[skip-ci] Merge branch 'devel' into 22-adapt-to-core-cmakelists-txt-refactor

.gitlab-ci.yml

@@ -3,6 +3,11 @@ stages:
   - build_and_test
 
 ############ YAML ANCHORS ############
+.print_variables_template: &print_variables_definition
+  # Print variables
+  - echo $CI_COMMIT_BRANCH
+  - echo $WOLF_VISION_BRANCH
+
 .preliminaries_template: &preliminaries_definition
   ## Install ssh-agent if not already installed, it is required by Docker.
   ## (change apt-get to yum if you use an RPM-based image)
@@ -115,6 +120,7 @@ license_headers:
       paths:
       - ci_deps/wolf/
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
   script:
@@ -132,6 +138,7 @@ build_and_test:bionic:
       paths:
       - ci_deps/vision_utils/
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
     - *install_visionutils_definition
@@ -151,6 +158,7 @@ build_and_test:focal:
       paths:
       - ci_deps/vision_utils/
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
     - *install_visionutils_definition

src/yaml/processor_bundle_adjustment_yaml.cpp

-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
-// wolf yaml
-#include "core/yaml/yaml_conversion.h"
-
-// wolf
-#include "core/common/factory.h"
-
-// yaml-cpp library
-#include <yaml-cpp/yaml.h>
-#include "vision/processor/processor_bundle_adjustment.h"
-
-namespace wolf
-{
-
-namespace
-{
-static ParamsProcessorBasePtr createParamsProcessorBundleAdjustment(const std::string & _filename_dot_yaml)
-{
-    YAML::Node config = YAML::LoadFile(_filename_dot_yaml);
-
-    if (config.IsNull())
-    {
-        WOLF_ERROR("Invalid YAML file!");
-        return nullptr;
-    }
-    else if (config["type"].as<std::string>() == "ProcessorBundleAdjustment")
-    {
-        ParamsProcessorBundleAdjustmentPtr params = std::make_shared<ParamsProcessorBundleAdjustment>();
-
-        YAML::Node vision_utils               = config      ["vision_utils"];
-        params->yaml_file_params_vision_utils = vision_utils["YAML file params"].as<std::string>();
-
-        // relative to global path for Vision Utils YAML
-        assert(params->yaml_file_params_vision_utils.at(0) != ('/') && "The parameter YAML FILE PARAMS (in processor params YAML file) must be specified with a path relative to the processor YAML file.");
-        unsigned first = _filename_dot_yaml.find("/");
-        unsigned last = _filename_dot_yaml.find_last_of("/");
-        std::string strNew = _filename_dot_yaml.substr (first,last-first);
-        params->yaml_file_params_vision_utils = _filename_dot_yaml.substr (first,last-first) + "/" + params->yaml_file_params_vision_utils;
-
-        YAML::Node algorithm                    = config   ["algorithm"];
-        params->time_tolerance                  = algorithm["time tolerance"]                 .as<double>();
-        params->voting_active                   = algorithm["voting active"]                  .as<bool>();
-        params->delete_ambiguities              = algorithm["delete ambiguities"]             .as<bool>();
-        params->min_features_for_keyframe       = algorithm["minimum features for keyframe"]  .as<unsigned int>();
-        params->max_new_features                = algorithm["maximum new features"]           .as<unsigned int>();
-
-        params->n_cells_h                       = algorithm["grid horiz cells"]               .as<int>();
-        params->n_cells_v                       = algorithm["grid vert cells"]                .as<int>();
-        params->min_response_new_feature        = algorithm["min response new features"]      .as<int>();
-
-        params->min_track_length_for_factor = algorithm["min track length for factor"].as<int>();
-
-
-        YAML::Node noise                      = config["noise"];
-        params->pixel_noise_std               = noise ["pixel noise std"].as<double>();
-
-        return params;
-    }
-    else
-    {
-        WOLF_ERROR("Wrong processor type! Should be \"TRACKER BUNDLE ADJUSTMENT\"");
-        return nullptr;
-    }
-    return nullptr;
-}
-
-// Register in the FactorySensor
-const bool WOLF_UNUSED registered_prc_bundle_adjustment = FactoryParamsProcessor::registerCreator("ProcessorBundleAdjustment", createParamsProcessorBundleAdjustment);
-
-} // namespace [unnamed]
-
-} // namespace wolf

src/yaml/sensor_camera_yaml.cpp

@@ -26,12 +26,12 @@
  *      \author: jsola
  */
 
-// wolf yaml
-#include "core/yaml/yaml_conversion.h"
+// this plugin
+#include "vision/sensor/sensor_camera.h"
 
 // wolf
-#include "vision/sensor/sensor_camera.h"
-#include "core/common/factory.h"
+#include "core/sensor/factory_sensor.h"
+#include "core/yaml/yaml_conversion.h"
 
 // yaml-cpp library
 #include <yaml-cpp/yaml.h>