diff --git a/CMakeLists.txt b/CMakeLists.txt index 08890714ecbf3cca53e53e9c55ee203310bbc18f..6e84d54740a220bd58f3db13a9e2c32f9ac935fc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -48,8 +48,18 @@ if(UNIX) endif(UNIX) -#OPTION(BUILD_DOC "Build Documentation" OFF) -OPTION(BUILD_TESTS "Build Unit tests" ON) +IF(NOT BUILD_TESTS) + OPTION(BUILD_TESTS "Build Unit tests" ON) +ENDIF(NOT BUILD_TESTS) + +IF(NOT BUILD_DEMOS) + OPTION(BUILD_DEMOS "Build Demos" OFF) +ENDIF(NOT BUILD_DEMOS) + +IF(NOT BUILD_DOC) + OPTION(BUILD_DOC "Build Documentation" OFF) +ENDIF(NOT BUILD_DOC) + ############# ## Testing ## ############# @@ -78,9 +88,6 @@ ENDIF() option(_WOLF_TRACE "Enable wolf tracing macro" ON) -# option(BUILD_EXAMPLES "Build examples" OFF) -set(BUILD_TESTS true) - # Does this has any other interest # but for the examples ? # yes, for the tests ! diff --git a/include/vision/processor/processor_params_image.h b/include/vision/processor/processor_params_image.h index 7497e1c4151ee1021917c710463217e857463f32..47f82cfb9f4481e962859de1995732c8c16352ff 100644 --- a/include/vision/processor/processor_params_image.h +++ b/include/vision/processor/processor_params_image.h @@ -30,6 +30,15 @@ struct ProcessorParamsTrackerFeatureImage : public ProcessorParamsTrackerFeature pixel_noise_std = _server.getParam<Scalar>(_unique_name + "/pixel_noise_std"); pixel_noise_var = _server.getParam<Scalar>(_unique_name + "/pixel_noise_var"); } + std::string print() + { + return "\n" + ProcessorParamsTrackerFeature::print() + + "yaml_file_params_vision_utils: " + yaml_file_params_vision_utils + "\n" + + "min_response_for_new_features: " + std::to_string(min_response_for_new_features) + "\n" + + "distance: " + std::to_string(distance) + "\n" + + "pixel_noise_std: " + std::to_string(pixel_noise_std) + "\n" + + "pixel_noise_var: " + std::to_string(pixel_noise_var) + "\n"; + } }; WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsTrackerLandmarkImage); @@ -54,6 +63,15 @@ struct ProcessorParamsTrackerLandmarkImage : public ProcessorParamsTrackerLandma pixel_noise_std = _server.getParam<Scalar>(_unique_name + "/pixel_noise_std"); pixel_noise_var = _server.getParam<Scalar>(_unique_name + "/pixel_noise_var"); } + std::string print() + { + return "\n" + ProcessorParamsTrackerLandmark::print() + + "yaml_file_params_vision_utils: " + yaml_file_params_vision_utils + "\n" + + "min_response_for_new_features: " + std::to_string(min_response_for_new_features) + "\n" + + "distance: " + std::to_string(distance) + "\n" + + "pixel_noise_std: " + std::to_string(pixel_noise_std) + "\n" + + "pixel_noise_var: " + std::to_string(pixel_noise_var) + "\n"; + } }; } diff --git a/include/vision/processor/processor_tracker_feature_trifocal.h b/include/vision/processor/processor_tracker_feature_trifocal.h index 51e109cba079af55d3bada4d600c7fedb703ab5e..5053355afde0f6a47486b1524b53a84d8c71faa7 100644 --- a/include/vision/processor/processor_tracker_feature_trifocal.h +++ b/include/vision/processor/processor_tracker_feature_trifocal.h @@ -38,6 +38,16 @@ struct ProcessorParamsTrackerFeatureTrifocal : public ProcessorParamsTrackerFeat pixel_noise_std = _server.getParam<Scalar>(_unique_name + "/pixel_noise_std"); min_track_length_for_factor = _server.getParam<int>(_unique_name + "/min_track_length_for_factor"); } + std::string print() + { + return "\n" + ProcessorParamsTrackerFeature::print() + + "yaml_file_params_vision_utils: " + yaml_file_params_vision_utils + "\n" + + "n_cells_h: " + std::to_string(n_cells_h) + "\n" + + "n_cells_v: " + std::to_string(n_cells_v) + "\n" + + "min_response_new_feature: " + std::to_string(min_response_new_feature) + "\n" + + "pixel_noise_std: " + std::to_string(pixel_noise_std) + "\n" + + "min_track_length_for_factor: " + std::to_string(min_track_length_for_factor) + "\n"; + } }; WOLF_PTR_TYPEDEFS(ProcessorTrackerFeatureTrifocal); diff --git a/include/vision/sensor/sensor_camera.h b/include/vision/sensor/sensor_camera.h index 1d448f577f38ff4465000e3bcc4faacf5bfb1291..8834c5f9d6390fcf54ca88dbd53cdf51a40cdf42 100644 --- a/include/vision/sensor/sensor_camera.h +++ b/include/vision/sensor/sensor_camera.h @@ -30,6 +30,15 @@ struct IntrinsicsCamera : public IntrinsicsBase pinhole_model_raw = _server.getParam<Eigen::Vector4s>(_unique_name + "/pinhole_model_raw"); pinhole_model_rectified = _server.getParam<Eigen::Vector4s>(_unique_name + "/pinhole_model_rectified"); distortion = _server.getParam<Eigen::VectorXs>(_unique_name + "/distortion"); + } + std::string print() + { + return "\n" + IntrinsicsBase::print() + + "width: " + std::to_string(width) + "\n" + + "height: " + std::to_string(height) + "\n" + + "pinhole: " + converter<std::string>::convert(pinhole_model_raw) + "\n" + + "pinhole: " + converter<std::string>::convert(pinhole_model_rectified) + "\n" + + "distortion: " + converter<std::string>::convert(distortion) + "\n"; } virtual ~IntrinsicsCamera() = default; };