diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7b44aa9a1e1c984009d1678124e4407eb7dd0963..3f01f3a66f94d788656f3b1f47356e9d5c3f686a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -216,6 +216,7 @@ SET(SRCS_DTASSC
SET(SRCS_SOLVER
)
SET(SRCS_YAML
+ src/yaml/processor_odom_ICP_yaml.cpp
src/yaml/sensor_laser_2D_yaml.cpp
)
#OPTIONALS
diff --git a/demos/processor_odom_ICP.yaml b/demos/processor_odom_ICP.yaml
deleted file mode 100644
index eb285cccdf416654f0d6c6f7d7bd639262b58cd6..0000000000000000000000000000000000000000
--- a/demos/processor_odom_ICP.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-type : "ODOM ICP"
-
-# from processor base
-time_tolerance : 0.1
-voting_active : true
-voting_aux_active : false
-
-# from processor tracker
-min_features_for_keyframe : 0
-max_new_features : 0
-
-# from processor odom ICP
-use_point_to_line_distance : true
-max_correspondence_dist : 1
-max_iterations : 5
-use_corr_tricks : 1
-outliers_maxPerc : 1
-outliers_adaptive_order : 1
-outliers_adaptive_mult : 1
-vfk_min_dist : 1
-vfk_min_angle : 1
-vfk_min_time : 1
-vfk_min_error : 1
-vfk_max_points : 1
diff --git a/src/yaml/processor_odom_ICP_yaml.cpp b/src/yaml/processor_odom_ICP_yaml.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9a5557abad838122c9239b038e964f2cc66faa0d
--- /dev/null
+++ b/src/yaml/processor_odom_ICP_yaml.cpp
@@ -0,0 +1,64 @@
+/**
+ * \file processor_odom_ICP_yaml.cpp
+ *
+ * Created on: Aug 6, 2019
+ * \author: jsola
+ */
+
+
+// wolf
+#include "laser/processor/processor_odom_icp.h"
+#include "core/common/factory.h"
+
+// wolf yaml
+#include "core/yaml/yaml_conversion.h"
+
+// yaml library
+#include <yaml-cpp/yaml.h>
+
+namespace wolf
+{
+namespace {
+// intrinsics creator
+ProcessorParamsBasePtr createProcessorParamsOdomICP(const std::string& _filename_dot_yaml)
+{
+ WOLF_INFO("ProcessorParamsOdomICP: Parsing file: ", _filename_dot_yaml);
+
+ YAML::Node config = YAML::LoadFile(_filename_dot_yaml);
+
+ if (config["type"].as<std::string>() == "ODOM ICP")
+ {
+ ProcessorParamsOdomICPPtr params = std::make_shared<ProcessorParamsOdomICP>();
+
+ params->voting_active = config["voting_active"] .as<bool>();
+ params->voting_aux_active = config["voting_aux_active"] .as<bool>();
+ params->time_tolerance = config["time_tolerance"] .as<Scalar>();
+
+ params->min_features_for_keyframe = config["min_features_for_keyframe"] .as<Scalar>();
+ params->max_new_features = config["max_new_features"] .as<SizeEigen >();
+
+ params->use_point_to_line_distance = config["use_point_to_line_distance"] .as<int>();
+ params->max_correspondence_dist = config["max_correspondence_dist"] .as<int>();
+ params->max_iterations = config["max_iterations"] .as<int>();
+ params->use_corr_tricks = config["use_corr_tricks"] .as<int>();
+ params->outliers_maxPerc = config["outliers_maxPerc"] .as<Scalar>();
+ params->outliers_adaptive_order = config["outliers_adaptive_order"] .as<Scalar>();
+ params->outliers_adaptive_mult = config["outliers_adaptive_mult"] .as<Scalar>();
+ params->vfk_min_dist = config["vfk_min_dist"] .as<Scalar>();
+ params->vfk_min_angle = config["vfk_min_angle"] .as<Scalar>();
+ params->vfk_min_time = config["vfk_min_time"] .as<Scalar>();
+ params->vfk_min_error = config["vfk_min_error"] .as<Scalar>();
+ params->vfk_max_points = config["vfk_max_points"] .as<int>();
+
+ return params;
+ }
+
+ std::cout << "Bad configuration file. No processor type found." << std::endl;
+ return nullptr;
+}
+
+// register into factory
+const bool WOLF_UNUSED registered_odom_ICP_params = ProcessorParamsFactory::get().registerCreator("ODOM ICP", createProcessorParamsOdomICP);
+
+} // namespace [void]
+} // namespace wolf
diff --git a/test/gtest_processor_odom_icp.cpp b/test/gtest_processor_odom_icp.cpp
index 286a03e0c7325bb59ef1deeeace9906bd04a717c..30eb70c4760024cf161b040604a90af9c3e9adfe 100644
--- a/test/gtest_processor_odom_icp.cpp
+++ b/test/gtest_processor_odom_icp.cpp
@@ -6,7 +6,7 @@
*/
#include "laser/processor/processor_odom_icp.h"
-
+#include "laser/internal/config.h"
#include "core/utils/utils_gtest.h"
using namespace wolf;
@@ -33,6 +33,19 @@ TEST(ProcessorOdomIcp, Constructor)
ASSERT_EQ(prc->getType(), "ODOM ICP");
}
+TEST(ProcessorOdomIcp, Constructor_yaml)
+{
+ std::string wolf_root = _WOLF_LASER_ROOT_DIR;
+
+ auto params = std::static_pointer_cast<ProcessorParamsOdomICP>(ProcessorParamsFactory::get().create("ODOM ICP", wolf_root + "/test/yaml/processor_odom_ICP.yaml"));
+ auto prc = std::make_shared<ProcessorOdomICP>(params);
+
+ ASSERT_TRUE(prc); // not nullptr
+ ASSERT_EQ(prc->getType(), "ODOM ICP");
+}
+
+
+
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
diff --git a/test/yaml/processor_odom_ICP.yaml b/test/yaml/processor_odom_ICP.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0a5677cca6dff3b53cce67225035c8e2f536b1fc
--- /dev/null
+++ b/test/yaml/processor_odom_ICP.yaml
@@ -0,0 +1,24 @@
+type : "ODOM ICP"
+
+# from processor base
+time_tolerance : 0.1
+voting_active : true
+voting_aux_active : false
+
+# from processor tracker
+min_features_for_keyframe : 0
+max_new_features : 0
+
+# from processor odom ICP
+use_point_to_line_distance : 1
+max_correspondence_dist : 2
+max_iterations : 3
+use_corr_tricks : 4
+outliers_maxPerc : 5
+outliers_adaptive_order : 6
+outliers_adaptive_mult : 7
+vfk_min_dist : 8
+vfk_min_angle : 9
+vfk_min_time : 10
+vfk_min_error : 11
+vfk_max_points : 12