRECTORIES
(
${
CERES_INCLUDE_DIRS
}
)
INCLUDE_DIRECTORIES
(
${
CERES_INCLUDE_DIRS
}
)
ENDIF
(
Ceres_FOUND
)
ENDIF
(
Ceres_FOUND
)
...
@@ -455,14 +453,14 @@ IF (Ceres_FOUND)
...
@@ -455,14 +453,14 @@ IF (Ceres_FOUND)
include/core/ceres_wrapper/ceres_manager.h
include/core/ceres_wrapper/ceres_manager.h
include/core/ceres_wrapper/cost_function_wrapper.h
include/core/ceres_wrapper/cost_function_wrapper.h
include/core/ceres_wrapper/create_numeric_diff_cost_function.h
include/core/ceres_wrapper/create_numeric_diff_cost_function.h
include/core/ceres_wrapper/local_parametrization_wrapper.h
include/core/ceres_wrapper/local_parametrization_wrapper.h
include/core/solver/solver_manager.h
include/core/solver/solver_manager.h
include/core/solver_suitesparse/sparse_utils.h
include/core/solver_suitesparse/sparse_utils.h
)
)
SET
(
SRCS_WRAPPER
SET
(
SRCS_WRAPPER
#ceres_wrapper/qr_manager.cpp
#ceres_wrapper/qr_manager.cpp
src/ceres_wrapper/ceres_manager.cpp
src/ceres_wrapper/ceres_manager.cpp
src/ceres_wrapper/local_parametrization_wrapper.cpp
src/ceres_wrapper/local_parametrization_wrapper.cpp
src/solver/solver_manager.cpp
src/solver/solver_manager.cpp
)
)
ELSE
(
Ceres_FOUND
)
ELSE
(
Ceres_FOUND
)
...
@@ -493,15 +491,15 @@ IF(YAMLCPP_FOUND)
...
@@ -493,15 +491,15 @@ IF(YAMLCPP_FOUND)
src/yaml/sensor_odom_3D_yaml.cpp
src/yaml/sensor_odom_3D_yaml.cpp
)
)
ENDIF
(
YAMLCPP_FOUND
)
ENDIF
(
YAMLCPP_FOUND
)
# create the shared library
# create the shared library
ADD_LIBRARY
(
${
PROJECT_NAME
}
ADD_LIBRARY
(
${
PROJECT_NAME
}
SHARED
SHARED
${
SRCS
}
${
SRCS
}
${
SRCS_BASE
}
${
SRCS_BASE
}
${
SRCS_CAPTURE
}
${
SRCS_CAPTURE
}
${
SRCS_COMMON
}
${
SRCS_COMMON
}
${
SRCS_DTASSC
}
${
SRCS_DTASSC
}
${
SRCS_FACTOR
}
${
SRCS_FACTOR
}
${
SRCS_FEATURE
}
${
SRCS_FEATURE
}
${
SRCS_FRAME
}
${
SRCS_FRAME
}
...
...
This diff is collapsed.
Click to expand it.
src/capture/capture_base.cpp
+
2
−
2
View file @
d245a62d
...
@@ -109,9 +109,9 @@ void CaptureBase::addFeatureList(FeatureBasePtrList& _new_ft_list)
...
@@ -109,9 +109,9 @@ void CaptureBase::addFeatureList(FeatureBasePtrList& _new_ft_list)
feature_ptr
->
setCapture
(
shared_from_this
());
feature_ptr
->
setCapture
(
shared_from_this
());
if
(
getProblem
()
!=
nullptr
)
if
(
getProblem
()
!=
nullptr
)
feature_ptr
->
setProblem
(
getProblem
());
feature_ptr
->
setProblem
(
getProblem
());
feature_list_
.
push_back
(
feature_ptr
);
//
feature_list_.push_back(feature_ptr);
}
}
//
feature_list_.splice(feature_list_.end(), _new_ft_list);
feature_list_
.
splice
(
feature_list_
.
end
(),
_new_ft_list
);
}
}
void
CaptureBase
::
getFactorList
(
FactorBasePtrList
&
_fac_list
)
void
CaptureBase
::
getFactorList
(
FactorBasePtrList
&
_fac_list
)
...
...
This diff is collapsed.
Click to expand it.
src/map/map_base.cpp
+
10
−
8
View file @
d245a62d
...
@@ -37,14 +37,16 @@ void MapBase::addLandmarkList(LandmarkBasePtrList& _landmark_list)
...
@@ -37,14 +37,16 @@ void MapBase::addLandmarkList(LandmarkBasePtrList& _landmark_list)
{
{
for
(
auto
lmk
:
_landmark_list
)
for
(
auto
lmk
:
_landmark_list
)
addLandmark
(
lmk
);
addLandmark
(
lmk
);
// LandmarkBasePtrList lmk_list_copy = _landmark_list; //since _landmark_list will be empty after addDownNodeList()
// for (LandmarkBasePtr landmark_ptr : lmk_list_copy)
//TEMPORARY FIX, should be made compliant with the new emplace methodology
// {
LandmarkBasePtrList
lmk_list_copy
=
_landmark_list
;
//since _landmark_list will be empty after addDownNodeList()
// landmark_ptr->setMapPtr(shared_from_this());
for
(
LandmarkBasePtr
landmark_ptr
:
lmk_list_copy
)
// landmark_ptr->setProblem(getProblem());
{
// landmark_ptr->registerNewStateBlocks();
landmark_ptr
->
setMap
(
shared_from_this
());
// }
landmark_ptr
->
setProblem
(
getProblem
());
// landmark_list_.splice(landmark_list_.end(), _landmark_list);
landmark_ptr
->
registerNewStateBlocks
();
}
landmark_list_
.
splice
(
landmark_list_
.
end
(),
_landmark_list
);
}
}
void
MapBase
::
load
(
const
std
::
string
&
_map_file_dot_yaml
)
void
MapBase
::
load
(
const
std
::
string
&
_map_file_dot_yaml
)
...
...
This diff is collapsed.
Click to expand it.
test/gtest_capture_base.cpp
+
1
−
1
View file @
d245a62d
...
@@ -99,7 +99,7 @@ TEST(CaptureBase, addFeatureList)
...
@@ -99,7 +99,7 @@ TEST(CaptureBase, addFeatureList)
C
->
addFeatureList
((
fl
));
C
->
addFeatureList
((
fl
));
ASSERT_EQ
(
C
->
getFeatureList
().
size
(),
(
unsigned
int
)
4
);
ASSERT_EQ
(
C
->
getFeatureList
().
size
(),
(
unsigned
int
)
4
);
//
ASSERT_EQ(fl.size(), (unsigned int) 0); // features have been moved, not copied // EDIT 02-2019: features have been copied
ASSERT_EQ
(
fl
.
size
(),
(
unsigned
int
)
0
);
// features have been moved, not copied // EDIT 02-2019: features have been copied
ASSERT_EQ
(
C
->
getFeatureList
().
front
(),
f_first
);
ASSERT_EQ
(
C
->
getFeatureList
().
front
(),
f_first
);
ASSERT_EQ
(
C
->
getFeatureList
().
back
(),
f_last
);
ASSERT_EQ
(
C
->
getFeatureList
().
back
(),
f_last
);
}
}
...
...
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