convert

Generic type conversion library supporting a variety of data structures.

Core C++ Library

Prerequisites

Dependency	Version	Description
[Eigen3]	>= 3.3	Linear Algebra Package
[GTSAM]	-	GATech Smooth and Mapping Package
[manif]	-	Lie Theory Package
[MATLAB]	-	MATLAB CXX Interfaces
[ROS]	noetic	Various standard ROS packages
[sensorbox]	0.3	Sensor Processing Package

Note that square brackets indicate optional dependencies.

Installation

It is recommended that you configure with ccmake (sudo apt install cmake-curses-gui) to see the various options. Otherwise use cmake instead of ccmake and set flags manually.

cd convert
mkdir build && cd build
ccmake ..
make -j
sudo make install

Note that the library will attempt to build as many of the components as possible.

Uninstallation

cd build
sudo make uninstall

Usage

Import the package into your project and add the dependency to your target <target> with:

find_package(convert REQUIRED)
target_link_libraries(<target> <PUBLIC|INTERFACE|PRIVATE> ${convert_LIBRARIES})
target_include_directories(<target> SYSTEM <PUBLIC|INTERFACE|PRIVATE> ${convert_INCLUDE_DIRS})

Note that it is important to call target_link_libraries before target_include_directories because the ${convert_LIBRARIES} targets may contain compilation definitions that are required within the public header files in ${convert_INCLUDE_DIRS}. In particular, these compile definitions are needed to enable the headers for enabled components in <convert/convert.hpp>.

For more information, see convert/README.md and documentation.

Documentation

Documentation must be turned on by setting the -DBUILD_DOCUMENTATION=ON cmake argument.

To view the HTML documentation, open the build/docs/html/index.html file.

To view the LaTeX documentation, build it with:

cd build/docs/latex
make

Then open the file refman.pdf.

Tests

Tests must be turned on by setting the -DBUILD_TESTS=ON cmake argument.

cd build
cmake -DBUILD_TESTS=ON ..
make -j

They can then be run with ctest:

ctest --test-dir test

For more explicit output, the test executables can be run directly from the build directory.

Catkin Support

A package.xml is supplied to facilitate an isolated installation within a catkin workspace (e.g. for ROS applications).

Prerequisites

Prerequisites of core C++ library plus the following:

Dependency	Version	Description
catkin	-	catkin build system

Installation

To use this package with catkin, simply clone or symlink the repository to the workspace's src directory, for example:

ln -s /path/to/convert /path/to/catkin_ws/src

cd /path/to/catkin_ws
catkin build convert

Uninstallation

cd /path/to/catkin_ws
catkin clean convert

Usage

To use the package in a downstream project, one should add to their package.xml:

<depend>convert</depend>

One can then either use the workspace's isolated installation or use the system installation otherwise. Importing the dependency is then exactly the same as it would be in a non-catkin package as described above (do NOT rely on the catkin variables like catkin_LIBRARIES and catkin_INCLUDE_DIRS).

Documentation

Documentation must be turned on by setting the -DBUILD_DOCUMENTATION=ON cmake argument. This can be done in catkin with:

catkin config --cmake-args -DBUILD_DOCUMENTATION=ON

Tests

Tests must be turned on by setting the -DBUILD_TESTS=ON cmake argument. This can be done in catkin with:

catkin config --cmake-args -DBUILD_TESTS=ON