diff --git a/CMakeLists.txt b/CMakeLists.txt index 2259b960bc1dd0a09848b89ba96b317d06e61421..fef41cbba74fb13c7d02841c2ddbb876a0c28959 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -100,6 +100,7 @@ option(_WOLF_TRACE "Enable wolf tracing macro" ON) # option(BUILD_EXAMPLES "Build examples" OFF) set(BUILD_TESTS true) +set(BUILD_EXAMPLES true) # Does this has any other interest # but for the examples ? diff --git a/src/examples/test_processor_imu.cpp b/src/examples/test_processor_imu.cpp index 1006144584851998c1a349e4c8aa7023021067f2..7dc68ebd7d36b75ee7dc15299495ede4bc6f8fe2 100644 --- a/src/examples/test_processor_imu.cpp +++ b/src/examples/test_processor_imu.cpp @@ -73,7 +73,7 @@ int main(int argc, char** argv) ProblemPtr problem_ptr_ = Problem::create("PQVBB 3D"); Eigen::VectorXs extrinsics(7); extrinsics << 0,0,0, 0,0,0,1; // IMU pose in the robot - SensorBasePtr sensor_ptr = problem_ptr_->installSensor("IMU", "Main IMU", extrinsics, IntrinsicsBase()); + SensorBasePtr sensor_ptr = problem_ptr_->installSensor("IMU", "Main IMU", extrinsics, IntrinsicsBasePtr()); problem_ptr_->installProcessor("IMU", "IMU pre-integrator", "Main IMU", ""); // Time and data variables diff --git a/src/examples/test_sparsification.cpp b/src/examples/test_sparsification.cpp index fd70931309ad5e9f177ef23c18ece4a928e6d61b..7b9e85c085a04dc401097db87be3dcc8ea25e17d 100644 --- a/src/examples/test_sparsification.cpp +++ b/src/examples/test_sparsification.cpp @@ -187,7 +187,7 @@ int main(int argc, char** argv) // Wolf problem FrameBasePtr last_frame_ptr, frame_from_ptr, frame_to_ptr; ProblemPtr bl_problem_ptr = Problem::create("PO_2D"); - SensorBasePtr sensor_ptr = bl_problem_ptr->installSensor("ODOM 2D", "Odometry", Eigen::VectorXs::Zero(3), IntrinsicsBase()); + SensorBasePtr sensor_ptr = bl_problem_ptr->installSensor("ODOM 2D", "Odometry", Eigen::VectorXs::Zero(3), IntrinsicsBasePtr()); // Ceres wrapper std::string bl_summary, sp_summary;