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.gitignore
View file @ 024d3436
...@@ -32,3 +32,4 @@ src/examples/map_apriltag_save.yaml ...@@ -32,3 +32,4 @@ src/examples/map_apriltag_save.yaml
\.vscode/ \.vscode/
build_release/ build_release/
wolf.found
.gitlab-ci.yml
View file @ 024d3436
...@@ -66,5 +66,5 @@ wolf_build_and_test: ...@@ -66,5 +66,5 @@ wolf_build_and_test:
- cd build - cd build
- ls # we can check whether the directory was already full - ls # we can check whether the directory was already full
- cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON .. - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
- make - make -j$(nproc)
- ctest - ctest
CMakeLists.txt
View file @ 024d3436
This diff is collapsed.
PluginsInfo.md 0 → 100644
View file @ 024d3436
# Overview
# Installing
## Installing wolf(core)
```
git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/core.git
cd core
mkdir build & cd build
cmake ..
make
make install
```
## Installing plugins
```
git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/<plugin name>.git
cd <plugin name>
mkdir build & cd build
cmake ..
make
make install
```
# Using wolf in your applications
## Using wolf core
If you want to use the core, you just need to have it installed and in your CMakeLists.txt put the following line
`find_package(wolf REQUIRED)`.
If wolf is indeed installed, this will define two variables
`${wolf_INCLUDE_DIR}` which will contain the path to the wolf include directory
and `${wolf_LIBRARY}` which will contain the path to the wolf library.
## Using wolf plugins
If you also want to use some wolf plugin, you just follow the same procedure, changing the name
`find_package(wolf<plugin name> REQUIRED)`.
If the pluging is indeed installed, this will define two variables
`${wolf<plugin name>_INCLUDE_DIR}` which will contain the path to the plugin's include directory
and `${wolf<plugin name>_LIBRARY}` which will contain the path to the plugin's library.
As an example, suppose that we want to use the _vision_ plugin. First, we will clone and install it
```
git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/vision.git
cd vision
mkdir build && cd build
cmake ..
make
sudo make install
```
Then, in the CMakeLists.txt of the application we are developing we will put the following line
```
find_package(wolfvision REQUIRED)
```
if the plugin has been correctly installed, and thus find_package succeeds, then it will define two variables
- ${wolfvision_INCLUDE_DIR} which is the path to the includes. It should have the value `/usr/local/include/iri-algorithms/wolf/plugin_vision`
- ${wolfvision_LIBRARY} which is the path to the compiled (& linked) library. It should have the value `/usr/local/lib/iri-algorithms/libwolfvision.so`
**IMPORTANT NOTE** For the time being, each plugin is only responsible for finding their own includes and library. This means that for instance wolfvision, which obviously requires
the _core_ plugin, will not find its own dependencies. It is the responsibility of the programmer to do `find_package(wolf REQUIRED)` to get the includes and library. In the future this will change and each plugin will be responsible for finding all the necessary dependencies.
# Creating your plugin
We provide a template to create your own plugin.
You can either clone it and restart the git history
```
git clone https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/Template.git
cd Template
rm -rf .git
git init
```
or directly fork*(?)* the repository.
# Contributing
## Contributing your plugin to wolf
## Contributing to existing plugins
## Contributing to wolf core
\ No newline at end of file
cmake_modules/Findwolf.cmake deleted 100644 → 0
View file @ 5550f7e1
#edit the following line to add the librarie's header files
FIND_PATH(
wolf_INCLUDE_DIRS
NAMES wolf.found
PATHS /usr/local/include/iri-algorithms/wolf/base)
#change INCLUDE_DIRS to its parent directory
get_filename_component(wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIRS} DIRECTORY)
IF(wolf_INCLUDE_DIRS)
MESSAGE("Found wolf (base) include dirs: ${wolf_INCLUDE_DIRS}")
ELSE
MESSAGE("Couldn't find wolf (base) include dirs")
ENDIF
FIND_LIBRARY(
wolf_LIBRARY
NAMES wolf
PATHS /usr/lib /usr/local/lib /usr/local/lib/iri-algorithms)
IF (wolf_INCLUDE_DIRS AND wolf_LIBRARY)
SET(wolf_FOUND TRUE)
ENDIF (wolf_INCLUDE_DIRS AND wolf_LIBRARY)
IF (wolf_FOUND)
IF (NOT wolf_FIND_QUIETLY)
MESSAGE(STATUS "Found wolf: ${wolf_LIBRARY}")
ENDIF (NOT wolf_FIND_QUIETLY)
ELSE (wolf_FOUND)
IF (wolf_FIND_REQUIRED)
MESSAGE(FATAL_ERROR "Could not find wolf")
ENDIF (wolf_FIND_REQUIRED)
ENDIF (wolf_FOUND)
cmake_modules/wolfConfig.cmake
View file @ 024d3436
# This file was copied and adapted from the ceres_solver project #edit the following line to add the librarie's header files
# http://ceres-solver.org/ FIND_PATH(
wolf_INCLUDE_DIR
NAMES wolf.found
PATHS /usr/local/include/iri-algorithms/wolf/plugin_core)
IF(wolf_INCLUDE_DIR)
MESSAGE("Found wolf include dirs: ${wolf_INCLUDE_DIR}")
ELSE(wolf_INCLUDE_DIR)
MESSAGE("Couldn't find wolf include dirs")
ENDIF(wolf_INCLUDE_DIR)
FIND_LIBRARY(
wolf_LIBRARY
NAMES libwolf.so
PATHS /usr/local/lib/iri-algorithms)
IF(wolf_LIBRARY)
MESSAGE("Found wolf lib: ${wolf_LIBRARY}")
ELSE(wolf_LIBRARY)
MESSAGE("Couldn't find wolf lib")
ENDIF(wolf_LIBRARY)
IF (wolf_INCLUDE_DIR AND wolf_LIBRARY)
SET(wolf_FOUND TRUE)
ELSE(wolf_INCLUDE_DIR AND wolf_LIBRARY)
set(wolf_FOUND FALSE)
ENDIF (wolf_INCLUDE_DIR AND wolf_LIBRARY)
IF (wolf_FOUND)
IF (NOT wolf_FIND_QUIETLY)
MESSAGE(STATUS "Found wolf: ${wolf_LIBRARY}")
ENDIF (NOT wolf_FIND_QUIETLY)
ELSE (wolf_FOUND)
IF (wolf_FIND_REQUIRED)
MESSAGE(FATAL_ERROR "Could not find wolf")
ENDIF (wolf_FIND_REQUIRED)
ENDIF (wolf_FOUND)
# wolf - Windowed Localization Frames
# Copyright 2016
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
# * Neither the name of Google Inc. nor the names of its contributors may be
# used to endorse or promote products derived from this software without
# specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Authors:
#
# Config file for wolf - Find wolf & dependencies.
#
# This file is used by CMake when find_package(wolf) is invoked and either
# the directory containing this file either is present in CMAKE_MODULE_PATH
# (if wolf was installed), or exists in the local CMake package registry if
# the wolf build directory was exported.
#
# This module defines the following variables:
#
# wolf_FOUND / wolf_FOUND: True if wolf has been successfully
# found. Both variables are set as although
# FindPackage() only references wolf_FOUND
# in Config mode, given the conventions for
# <package>_FOUND when FindPackage() is
# called in Module mode, users could
# reasonably expect to use wolf_FOUND
# instead.
#
# wolf_VERSION: Version of wolf found.
#
# wolf_INCLUDE_DIRS: Include directories for wolf and the
# dependencies which appear in the wolf public
# API and are thus required to use wolf.
#
# wolf_LIBRARIES: Libraries for wolf and all
# dependencies against which wolf was
# compiled. This will not include any optional
# dependencies that were disabled when wolf was
# compiled.
#
# The following variables are also defined for legacy compatibility
# only. Any new code should not use them as they do not conform to
# the standard CMake FindPackage naming conventions.
#
# wolf_INCLUDES = ${wolf_INCLUDE_DIRS}.
# Called if we failed to find Ceres or any of its required dependencies,
# unsets all public (designed to be used externally) variables and reports
# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
macro(wolf_report_not_found REASON_MSG) macro(wolf_report_not_found REASON_MSG)
# FindPackage() only references Ceres_FOUND, and requires it to be
# explicitly set FALSE to denote not found (not merely undefined).
set(wolf_FOUND FALSE)
set(wolf_FOUND FALSE) set(wolf_FOUND FALSE)
unset(wolf_INCLUDE_DIRS) unset(wolf_INCLUDE_DIR)
unset(wolf_LIBRARIES) unset(wolf_LIBRARIES)
# Reset the CMake module path to its state when this script was called. # Reset the CMake module path to its state when this script was called.
...@@ -85,7 +47,7 @@ macro(wolf_report_not_found REASON_MSG) ...@@ -85,7 +47,7 @@ macro(wolf_report_not_found REASON_MSG)
# Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
# FindPackage() use the camelcase library name, not uppercase. # FindPackage() use the camelcase library name, not uppercase.
if (wolf_FIND_QUIETLY) if (wolf_FIND_QUIETLY)
message(STATUS "Failed to find wolf - " ${REASON_MSG} ${ARGN}) message(STATUS "Failed to find wolf- " ${REASON_MSG} ${ARGN})
else (wolf_FIND_REQUIRED) else (wolf_FIND_REQUIRED)
message(FATAL_ERROR "Failed to find wolf - " ${REASON_MSG} ${ARGN}) message(FATAL_ERROR "Failed to find wolf - " ${REASON_MSG} ${ARGN})
else() else()
...@@ -96,126 +58,8 @@ macro(wolf_report_not_found REASON_MSG) ...@@ -96,126 +58,8 @@ macro(wolf_report_not_found REASON_MSG)
return() return()
endmacro(wolf_report_not_found) endmacro(wolf_report_not_found)
# Record the state of the CMake module path when this script was if(NOT wolf_FOUND)
# called so that we can ensure that we leave it in the same state on wolf_report_not_found("Something went wrong while setting up wolf.")
# exit as it was on entry, but modify it locally. endif(NOT wolf_FOUND)
set(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
# Get the (current, i.e. installed) directory containing this file.
get_filename_component(wolf_CURRENT_CONFIG_DIR
"${CMAKE_CURRENT_LIST_FILE}" PATH)
# Reset CMake module path to the installation directory of this
# script, thus we will use the FindPackage() scripts shipped with
# wolf to find wolf' dependencies, even if the user has equivalently
# named FindPackage() scripts in their project.
set(CMAKE_MODULE_PATH ${wolf_CURRENT_CONFIG_DIR})
# Build the absolute root install directory as a relative path
# (determined when wolf was configured & built) from the current
# install directory for this this file. This allows for the install
# tree to be relocated, after wolf was built, outside of CMake.
get_filename_component(CURRENT_ROOT_INSTALL_DIR
${wolf_CURRENT_CONFIG_DIR}/../../../
ABSOLUTE)
if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
wolf_report_not_found(
"wolf install root: ${CURRENT_ROOT_INSTALL_DIR}, "
"determined from relative path from wolfConfig.cmake install location: "
"${wolf_CURRENT_CONFIG_DIR}, does not exist. Either the install "
"directory was deleted, or the install tree was only partially relocated "
"outside of CMake after wolf was built.")
endif (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
# Set the include directories for wolf (itself). # Set the include directories for wolf (itself).
set(wolf_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include/iri-algorithms") set(wolf_FOUND TRUE)
\ No newline at end of file
# if (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h)
if (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf)
wolf_report_not_found(
"wolf install root: ${CURRENT_ROOT_INSTALL_DIR}, "
"determined from relative path from wolfConfig.cmake install location: "
"${wolf_CURRENT_CONFIG_DIR}, does not contain wolf headers. "
"Either the install directory was deleted, or the install tree was only "
"partially relocated outside of CMake after wolf was built.")
# endif (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf/wolf.h)
endif (NOT EXISTS ${wolf_INCLUDE_DIR}/wolf)
list(APPEND wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIR}/wolf)
# Set the version.
set(wolf_VERSION 0.0.1)
# Eigen.
# Flag set during configuration and build of wolf.
set(wolf_EIGEN_VERSION @EIGEN_VERSION@)
# Append the locations of Eigen when wolf was built to the search path hints.
list(APPEND EIGEN_INCLUDE_DIR_HINTS /usr/include/eigen3)
# Search quietly to control the timing of the error message if not found. The
# search should be for an exact match, but for usability reasons do a soft
# match and reject with an explanation below.
find_package(Eigen3 ${wolf_EIGEN_VERSION} QUIET)
# Flag set with currently found Eigen version.
set(EIGEN_VERSION @EIGEN_VERSION@)
if (EIGEN3_FOUND)
if (NOT EIGEN_VERSION VERSION_EQUAL wolf_EIGEN_VERSION)
# CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
# specified version. However, only version = is supported. Improve
# usability by explaining why we don't accept non-exact version matching.
wolf_report_not_found("Found Eigen dependency, but the version of Eigen "
"found (${EIGEN_VERSION}) does not exactly match the version of Eigen "
"wolf was compiled with (${wolf_EIGEN_VERSION}). This can cause subtle "
"bugs by triggering violations of the One Definition Rule. See the "
"Wikipedia article http://en.wikipedia.org/wiki/One_Definition_Rule "
"for more details")
endif ()
message(STATUS "Found required wolf dependency: "
"Eigen version ${wolf_EIGEN_VERSION} in ${EIGEN3_INCLUDE_DIR}")
else (EIGEN3_FOUND)
wolf_report_not_found("Missing required wolf "
"dependency: Eigen version ${wolf_EIGEN_VERSION}, please set "
"EIGEN3_INCLUDE_DIR.")
endif (EIGEN3_FOUND)
list(APPEND wolf_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
# Import exported wolf targets, if they have not already been imported.
if (NOT TARGET wolf AND NOT wolf_BINARY_DIR)
include(${wolf_CURRENT_CONFIG_DIR}/wolfTargets.cmake)
endif (NOT TARGET wolf AND NOT wolf_BINARY_DIR)
# Set the expected XX_LIBRARIES variable for FindPackage().
set(wolf_LIBRARIES wolf)
# Set legacy library variable for backwards compatibility.
set(wolf_LIBRARY ${wolf_LIBRARIES})
# Make user aware of any compile flags that will be added to their targets
# which use wolf (i.e. flags exported in the wolf target). Only CMake
# versions >= 2.8.12 support target_compile_options().
if (TARGET ${wolf_LIBRARIES} AND
NOT CMAKE_VERSION VERSION_LESS "2.8.12")
get_target_property(wolf_INTERFACE_COMPILE_OPTIONS
${wolf_LIBRARIES} INTERFACE_COMPILE_OPTIONS)
set(wolf_LOCATION "${CURRENT_ROOT_INSTALL_DIR}")
# Check for -std=c++11 flags.
if (wolf_INTERFACE_COMPILE_OPTIONS MATCHES ".*std=c\\+\\+11.*")
message(STATUS "wolf version ${wolf_VERSION} detected here: "
"${wolf_LOCATION} was built with C++11. wolf target will add "
"C++11 flags to compile options for targets using it.")
endif()
endif()
# Reset CMake module path to its state when this script was called.
set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
# As we use wolf_REPORT_NOT_FOUND() to abort, if we reach this point we have
# found wolf and all required dependencies.
message(STATUS "Found wolf version: ${wolf_VERSION} installed in: ${CURRENT_ROOT_INSTALL_DIR}")
# Set wolf_FOUND to be equivalent to wolf_FOUND, which is set to
# TRUE by FindPackage() if this file is found and run, and after which
# wolf_FOUND is not (explicitly, i.e. undefined does not count) set
# to FALSE.
set(wolf_FOUND TRUE)
src/examples/.gitignore → demos/.gitignore
View file @ 024d3436
File moved
src/examples/CMakeLists.txt → demos/CMakeLists.txt
View file @ 024d3436
File moved
src/examples/test_2_lasers_offline.cpp → demos/demo_2_lasers_offline.cpp
View file @ 024d3436
//std includes //std includes
#include "base/sensor/sensor_GPS_fix.h" #include "core/sensor/sensor_GPS_fix.h"
#include <cstdlib> #include <cstdlib>
#include <iostream> #include <iostream>
#include <fstream> #include <fstream>
...@@ -17,12 +17,12 @@ ...@@ -17,12 +17,12 @@
#include "glog/logging.h" #include "glog/logging.h"
//Wolf includes //Wolf includes
#include "base/problem/problem.h" #include "core/problem/problem.h"
#include "base/processor/processor_tracker_landmark_corner.h" #include "core/processor/processor_tracker_landmark_corner.h"
#include "base/processor/processor_odom_2D.h" #include "core/processor/processor_odom_2D.h"
#include "base/sensor/sensor_laser_2D.h" #include "core/sensor/sensor_laser_2D.h"
#include "base/sensor/sensor_odom_2D.h" #include "core/sensor/sensor_odom_2D.h"
#include "base/ceres_wrapper/ceres_manager.h" #include "core/ceres_wrapper/ceres_manager.h"
// laserscanutils // laserscanutils
#include "laser_scan_utils/line_finder_iterative.h" #include "laser_scan_utils/line_finder_iterative.h"
...@@ -31,7 +31,7 @@ ...@@ -31,7 +31,7 @@
//C includes for sleep, time and main args //C includes for sleep, time and main args
#include "unistd.h" #include "unistd.h"
#include "base/capture/capture_pose.h" #include "core/capture/capture_pose.h"
//faramotics includes //faramotics includes
#include "faramotics/dynamicSceneRender.h" #include "faramotics/dynamicSceneRender.h"
#include "faramotics/rangeScan2D.h" #include "faramotics/rangeScan2D.h"
......
src/examples/Test_ORB.png → demos/demo_ORB.png
View file @ 024d3436
File moved
src/examples/test_analytic_odom_factor.cpp → demos/demo_analytic_odom_factor.cpp
View file @ 024d3436
...@@ -12,8 +12,8 @@ ...@@ -12,8 +12,8 @@
//Wolf includes //Wolf includes
#include "wolf_manager.h" #include "wolf_manager.h"
#include "base/capture/capture_void.h" #include "core/capture/capture_void.h"
#include "base/ceres_wrapper/ceres_manager.h" #include "core/ceres_wrapper/ceres_manager.h"
// EIGEN // EIGEN
//#include <Eigen/CholmodSupport> //#include <Eigen/CholmodSupport>
......