From c3e31ea182225ba62b52428d430d1a3849b14f6a Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Fri, 23 Aug 2019 22:40:23 +0200
Subject: [PATCH] removed odom icp
---
CMakeLists.txt | 4 +-
include/laser/processor/processor_odom_icp.h | 126 -------------------
test/CMakeLists.txt | 6 +-
3 files changed, 7 insertions(+), 129 deletions(-)
delete mode 100644 include/laser/processor/processor_odom_icp.h
diff --git a/CMakeLists.txt b/CMakeLists.txt
index abb733b77..e1f2fc753 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -215,7 +215,6 @@ SET(SRCS_DTASSC
SET(SRCS_SOLVER
)
SET(SRCS_YAML
- src/yaml/processor_odom_ICP_yaml.cpp
src/yaml/sensor_laser_2D_yaml.cpp
)
#OPTIONALS
@@ -230,6 +229,9 @@ if(csm_FOUND)
src/processor/processor_odom_icp.cpp
src/feature/feature_icp_align.cpp
)
+ SET(SRCS_YAML
+ src/yaml/processor_odom_ICP_yaml.cpp
+ )
endif(csm_FOUND)
#optional HDRS and SRCS
# ==================EXAMPLE===============
diff --git a/include/laser/processor/processor_odom_icp.h b/include/laser/processor/processor_odom_icp.h
deleted file mode 100644
index 221160f8f..000000000
--- a/include/laser/processor/processor_odom_icp.h
+++ /dev/null
@@ -1,126 +0,0 @@
-#ifndef SRC_PROCESSOR_ODOM_ICP_H_
-#define SRC_PROCESSOR_ODOM_ICP_H_
-
-
-#include "laser/capture/capture_laser_2D.h"
-#include "laser/feature/feature_icp_align.h"
-
-#include <core/processor/processor_tracker.h>
-
-#include <laser_scan_utils/laser_scan_utils.h>
-#include <laser_scan_utils/icp.h>
-
-namespace wolf {
-
-WOLF_PTR_TYPEDEFS(ProcessorOdomICP);
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsOdomICP);
-
-struct ProcessorParamsOdomICP : public ProcessorParamsTracker
-{
- // ICP Params
- int use_point_to_line_distance;
- int max_correspondence_dist;
- int max_iterations;
- int use_corr_tricks;
- double outliers_maxPerc;
- double outliers_adaptive_order;
- double outliers_adaptive_mult;
-
- // Other processor params
- double vfk_min_dist;
- double vfk_min_angle;
- double vfk_min_time;
- double vfk_min_error;
- int vfk_max_points;
-
- ProcessorParamsOdomICP() = default;
- ProcessorParamsOdomICP(std::string _unique_name, const ParamsServer &_server):
- ProcessorParamsTracker(_unique_name, _server)
- {
- use_point_to_line_distance = _server.getParam<int> (_unique_name + "/use_point_to_line_distance");
- max_correspondence_dist = _server.getParam<int> (_unique_name + "/max_correspondence_dist");
- max_iterations = _server.getParam<int> (_unique_name + "/max_iterations");
- use_corr_tricks = _server.getParam<int> (_unique_name + "/use_corr_tricks");
- outliers_maxPerc = _server.getParam<double> (_unique_name + "/outliers_maxPerc");
- outliers_adaptive_order = _server.getParam<double> (_unique_name + "/outliers_adaptive_order");
- outliers_adaptive_mult = _server.getParam<double> (_unique_name + "/outliers_adaptive_mult");
- vfk_min_dist = _server.getParam<double> (_unique_name + "/vfk_min_dist");
- vfk_min_angle = _server.getParam<double> (_unique_name + "/vfk_min_angle");
- vfk_min_time = _server.getParam<double> (_unique_name + "/vfk_min_time");
- vfk_min_error = _server.getParam<double> (_unique_name + "/vfk_min_error");
- vfk_max_points = _server.getParam<int> (_unique_name + "/vfk_max_points");
- }
- std::string print() {
- return "\n" + ProcessorParamsTracker::print() + "\n"
- + "use_point_to_line_distance: "+ std::to_string(use_point_to_line_distance)+ "\n"
- + "max_correspondence_dist: " + std::to_string(max_correspondence_dist) + "\n"
- + "max_iterations: " + std::to_string(max_iterations) + "\n"
- + "use_corr_tricks: " + std::to_string(use_corr_tricks) + "\n"
- + "outliers_maxPerc: " + std::to_string(outliers_maxPerc) + "\n"
- + "outliers_adaptive_order: " + std::to_string(outliers_adaptive_order) + "\n"
- + "outliers_adaptive_mult: " + std::to_string(outliers_adaptive_mult) + "\n"
- + "vfk_min_dist: " + std::to_string(vfk_min_dist) + "\n"
- + "vfk_min_angle: " + std::to_string(vfk_min_angle) + "\n"
- + "vfk_min_time: " + std::to_string(vfk_min_time) + "\n"
- + "vfk_min_error: " + std::to_string(vfk_min_error) + "\n"
- + "vfk_max_points: " + std::to_string(vfk_max_points) + "\n";
- }
-};
-
-class ProcessorOdomICP : public ProcessorTracker
-{
- protected:
- // Useful sensor stuff
- SensorLaser2DPtr sensor_laser_; // casted pointer to parent
- laserscanutils::LaserScanParams laser_scan_params_;
-
- // ICP algorithm
- std::shared_ptr<laserscanutils::ICP> icp_tools_ptr_;
-
- // temporary and carry-on transformations
- laserscanutils::icpOutput trf_origin_last_;
- laserscanutils::icpOutput trf_origin_incoming_;
- laserscanutils::icpOutput trf_last_incoming_;
-
- public:
- laserscanutils::icpParams icp_params_;
- ProcessorParamsOdomICPPtr proc_params_;
-
- public:
- ProcessorOdomICP(ProcessorParamsOdomICPPtr _params);
- WOLF_PROCESSOR_CREATE(ProcessorOdomICP, ProcessorParamsOdomICP);
- virtual ~ProcessorOdomICP();
- virtual void configure(SensorBasePtr _sensor) override;
-
- protected:
- virtual void preProcess() override;
-
- virtual unsigned int processKnown() override;
- virtual unsigned int processNew(const int& _max_features) override;
-
- virtual bool voteForKeyFrame() override;
-
- virtual void advanceDerived() override;
- virtual void resetDerived() override;
-
-
- virtual void establishFactors() override;
- FeatureBasePtr emplaceFeature(CaptureBasePtr _capture_laser);
- FactorBasePtr emplaceFactor(FeatureBasePtr _feature);
-
- inline bool voteForKeyFrameDistance();
- inline bool voteForKeyFrameAngle();
- inline bool voteForKeyFrameTime();
- inline bool voteForKeyFrameMatchQuality();
-
-
-
-
-};
-
-
-
-
-}
-
-#endif // SRC_PROCESSOR_ODOM_ICP_H_
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index ab4905e31..69c717bf2 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -16,8 +16,10 @@ target_link_libraries(gtest_example ${PLUGIN_NAME}) #
wolf_add_gtest(gtest_landmark_polyline gtest_landmark_polyline.cpp)
target_link_libraries(gtest_landmark_polyline ${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})
+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})
+endif(csm_FOUND)
wolf_add_gtest(gtest_polyline_2D gtest_polyline_2D.cpp)
target_link_libraries(gtest_polyline_2D ${PLUGIN_NAME} ${wolf_LIBRARY})
--
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