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Patch iKin versioning #36

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merged 2 commits into from
Dec 5, 2022
Merged

Patch iKin versioning #36

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32c8429
Patch iKin versioning
pattacini Nov 13, 2022
54ec133
Update CMakeLists.txt
pattacini Nov 14, 2022
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ project(stereo-vision)

find_package(ICUBcontrib REQUIRED)
find_package(YARP 3.5.1 COMPONENTS os sig dev math cv rosmsg idl_tools REQUIRED)
find_package(ICUB REQUIRED)
find_package(ICUB 2.0.0 REQUIRED)

list(APPEND CMAKE_MODULE_PATH ${ICUB_MODULE_PATH}
${ICUBCONTRIB_MODULE_PATH}
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10 changes: 3 additions & 7 deletions lib/src/disparityThread.cpp
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Expand Up @@ -378,13 +378,9 @@ bool DisparityThread::threadInit()

Bottle p;
igaze->getInfo(p);
int vHead=(int)p.check(("head_version"),Value(1.0)).asFloat64();
stringstream headType;
headType << "v";
headType << vHead;

LeyeKin=new iCubEye("left_"+headType.str());
ReyeKin=new iCubEye("right_"+headType.str());
auto vHead=p.check(("head_version"),Value("1.0")).asString();
LeyeKin=new iCubEye("left_v"+vHead);
ReyeKin=new iCubEye("right_v"+vHead);
LeyeKin->releaseLink(0);
LeyeKin->releaseLink(1);
LeyeKin->releaseLink(2);
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