update wave_geometry(master), change libwave to CXX 17

CMakeLists.txt

@@ -5,7 +5,7 @@ PROJECT(wave)
 SET(WAVE_PACKAGE_VERSION 0.1.0)
 
 # Compiler settings for all targets
-SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD 17)
 SET(CMAKE_POSITION_INDEPENDENT_CODE ON)
 ADD_COMPILE_OPTIONS(-Wall -Wextra -Wno-strict-overflow)
 

README.md

@@ -41,7 +41,7 @@ Some earlier versions may work, but are not tested.
 - gtsam
 - GeographicLib 1.49
 
-Building libwave requires CMake 3.2 and a C++11 compiler (tested on GCC 5.4).
+Building libwave requires CMake 3.2 and a C++17 compiler (tested on GCC 5.4).
 
 ### Installing dependencies
 The basic set of dependencies can be installed with the Ubuntu package manager
@@ -69,16 +69,16 @@ described above. Then build using CMake:
     cd build
     cmake ..
     make -j8
-    
+
 By default, all libraries whose dependencies are found will be built. Individual
 libraries can be disabled using CMake options. For example,
 
     cmake .. -DBUILD_wave_vision=OFF
-    
+
 will disable building `wave_vision`.
 
 Install libwave by running `make install`. Alternatively, you can enable the
-`EXPORT_BUILD` option in CMake, which will make the libwave build directory 
+`EXPORT_BUILD` option in CMake, which will make the libwave build directory
 searchable by CMake without installation.
 
 

package.xml

@@ -12,4 +12,9 @@
   <export>
     <build_type>cmake</build_type>
   </export>
+  <depend>libboost-dev</depend>
+  <depend>yaml-cpp</depend>
+  <depend>eigen</depend>
+  <depend>geographiclib</depend>
+  <test_depend>rosunit</test_depend>
 </package>

wave_gtsam/tests/gtsam/gtsam_offline_example.cpp

@@ -6,6 +6,7 @@
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/Sampler.h>
+#include <gtsam/geometry/SimpleCamera.h>
 
 #include "wave/wave_test.hpp"
 #include "wave/vision/dataset/VoDataset.hpp"

wave_gtsam/tests/gtsam/gtsam_offline_kitti_example.cpp

@@ -6,6 +6,7 @@
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/Sampler.h>
+#include <gtsam/geometry/SimpleCamera.h>
 
 #include "wave/wave_test.hpp"
 #include "wave/vision/dataset/VoDataset.hpp"

wave_matching/include/wave/matching/impl/ground_segmentation.hpp

@@ -227,7 +227,7 @@ void GroundSegmentation<PointT>::sectorINSAC(int sector_index) {
 
         if (Vf_s.rows() == 0) {
             keep_going = false;
-            LOG_INFO("WARNING BREAKING LOOP: VF_s does not exist");
+            LOG_INFO("Ground segmentation: BREAKING LOOP: VF_s does not exist");
             continue;
         }