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Commit 16f7fa61 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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[skip ci] wip

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1 merge request!39Draft: Resolve "Adapt to new sensor constructors in core"
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include/laser/processor/params_icp.h
+ 30
− 30
View file @ 16f7fa61
......@@ -94,36 +94,36 @@ struct ParamsIcp
std::string print() const
{
return "/icp/verbose" + std::to_string(icp_params.verbose) + "\n" + "/icp/use_point_to_line_distance" +
std::to_string(icp_params.use_point_to_line_distance) + "\n" + "/icp/max_angular_correction_deg" +
std::to_string(icp_params.max_angular_correction_deg) + "\n" + "/icp/max_linear_correction" +
std::to_string(icp_params.max_linear_correction) + "\n" + "/icp/max_iterations" +
std::to_string(icp_params.max_iterations) + "\n" + "/icp/epsilon_xy" +
std::to_string(icp_params.epsilon_xy) + "\n" + "/icp/epsilon_theta" +
std::to_string(icp_params.epsilon_theta) + "\n" + "/icp/max_correspondence_dist" +
std::to_string(icp_params.max_correspondence_dist) + "\n" + "/icp/use_corr_tricks" +
std::to_string(icp_params.use_corr_tricks) + "\n" + "/icp/debug_verify_tricks" +
std::to_string(icp_params.debug_verify_tricks) + "\n" + "/icp/restart" +
std::to_string(icp_params.restart) + "\n" + "/icp/restart_threshold_mean_error" +
std::to_string(icp_params.restart_threshold_mean_error) + "\n" + "/icp/restart_dt" +
std::to_string(icp_params.restart_dt) + "\n" + "/icp/restart_dtheta" +
std::to_string(icp_params.restart_dtheta) + "\n" + "/icp/min_reading" +
std::to_string(icp_params.min_reading) + "\n" + "/icp/max_reading" +
std::to_string(icp_params.max_reading) + "\n" + "/icp/outliers_maxPerc" +
std::to_string(icp_params.outliers_maxPerc) + "\n" + "/icp/outliers_adaptive_order" +
std::to_string(icp_params.outliers_adaptive_order) + "\n" + "/icp/outliers_adaptive_mult" +
std::to_string(icp_params.outliers_adaptive_mult) + "\n" + "/icp/outliers_remove_doubles" +
std::to_string(icp_params.outliers_remove_doubles) + "\n" + "/icp/do_visibility_test" +
std::to_string(icp_params.do_visibility_test) + "\n" + "/icp/do_alpha_test" +
std::to_string(icp_params.do_alpha_test) + "\n" + "/icp/do_alpha_test_thresholdDeg" +
std::to_string(icp_params.do_alpha_test_thresholdDeg) + "\n" + "/icp/clustering_threshold" +
std::to_string(icp_params.clustering_threshold) + "\n" + "/icp/orientation_neighbourhood" +
std::to_string(icp_params.orientation_neighbourhood) + "\n" + "/icp/use_ml_weights" +
std::to_string(icp_params.use_ml_weights) + "\n" + "/icp/use_sigma_weights" +
std::to_string(icp_params.use_sigma_weights) + "\n" + "/icp/sigma" + std::to_string(icp_params.sigma) +
"\n" + "/icp/do_compute_covariance" + std::to_string(icp_params.do_compute_covariance) + "\n" +
"/icp/cov_factor" + std::to_string(icp_params.cov_factor) + "\n" + "/icp/cov_max_eigv_factor" +
std::to_string(icp_params.cov_max_eigv_factor) + "\n";
return "/icp/verbose" + toString(icp_params.verbose) + "\n" + "/icp/use_point_to_line_distance" +
toString(icp_params.use_point_to_line_distance) + "\n" + "/icp/max_angular_correction_deg" +
toString(icp_params.max_angular_correction_deg) + "\n" + "/icp/max_linear_correction" +
toString(icp_params.max_linear_correction) + "\n" + "/icp/max_iterations" +
toString(icp_params.max_iterations) + "\n" + "/icp/epsilon_xy" +
toString(icp_params.epsilon_xy) + "\n" + "/icp/epsilon_theta" +
toString(icp_params.epsilon_theta) + "\n" + "/icp/max_correspondence_dist" +
toString(icp_params.max_correspondence_dist) + "\n" + "/icp/use_corr_tricks" +
toString(icp_params.use_corr_tricks) + "\n" + "/icp/debug_verify_tricks" +
toString(icp_params.debug_verify_tricks) + "\n" + "/icp/restart" +
toString(icp_params.restart) + "\n" + "/icp/restart_threshold_mean_error" +
toString(icp_params.restart_threshold_mean_error) + "\n" + "/icp/restart_dt" +
toString(icp_params.restart_dt) + "\n" + "/icp/restart_dtheta" +
toString(icp_params.restart_dtheta) + "\n" + "/icp/min_reading" +
toString(icp_params.min_reading) + "\n" + "/icp/max_reading" +
toString(icp_params.max_reading) + "\n" + "/icp/outliers_maxPerc" +
toString(icp_params.outliers_maxPerc) + "\n" + "/icp/outliers_adaptive_order" +
toString(icp_params.outliers_adaptive_order) + "\n" + "/icp/outliers_adaptive_mult" +
toString(icp_params.outliers_adaptive_mult) + "\n" + "/icp/outliers_remove_doubles" +
toString(icp_params.outliers_remove_doubles) + "\n" + "/icp/do_visibility_test" +
toString(icp_params.do_visibility_test) + "\n" + "/icp/do_alpha_test" +
toString(icp_params.do_alpha_test) + "\n" + "/icp/do_alpha_test_thresholdDeg" +
toString(icp_params.do_alpha_test_thresholdDeg) + "\n" + "/icp/clustering_threshold" +
toString(icp_params.clustering_threshold) + "\n" + "/icp/orientation_neighbourhood" +
toString(icp_params.orientation_neighbourhood) + "\n" + "/icp/use_ml_weights" +
toString(icp_params.use_ml_weights) + "\n" + "/icp/use_sigma_weights" +
toString(icp_params.use_sigma_weights) + "\n" + "/icp/sigma" + toString(icp_params.sigma) +
"\n" + "/icp/do_compute_covariance" + toString(icp_params.do_compute_covariance) + "\n" +
"/icp/cov_factor" + toString(icp_params.cov_factor) + "\n" + "/icp/cov_max_eigv_factor" +
toString(icp_params.cov_max_eigv_factor) + "\n";
}
};
......
include/laser/processor/processor_loop_closure_falko.h
+ 42
− 42
View file @ 16f7fa61
......@@ -116,33 +116,33 @@ struct ParamsProcessorLoopClosureFalko : public ParamsProcessorLoopClosure
std::string print() const override
{
return ParamsProcessorLoopClosure::print() + "\n" + "min_keypoints: " + std::to_string(min_keypoints) + "\n" +
"score_th: " + std::to_string(score_th) + "\n" +
"distance_between_ref_frm: " + std::to_string(distance_between_ref_frm) + "\n" +
"near_matches_th: " + std::to_string(near_matches_th) + "\n" +
"th_kp_area: " + std::to_string(th_kp_area) + "\n" +
"th_kp_perimeter: " + std::to_string(th_kp_perimeter) + "\n" +
"th_kp_maxd: " + std::to_string(th_kp_maxd) + "\n" + "th_kp_eig: " + std::to_string(th_kp_eig) + "\n" +
"th_scan_area: " + std::to_string(th_scan_area) + "\n" + "th_scan_eig: " + std::to_string(th_scan_eig) +
"\n" + "logging: " + std::to_string(logging) + "\n" + "logging_filepath: " + logging_filepath + "\n"
+ "falko/matcher_distance_th_: " + std::to_string(param.matcher_distance_th_) + "\n" +
"falko/use_descriptors_: " + std::to_string(param.use_descriptors_) + "\n" +
"falko/circularSectorNumber_: " + std::to_string(param.circularSectorNumber_) + "\n" +
"falko/radialRingNumber_: " + std::to_string(param.radialRingNumber_) + "\n" +
"falko/matcher_ddesc_th_: " + std::to_string(param.matcher_ddesc_th_) + "\n" +
"falko/keypoints_number_th_: " + std::to_string(param.keypoints_number_th_) + "\n"
+ "falko/enable_subbeam_: " + std::to_string(param.enable_subbeam_) + "\n" +
"falko/nms_radius_: " + std::to_string(param.nms_radius_) + "\n" +
"falko/neigh_b_: " + std::to_string(param.neigh_b_) + "\n" +
"falko/b_ratio_: " + std::to_string(param.b_ratio_) + "\n"
+ "falko/xRes_: " + std::to_string(param.xRes_) + "\n" + "falko/yRes_: " + std::to_string(param.yRes_) +
"\n" + "falko/thetaRes_: " + std::to_string(param.thetaRes_) + "\n" +
"falko/xAbsMax_: " + std::to_string(param.xAbsMax_) + "\n" +
"falko/yAbsMax_: " + std::to_string(param.yAbsMax_) + "\n" +
"falko/thetaAbsMax_: " + std::to_string(param.thetaAbsMax_) + "\n";
return ParamsProcessorLoopClosure::print() + "\n" + "min_keypoints: " + toString(min_keypoints) + "\n" +
"score_th: " + toString(score_th) + "\n" +
"distance_between_ref_frm: " + toString(distance_between_ref_frm) + "\n" +
"near_matches_th: " + toString(near_matches_th) + "\n" +
"th_kp_area: " + toString(th_kp_area) + "\n" +
"th_kp_perimeter: " + toString(th_kp_perimeter) + "\n" +
"th_kp_maxd: " + toString(th_kp_maxd) + "\n" + "th_kp_eig: " + toString(th_kp_eig) + "\n" +
"th_scan_area: " + toString(th_scan_area) + "\n" + "th_scan_eig: " + toString(th_scan_eig) +
"\n" + "logging: " + toString(logging) + "\n" + "logging_filepath: " + logging_filepath + "\n"
+ "falko/matcher_distance_th_: " + toString(param.matcher_distance_th_) + "\n" +
"falko/use_descriptors_: " + toString(param.use_descriptors_) + "\n" +
"falko/circularSectorNumber_: " + toString(param.circularSectorNumber_) + "\n" +
"falko/radialRingNumber_: " + toString(param.radialRingNumber_) + "\n" +
"falko/matcher_ddesc_th_: " + toString(param.matcher_ddesc_th_) + "\n" +
"falko/keypoints_number_th_: " + toString(param.keypoints_number_th_) + "\n"
+ "falko/enable_subbeam_: " + toString(param.enable_subbeam_) + "\n" +
"falko/nms_radius_: " + toString(param.nms_radius_) + "\n" +
"falko/neigh_b_: " + toString(param.neigh_b_) + "\n" +
"falko/b_ratio_: " + toString(param.b_ratio_) + "\n"
+ "falko/xRes_: " + toString(param.xRes_) + "\n" + "falko/yRes_: " + toString(param.yRes_) +
"\n" + "falko/thetaRes_: " + toString(param.thetaRes_) + "\n" +
"falko/xAbsMax_: " + toString(param.xAbsMax_) + "\n" +
"falko/yAbsMax_: " + toString(param.yAbsMax_) + "\n" +
"falko/thetaAbsMax_: " + toString(param.thetaAbsMax_) + "\n";
};
};
......@@ -217,7 +217,7 @@ class ProcessorLoopClosureFalko : public ProcessorLoopClosure
std::string th_scan_eig(ss12.str());
std::string filename = params_falko_->logging_filepath + "/log" + "_use_descriptors_" +
std::to_string(params_falko_->param.use_descriptors_) + "_score_th_" + score_th +
toString(params_falko_->param.use_descriptors_) + "_score_th_" + score_th +
"_th_kp_area_" + th_kp_area + "_th_kp_perimeter_" + th_kp_perimeter + "_th_kp_maxd_" +
th_kp_maxd + "_th_kp_eig_" + th_kp_eig + "_th_scan_area_" + th_scan_area +
"_th_scan_eig_" + th_scan_eig + "_matcher_distance_th_" + matcher_distance_th +
......@@ -535,21 +535,21 @@ class ProcessorLoopClosureFalko : public ProcessorLoopClosure
{
if (init_outData_ == 1)
{
outdata << std::to_string(num_ok_) << ";";
outdata << std::to_string(num_nok_) << ";";
outdata << toString(num_ok_) << ";";
outdata << toString(num_nok_) << ";";
if (num_ok_ > 0)
{
outdata << std::to_string(duration_validation_ok.count() / num_ok_) << ";";
outdata << toString(duration_validation_ok.count() / num_ok_) << ";";
}
else
outdata << std::to_string(0) << ";";
outdata << toString(0) << ";";
if (num_nok_ > 0)
{
outdata << std::to_string(duration_validation_nok.count() / num_nok_) << ";" << std::endl;
outdata << toString(duration_validation_nok.count() / num_nok_) << ";" << std::endl;
}
else
outdata << std::to_string(0) << ";" << std::endl;
outdata << toString(0) << ";" << std::endl;
num_ok_ = 0;
num_nok_ = 0;
duration_validation_ok = std::chrono::duration_values<std::chrono::microseconds>::zero();
......@@ -561,20 +561,20 @@ class ProcessorLoopClosureFalko : public ProcessorLoopClosure
num_nok_ = 0;
}
init_outData_ = 1;
outdata << std::to_string(list_scene_reference.size()) << ";";
outdata << std::to_string(num_ref_scenes) << ";";
outdata << std::to_string(match_lc_map.size()) << ";";
outdata << std::to_string(keypoints_list.size()) << ";";
outdata << toString(list_scene_reference.size()) << ";";
outdata << toString(num_ref_scenes) << ";";
outdata << toString(match_lc_map.size()) << ";";
outdata << toString(keypoints_list.size()) << ";";
if (match_lc_map.size() > 0)
{
outdata << std::to_string(acum_score / match_lc_map.size()) << ";";
outdata << toString(acum_score / match_lc_map.size()) << ";";
}
else
{
outdata << std::to_string(0) << ";";
outdata << toString(0) << ";";
}
outdata << std::to_string(duration_find_loop.count()) << ";";
outdata << std::to_string(duration_extract_scene.count()) << ";";
outdata << toString(duration_find_loop.count()) << ";";
outdata << toString(duration_extract_scene.count()) << ";";
}
ParamsProcessorLoopClosureFalkoPtr params_falko_;
......
include/laser/processor/processor_loop_closure_falko_icp.h
+ 2
− 2
View file @ 16f7fa61
......@@ -57,8 +57,8 @@ struct ParamsProcessorLoopClosureFalkoIcp : public ParamsProcessorLoopClosureFal
std::string print() const override
{
return "\n" + ParamsProcessorLoopClosureFalko::print() + "\n" + ParamsIcp::print() + "\n" +
"max_error_threshold: " + std::to_string(max_error_threshold) + "\n" +
"min_points_percent: " + std::to_string(min_points_percent) + "\n";
"max_error_threshold: " + toString(max_error_threshold) + "\n" +
"min_points_percent: " + toString(min_points_percent) + "\n";
}
};
......
include/laser/processor/processor_loop_closure_icp.h
+ 6
− 6
View file @ 16f7fa61
......@@ -70,13 +70,13 @@ struct ParamsProcessorLoopClosureIcp : public ParamsProcessorLoopClosure, public
std::string print() const override
{
return "\n" + ParamsProcessorLoopClosure::print() + ParamsIcp::print() + "\n" +
"recent_frames_ignored: " + std::to_string(recent_frames_ignored) + "\n" +
"frames_ignored_after_loop: " + std::to_string(frames_ignored_after_loop) + "\n" +
"max_attempts: " + std::to_string(max_attempts) + "\n" +
"max_candidates: " + std::to_string(max_candidates) + "\n" +
"recent_frames_ignored: " + toString(recent_frames_ignored) + "\n" +
"frames_ignored_after_loop: " + toString(frames_ignored_after_loop) + "\n" +
"max_attempts: " + toString(max_attempts) + "\n" +
"max_candidates: " + toString(max_candidates) + "\n" +
"candidate_generation: " + candidate_generation + "\n" +
"max_error_threshold: " + std::to_string(max_error_threshold) + "\n" +
"min_points_percent: " + std::to_string(min_points_percent) + "\n";
"max_error_threshold: " + toString(max_error_threshold) + "\n" +
"min_points_percent: " + toString(min_points_percent) + "\n";
}
};
......
include/laser/processor/processor_odom_icp.h
+ 5
− 5
View file @ 16f7fa61
......@@ -72,11 +72,11 @@ struct ParamsProcessorOdomIcp : public ParamsProcessorTracker, public ParamsMoti
{
return "\n" + ParamsProcessorTracker::print() + "\n" + ParamsMotionProvider::print() + "\n" +
ParamsIcp::print() + "\n" + "initial_guess: " + initial_guess + "\n" +
"keyframe_vote/min_dist: " + std::to_string(vfk_min_dist) + "\n" +
"keyframe_vote/min_angle: " + std::to_string(vfk_min_angle) + "\n" +
"keyframe_vote/min_time: " + std::to_string(vfk_min_time) + "\n" +
"keyframe_vote/min_error: " + std::to_string(vfk_min_error) + "\n" +
"keyframe_vote/max_points: " + std::to_string(vfk_max_points) + "\n";
"keyframe_vote/min_dist: " + toString(vfk_min_dist) + "\n" +
"keyframe_vote/min_angle: " + toString(vfk_min_angle) + "\n" +
"keyframe_vote/min_time: " + toString(vfk_min_time) + "\n" +
"keyframe_vote/min_error: " + toString(vfk_min_error) + "\n" +
"keyframe_vote/max_points: " + toString(vfk_max_points) + "\n";
}
};
......
include/laser/sensor/sensor_laser_2d.h
+ 8
− 8
View file @ 16f7fa61
......@@ -58,14 +58,14 @@ struct ParamsSensorLaser2d : public ParamsSensorBase
std::string print() const override
{
return "\n" + ParamsSensorBase::print() + "\n" +
"LaserScanParams/angle_min: " + std::to_string(scan_params.angle_min_) + "\n" +
"LaserScanParams/angle_max: " + std::to_string(scan_params.angle_max_) + "\n" +
"LaserScanParams/angle_step: " + std::to_string(scan_params.angle_step_) + "\n" +
"LaserScanParams/scan_time: " + std::to_string(scan_params.scan_time_) + "\n" +
"LaserScanParams/range_min: " + std::to_string(scan_params.range_min_) + "\n" +
"LaserScanParams/range_max: " + std::to_string(scan_params.range_max_) + "\n" +
"LaserScanParams/range_std_dev: " + std::to_string(scan_params.range_std_dev_) + "\n" +
"LaserScanParams/angle_std_dev: " + std::to_string(scan_params.angle_std_dev_) + "\n";
"LaserScanParams/angle_min: " + toString(scan_params.angle_min_) + "\n" +
"LaserScanParams/angle_max: " + toString(scan_params.angle_max_) + "\n" +
"LaserScanParams/angle_step: " + toString(scan_params.angle_step_) + "\n" +
"LaserScanParams/scan_time: " + toString(scan_params.scan_time_) + "\n" +
"LaserScanParams/range_min: " + toString(scan_params.range_min_) + "\n" +
"LaserScanParams/range_max: " + toString(scan_params.range_max_) + "\n" +
"LaserScanParams/range_std_dev: " + toString(scan_params.range_std_dev_) + "\n" +
"LaserScanParams/angle_std_dev: " + toString(scan_params.angle_std_dev_) + "\n";
}
};
......
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