From e7db0ded2bcd1acc137e06b4eae448d608c7a46d Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Thu, 14 Mar 2019 16:04:36 +0100
Subject: [PATCH] Fixed examples
---
CMakeLists.txt | 1 +
src/examples/test_processor_imu.cpp | 2 +-
src/examples/test_sparsification.cpp | 2 +-
3 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2259b960b..fef41cbba 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 100614458..7dc68ebd7 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 fd7093130..7b9e85c08 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;
--
GitLab