Move simulator into a library

g2o/CMakeLists.txt

@@ -10,9 +10,12 @@ endif(G2O_BUILD_APPS)
 # Pre-canned types
 add_subdirectory(types)
 
-# Solvers
 add_subdirectory(solvers)
 
+if (G2O_BUILD_SLAM2D_TYPES AND G2O_BUILD_SLAM3D_TYPES)
+  add_subdirectory(simulator)
+endif()
+
 # Examples
 if(G2O_BUILD_EXAMPLES)
   add_subdirectory(examples)

g2o/apps/CMakeLists.txt

@@ -1,6 +1,6 @@
 add_subdirectory(g2o_cli)
 
-if (G2O_BUILD_SLAM2D_TYPES AND G2O_BUILD_SLAM3D_TYPES)
+if (TARGET simulator_lib)
   add_subdirectory(g2o_simulator)
 endif()
 

g2o/apps/g2o_simulator/CMakeLists.txt

@@ -1,58 +1,19 @@
-add_library(g2o_simulator_library ${G2O_LIB_TYPE}
-   simulator.cpp simulator.h
-   pointsensorparameters.cpp  pointsensorparameters.h
-   simulator2d_base.h
-   sensor_odometry2d.cpp sensor_odometry2d.h
-   sensor_pose2d.cpp sensor_pose2d.h
-   sensor_pointxy.cpp sensor_pointxy.h
-   sensor_pointxy_bearing.cpp sensor_pointxy_bearing.h
-   sensor_pointxy_offset.cpp sensor_pointxy_offset.h
-   simutils.cpp simutils.h
-   sensor_segment2d.cpp  sensor_segment2d.h
-   sensor_segment2d_line.cpp  sensor_segment2d_line.h
-   sensor_segment2d_pointline.cpp  sensor_segment2d_pointline.h
-
-   simulator3d_base.h
-   sensor_odometry3d.cpp sensor_odometry3d.h
-   sensor_pose3d.cpp sensor_pose3d.h
-   sensor_pose3d_offset.cpp sensor_pose3d_offset.h
-   sensor_pointxyz.cpp sensor_pointxyz.h
-   sensor_pointxyz_disparity.cpp sensor_pointxyz_disparity.h
-   sensor_pointxyz_depth.cpp sensor_pointxyz_depth.h
-   sensor_se3_prior.cpp sensor_se3_prior.h
-
-   g2o_simulator_api.h
-)
-
-set_target_properties(g2o_simulator_library PROPERTIES OUTPUT_NAME ${LIB_PREFIX}simulator)
-set_target_properties(g2o_simulator_library PROPERTIES
-  VERSION ${G2O_LIB_VERSION}
-  SOVERSION ${G2O_LIB_SOVERSION})
-if (APPLE)
-  set_target_properties(g2o_simulator_library PROPERTIES INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
-endif()
-
-target_link_libraries(g2o_simulator_library types_slam3d_addons types_slam3d types_slam2d_addons types_slam2d  core)
-
 add_executable(g2o_simulator2d_application
-  test_simulator2d.cpp
+  g2o_simulator2d.cpp
 )
-target_link_libraries(g2o_simulator2d_application g2o_simulator_library types_slam2d_addons types_slam2d core)
+target_link_libraries(g2o_simulator2d_application simulator_lib types_slam2d_addons types_slam2d core)
 set_target_properties(g2o_simulator2d_application PROPERTIES OUTPUT_NAME g2o_simulator2d)
 
 add_executable(g2o_simulator3d_application
-  test_simulator3d.cpp
+  g2o_simulator3d.cpp
 )
-target_link_libraries(g2o_simulator3d_application g2o_simulator_library types_slam3d_addons types_slam3d types_slam2d_addons types_slam2d core)
+target_link_libraries(g2o_simulator3d_application simulator_lib types_slam3d_addons types_slam3d types_slam2d_addons types_slam2d core)
 set_target_properties(g2o_simulator3d_application PROPERTIES OUTPUT_NAME g2o_simulator3d)
 
-install(TARGETS g2o_simulator_library g2o_simulator2d_application g2o_simulator3d_application
+install(TARGETS g2o_simulator2d_application g2o_simulator3d_application
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
   LIBRARY DESTINATION ${LIBRARY_DESTINATION}
   ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
   INCLUDES DESTINATION ${INCLUDES_DESTINATION}
 )
-
-file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-install(FILES ${headers} DESTINATION ${INCLUDES_INSTALL_DIR}/apps/g2o_simulator)

g2o/apps/g2o_simulator/test_simulator2d.cpp → g2o/apps/g2o_simulator/g2o_simulator2d.cpp

@@ -29,16 +29,16 @@
 #include <memory>
 #include <optional>
 
-#include "g2o/apps/g2o_simulator/sensor_odometry2d.h"
-#include "g2o/apps/g2o_simulator/sensor_pointxy.h"
-#include "g2o/apps/g2o_simulator/sensor_pointxy_bearing.h"
-#include "g2o/apps/g2o_simulator/sensor_pose2d.h"
-#include "g2o/apps/g2o_simulator/sensor_segment2d.h"
-#include "g2o/apps/g2o_simulator/sensor_segment2d_line.h"
-#include "g2o/apps/g2o_simulator/sensor_segment2d_pointline.h"
-#include "g2o/apps/g2o_simulator/simulator.h"
-#include "g2o/apps/g2o_simulator/simulator2d_base.h"
 #include "g2o/core/optimizable_graph.h"
+#include "g2o/simulator/sensor_odometry2d.h"
+#include "g2o/simulator/sensor_pointxy.h"
+#include "g2o/simulator/sensor_pointxy_bearing.h"
+#include "g2o/simulator/sensor_pose2d.h"
+#include "g2o/simulator/sensor_segment2d.h"
+#include "g2o/simulator/sensor_segment2d_line.h"
+#include "g2o/simulator/sensor_segment2d_pointline.h"
+#include "g2o/simulator/simulator.h"
+#include "g2o/simulator/simulator2d_base.h"
 #include "g2o/stuff/command_args.h"
 #include "g2o/stuff/sampler.h"
 #include "g2o/types/slam2d/se2.h"

g2o/apps/g2o_simulator/test_simulator3d.cpp → g2o/apps/g2o_simulator/g2o_simulator3d.cpp

@@ -29,15 +29,15 @@
 #include <memory>
 #include <optional>
 
-#include "g2o/apps/g2o_simulator/sensor_odometry3d.h"
-#include "g2o/apps/g2o_simulator/sensor_pointxyz.h"
-#include "g2o/apps/g2o_simulator/sensor_pointxyz_depth.h"
-#include "g2o/apps/g2o_simulator/sensor_pointxyz_disparity.h"
-#include "g2o/apps/g2o_simulator/sensor_pose3d.h"
-#include "g2o/apps/g2o_simulator/simulator.h"
-#include "g2o/apps/g2o_simulator/simulator3d_base.h"
 #include "g2o/core/eigen_types.h"
 #include "g2o/core/optimizable_graph.h"
+#include "g2o/simulator/sensor_odometry3d.h"
+#include "g2o/simulator/sensor_pointxyz.h"
+#include "g2o/simulator/sensor_pointxyz_depth.h"
+#include "g2o/simulator/sensor_pointxyz_disparity.h"
+#include "g2o/simulator/sensor_pose3d.h"
+#include "g2o/simulator/simulator.h"
+#include "g2o/simulator/simulator3d_base.h"
 #include "g2o/stuff/command_args.h"
 #include "g2o/stuff/sampler.h"
 #include "g2o/types/slam3d/parameter_camera.h"

g2o/simulator/CMakeLists.txt

@@ -0,0 +1,51 @@
+add_library(simulator_lib ${G2O_LIB_TYPE}
+   simulator.cpp simulator.h
+   pointsensorparameters.cpp  pointsensorparameters.h
+   simulator2d_base.h
+   sensor_odometry2d.cpp sensor_odometry2d.h
+   sensor_pose2d.cpp sensor_pose2d.h
+   sensor_pointxy.cpp sensor_pointxy.h
+   sensor_pointxy_bearing.cpp sensor_pointxy_bearing.h
+   sensor_pointxy_offset.cpp sensor_pointxy_offset.h
+   simutils.cpp simutils.h
+   sensor_segment2d.cpp  sensor_segment2d.h
+   sensor_segment2d_line.cpp  sensor_segment2d_line.h
+   sensor_segment2d_pointline.cpp  sensor_segment2d_pointline.h
+
+   simulator3d_base.h
+   sensor_odometry3d.cpp sensor_odometry3d.h
+   sensor_pose3d.cpp sensor_pose3d.h
+   sensor_pose3d_offset.cpp sensor_pose3d_offset.h
+   sensor_pointxyz.cpp sensor_pointxyz.h
+   sensor_pointxyz_disparity.cpp sensor_pointxyz_disparity.h
+   sensor_pointxyz_depth.cpp sensor_pointxyz_depth.h
+   sensor_se3_prior.cpp sensor_se3_prior.h
+
+   g2o_simulator_api.h
+)
+
+target_include_directories(core PUBLIC
+  "$<BUILD_INTERFACE:${g2o_SOURCE_DIR};${PROJECT_BINARY_DIR}>"
+  $<INSTALL_INTERFACE:include/g2o/simulator>
+)
+
+set_target_properties(simulator_lib PROPERTIES OUTPUT_NAME ${LIB_PREFIX}simulator)
+set_target_properties(simulator_lib PROPERTIES
+  VERSION ${G2O_LIB_VERSION}
+  SOVERSION ${G2O_LIB_SOVERSION})
+if (APPLE)
+  set_target_properties(simulator_lib PROPERTIES INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
+endif()
+
+target_link_libraries(simulator_lib types_slam3d_addons types_slam3d types_slam2d_addons types_slam2d core)
+
+file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
+install(FILES ${headers} DESTINATION ${INCLUDES_INSTALL_DIR}/simulator)
+
+install(TARGETS simulator_lib
+  EXPORT ${G2O_TARGETS_EXPORT_NAME}
+  RUNTIME DESTINATION ${RUNTIME_DESTINATION}
+  LIBRARY DESTINATION ${LIBRARY_DESTINATION}
+  ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
+  INCLUDES DESTINATION ${INCLUDES_DESTINATION}
+)

g2o/apps/g2o_simulator/g2o_simulator_api.h → g2o/simulator/g2o_simulator_api.h

@@ -36,12 +36,11 @@
 #ifndef G2O_SIMULATOR_API_H
 #define G2O_SIMULATOR_API_H
 
-#include "g2o/config.h"
-
 #ifdef _MSC_VER
 // We are using a Microsoft compiler:
+#include "g2o/config.h"
 #ifdef G2O_SHARED_LIBS
-#ifdef g2o_simulator_library_EXPORTS
+#ifdef simulator_lib_EXPORTS
 #define G2O_SIMULATOR_API __declspec(dllexport)
 #else
 #define G2O_SIMULATOR_API __declspec(dllimport)

g2o/apps/g2o_simulator/sensor_odometry2d.cpp → g2o/simulator/sensor_odometry2d.cpp

@@ -26,7 +26,7 @@
 
 #include "sensor_odometry2d.h"
 
-#include "g2o/apps/g2o_simulator/simulator2d_base.h"
+#include "g2o/simulator/simulator2d_base.h"
 #include "g2o/stuff/logger.h"
 
 // Robot2D

g2o/apps/g2o_simulator/sensor_pointxy_offset.cpp → g2o/simulator/sensor_pointxy_offset.cpp

@@ -29,7 +29,7 @@
 #include <cassert>
 #include <utility>
 
-#include "g2o/apps/g2o_simulator/simulator.h"
+#include "g2o/simulator/simulator.h"
 
 namespace g2o {
 

g2o/apps/g2o_simulator/sensor_pointxyz.cpp → g2o/simulator/sensor_pointxyz.cpp

@@ -29,7 +29,7 @@
 #include <cassert>
 #include <utility>
 
-#include "g2o/apps/g2o_simulator/simulator.h"
+#include "g2o/simulator/simulator.h"
 
 namespace g2o {
 

g2o/apps/g2o_simulator/sensor_pointxyz.h → g2o/simulator/sensor_pointxyz.h

@@ -26,7 +26,8 @@
 
 #ifndef G2O_SENSOR_POINTXYZ_H_
 #define G2O_SENSOR_POINTXYZ_H_
-#include "g2o/apps/g2o_simulator/simulator.h"
+
+#include "g2o/simulator/simulator.h"
 #include "g2o/types/slam3d/edge_se3_pointxyz.h"
 #include "g2o_simulator_api.h"
 #include "pointsensorparameters.h"

g2o/apps/g2o_simulator/sensor_pointxyz_depth.cpp → g2o/simulator/sensor_pointxyz_depth.cpp

@@ -28,7 +28,7 @@
 
 #include <cassert>
 
-#include "g2o/apps/g2o_simulator/simulator.h"
+#include "g2o/simulator/simulator.h"
 
 namespace g2o {
 

g2o/apps/g2o_simulator/sensor_pointxyz_disparity.cpp → g2o/simulator/sensor_pointxyz_disparity.cpp

@@ -28,7 +28,7 @@
 
 #include <cassert>
 
-#include "g2o/apps/g2o_simulator/simulator.h"
+#include "simulator.h"
 
 namespace g2o {
 

g2o/apps/g2o_simulator/sensor_pointxyz_disparity.h → g2o/simulator/sensor_pointxyz_disparity.h

@@ -26,7 +26,8 @@
 
 #ifndef G2O_SENSOR_POINTXYZ_DISPARITY_H_
 #define G2O_SENSOR_POINTXYZ_DISPARITY_H_
-#include "g2o/apps/g2o_simulator/simulator.h"
+
+#include "g2o/simulator/simulator.h"
 #include "g2o/types/slam3d/edge_se3_pointxyz_disparity.h"
 #include "g2o/types/slam3d/parameter_camera.h"
 #include "g2o_simulator_api.h"

g2o/apps/g2o_simulator/sensor_pose3d_offset.cpp → g2o/simulator/sensor_pose3d_offset.cpp

@@ -30,7 +30,7 @@
 #include <unordered_set>
 #include <utility>
 
-#include "g2o/apps/g2o_simulator/simulator.h"
+#include "g2o/simulator/simulator.h"
 #include "g2o/types/slam3d/isometry3d_mappings.h"
 
 namespace g2o {

g2o/apps/g2o_simulator/sensor_pose3d_offset.h → g2o/simulator/sensor_pose3d_offset.h

@@ -27,7 +27,7 @@
 #ifndef G2O_SENSOR_POSE3D_OFFSET_H_
 #define G2O_SENSOR_POSE3D_OFFSET_H_
 
-#include "g2o/apps/g2o_simulator/simulator.h"
+#include "g2o/simulator/simulator.h"
 #include "g2o/types/slam3d/edge_se3_offset.h"
 #include "g2o/types/slam3d/parameter_se3_offset.h"
 #include "pointsensorparameters.h"

g2o/apps/g2o_simulator/sensor_segment2d.cpp → g2o/simulator/sensor_segment2d.cpp

@@ -29,7 +29,7 @@
 #include <cassert>
 #include <utility>
 
-#include "g2o/apps/g2o_simulator/simutils.h"
+#include "g2o/simulator/simutils.h"
 
 namespace g2o {
 

g2o/apps/g2o_simulator/sensor_segment2d.h → g2o/simulator/sensor_segment2d.h

@@ -27,8 +27,8 @@
 #ifndef G2O_SENSOR_SEGMENT2D_H_
 #define G2O_SENSOR_SEGMENT2D_H_
 
-#include "g2o/apps/g2o_simulator/pointsensorparameters.h"
-#include "g2o/apps/g2o_simulator/simulator2d_base.h"
+#include "g2o/simulator/pointsensorparameters.h"
+#include "g2o/simulator/simulator2d_base.h"
 #include "g2o/types/slam2d_addons/edge_se2_segment2d.h"
 
 namespace g2o {

g2o/apps/g2o_simulator/sensor_segment2d_line.cpp → g2o/simulator/sensor_segment2d_line.cpp

@@ -29,7 +29,7 @@
 #include <cassert>
 #include <utility>
 
-#include "g2o/apps/g2o_simulator/simutils.h"
+#include "g2o/simulator/simutils.h"
 
 namespace g2o {
 

g2o/apps/g2o_simulator/sensor_segment2d_line.h → g2o/simulator/sensor_segment2d_line.h

@@ -27,8 +27,8 @@
 #ifndef G2O_SENSOR_SEGMENT2D_LINE_H_
 #define G2O_SENSOR_SEGMENT2D_LINE_H_
 
-#include "g2o/apps/g2o_simulator/pointsensorparameters.h"
-#include "g2o/apps/g2o_simulator/simulator2d_base.h"
+#include "g2o/simulator/pointsensorparameters.h"
+#include "g2o/simulator/simulator2d_base.h"
 #include "g2o/types/slam2d_addons/edge_se2_segment2d_line.h"
 
 namespace g2o {

g2o/apps/g2o_simulator/sensor_segment2d_pointline.cpp → g2o/simulator/sensor_segment2d_pointline.cpp

@@ -29,7 +29,7 @@
 #include <cassert>
 #include <utility>
 
-#include "g2o/apps/g2o_simulator/simutils.h"
+#include "g2o/simulator/simutils.h"
 
 namespace g2o {
 

g2o/apps/g2o_simulator/sensor_segment2d_pointline.h → g2o/simulator/sensor_segment2d_pointline.h

@@ -27,8 +27,8 @@
 #ifndef G2O_SENSOR_SEGMENT2D_POINTLINE_H_
 #define G2O_SENSOR_SEGMENT2D_POINTLINE_H_
 
-#include "g2o/apps/g2o_simulator/pointsensorparameters.h"
-#include "g2o/apps/g2o_simulator/simulator2d_base.h"
+#include "g2o/simulator/pointsensorparameters.h"
+#include "g2o/simulator/simulator2d_base.h"
 #include "g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h"
 
 namespace g2o {

todo.md

@@ -1,13 +1,18 @@
-[ ] wrap simulator into library
-[ ] add python wrapper for simulator
+[x] wrap simulator into library
+[ ] add config types for simulation
 [ ] add tests for simulator
 [ ] add python wrapper for simulator
-[x] Create parameter type for ParameterCamera to support load/save
 [ ] Add typing for parameters to template?
+[ ] Add fixed size types for pure python problems
 [ ] Re-work python wrapping for parameters, templated base param
 [ ] Test load/save for VertexCam (camera and baseline seem missing from traits)
-[x] Refactor Data container. Can it be a container instead of linked list?
+[ ] use cmakedefine01 for compile flags in config
+[ ] add test for setData / getData on the graph
+[ ] update py_base_vertex/edge to map now common methods
 [ ] Use FakeDependency in Traits
+[ ] wrap abstract graph to python and update save wrapper
+[x] Create parameter type for ParameterCamera to support load/save
+[x] Refactor Data container. Can it be a container instead of linked list?
 [x] EdgeSE2TwoPointsXY, EdgeSE2PointXYCalib can be fixed size edges -> IO test
 [x] IO test fixture including parameter
 [x] Type Based Tests for Jacobian
@@ -19,10 +24,5 @@
 [x] test save/load of dynamic edge
 [x] binary format for save/load
 [x] XML format for save/load
-[ ] wrap abstract graph to python and update save wrapper
 [x] ParameterContainer remove read/write
 [x] remove read/write methods for vertex / edge
-
-[ ] use cmakedefine01 for compile flags in config
-[ ] add test for setData / getData on the graph
-[ ] update py_base_vertex/edge to map now common methods