From 9758a43a19bdfbf654db1e75d7cc143367f38267 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Fri, 11 Oct 2019 13:24:20 +0200
Subject: [PATCH] WIP
---
CMakeLists.txt | 10 +++++-----
.../processor_tracker_feature_polyline_2D.cpp | 5 ++++-
test/CMakeLists.txt | 4 ++--
3 files changed, 11 insertions(+), 8 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e1f2fc753..ba3053cba 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -221,16 +221,16 @@ SET(SRCS_YAML
if(csm_FOUND)
SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
# include/laser/processor/processor_closeloop_icp.h
- include/laser/processor/processor_odom_icp.h
- include/laser/feature/feature_icp_align.h
+ #include/laser/processor/processor_odom_icp.h
+ #include/laser/feature/feature_icp_align.h
)
SET(SRCS_PROCESSOR ${SRCS_PROCESSOR}
# src/processor/processor_closeloop_icp.cpp
- src/processor/processor_odom_icp.cpp
- src/feature/feature_icp_align.cpp
+ #src/processor/processor_odom_icp.cpp
+ #src/feature/feature_icp_align.cpp
)
SET(SRCS_YAML
- src/yaml/processor_odom_ICP_yaml.cpp
+ #src/yaml/processor_odom_ICP_yaml.cpp
)
endif(csm_FOUND)
#optional HDRS and SRCS
diff --git a/src/processor/processor_tracker_feature_polyline_2D.cpp b/src/processor/processor_tracker_feature_polyline_2D.cpp
index 8c3fc0424..7e2a059c4 100644
--- a/src/processor/processor_tracker_feature_polyline_2D.cpp
+++ b/src/processor/processor_tracker_feature_polyline_2D.cpp
@@ -1011,6 +1011,7 @@ void ProcessorTrackerFeaturePolyline2D::postProcess()
if (!lmk_ptr->isClosed() && (lmk_ptr->getNDefinedPoints() >= 4 || lmk_ptr->getNPoints() >= 5))
lmk_ptr->tryClose(params_tracker_feature_polyline_->class_position_error_th);
}
+ WOLF_DEBUG("closing and classify done");
// Try to merge landmarks
while (!merge_candidates_list_.empty())
@@ -1049,8 +1050,10 @@ void ProcessorTrackerFeaturePolyline2D::postProcess()
params_tracker_feature_polyline_->match_landmark_overlap_n_min,
params_tracker_feature_polyline_->match_landmark_overlap_n_defined_min);
}
+ WOLF_DEBUG("merging done");
// Remove "wrong" landmarks
+ WOLF_DEBUG("remove 'wrong' landmarks...");
LandmarkBasePtrList lmk_list = getProblem()->getMap()->getLandmarkList();
for (auto lmk_it = lmk_list.begin(); lmk_it != lmk_list.end(); lmk_it++)
if ((*lmk_it)->getType() == "POLYLINE 2D")
@@ -1065,7 +1068,7 @@ void ProcessorTrackerFeaturePolyline2D::postProcess()
}
}
- //WOLF_DEBUG("PTF ", getName(), ": ", "untracked_features_last_ has ", untracked_features_last_.size() , " features");
+ WOLF_DEBUG("PTF ", getName(), ": ", "untracked_features_last_ has ", untracked_features_last_.size() , " features");
//WOLF_DEBUG_COND(last_ptr_!=nullptr,"PTF ", getName(), ": ", last_ptr_->getFeatureList().size(), " in last_ptr_)");
}
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 69c717bf2..0da643209 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -17,8 +17,8 @@ wolf_add_gtest(gtest_landmark_polyline gtest_landmark_polyline.cpp)
target_link_libraries(gtest_landmark_polyline ${PLUGIN_NAME} ${wolf_LIBRARY})
if(csm_FOUND)
- wolf_add_gtest(gtest_processor_odom_icp gtest_processor_odom_icp.cpp)
- target_link_libraries(gtest_processor_odom_icp ${PLUGIN_NAME} ${wolf_LIBRARY})
+# wolf_add_gtest(gtest_processor_odom_icp gtest_processor_odom_icp.cpp)
+# target_link_libraries(gtest_processor_odom_icp ${PLUGIN_NAME} ${wolf_LIBRARY})
endif(csm_FOUND)
wolf_add_gtest(gtest_polyline_2D gtest_polyline_2D.cpp)
--
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