Merge branch 'remove-sensor-from-processor-creators' into 4-new-processor-pc-matching-for-demo

include/laser/processor/processor_tracker_feature_polyline_2D.h

@@ -246,8 +246,7 @@ class ProcessorTrackerFeaturePolyline2D : public ProcessorTrackerFeature
 
         /// @brief Factory method
         static ProcessorBasePtr create(const std::string& _unique_name,
-                                       const ProcessorParamsBasePtr _params,
-                                       const SensorBasePtr _sensor_ptr);
+                                       const ProcessorParamsBasePtr _params);
 
         static ProcessorBasePtr createAutoConf(const std::string& _unique_name,
                                                const ParamsServer& _server,

include/laser/sensor/sensor_laser_2D.h

@@ -82,8 +82,8 @@ class SensorLaser2D : public SensorBase
          **/
         SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const laserscanutils::LaserScanParams& _params);
         SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const IntrinsicsLaser2D& _params);
-        SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const IntrinsicsLaser2DPtr _params);
-        SensorLaser2D(const Eigen::VectorXs& _extrinsics, const IntrinsicsLaser2DPtr _params);
+        SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, IntrinsicsLaser2DPtr _params);
+        SensorLaser2D(const Eigen::VectorXs& _extrinsics, IntrinsicsLaser2DPtr _params);
 
         virtual ~SensorLaser2D();
 

src/processor/processor_tracker_feature_polyline_2D.cpp

@@ -1364,13 +1364,14 @@ void ProcessorTrackerFeaturePolyline2D::computeTransformations()
 }
 
 ProcessorBasePtr ProcessorTrackerFeaturePolyline2D::create(const std::string& _unique_name,
-                                                           const ProcessorParamsBasePtr _params,
-                                                           const SensorBasePtr _sensor_ptr)
+                                                           const ProcessorParamsBasePtr _params)
 {
     auto params = std::static_pointer_cast<ProcessorParamsTrackerFeaturePolyline2D>(_params);
+
     auto prc_ptr = std::make_shared<ProcessorTrackerFeaturePolyline2D>(params);
+
     prc_ptr->setName(_unique_name);
-    prc_ptr->configure(_sensor_ptr);
+
     return prc_ptr;
 }
 

src/sensor/sensor_laser_2D.cpp

 #include "laser/sensor/sensor_laser_2D.h"
+
 #include <core/state_block/state_block.h>
 #include <core/state_block/state_angle.h>
 
@@ -49,6 +50,13 @@ SensorLaser2D::SensorLaser2D(const Eigen::VectorXs& _extrinsics, const Intrinsic
     //
 }
 
+SensorLaser2D::SensorLaser2D(const Eigen::VectorXs& _extrinsics, IntrinsicsLaser2DPtr _params) :
+        SensorLaser2D(std::make_shared<StateBlock>(_extrinsics.head(2), true, nullptr),
+                      std::make_shared<StateAngle>(_extrinsics(2), true),
+                      _params)
+{
+}
+
 SensorLaser2D::~SensorLaser2D()
 {
     //
@@ -116,9 +124,6 @@ SensorBasePtr SensorLaser2D::createAutoConf(const std::string& _unique_name, con
 //#include "intrinsics_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("LASER 2D", SensorLaser2D)
-//const bool registered_laser_params = IntrinsicsFactory::get().registerCreator("LASER 2D", createIntrinsicsLaser2D);
-} // namespace wolf
-#include "core/sensor/autoconf_sensor_factory.h"
-namespace wolf {
 WOLF_REGISTER_SENSOR_AUTO("LASER 2D", SensorLaser2D)
 } // namespace wolf
+