From 171d26adc85fd54dda10ccdde6bffbdb81e73f3c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 16 Dec 2018 20:33:59 +0100
Subject: [PATCH] Clear TODOs and other obsolete pending tasks
---
.gitignore | 1 +
src/examples/test_map_yaml.cpp | 2 +-
src/examples/test_yaml.cpp | 42 ++++++++++++------------
src/landmark_AHP.h | 4 +--
src/processor_tracker_feature_corner.cpp | 1 -
src/test/gtest_odom_2D.cpp | 2 +-
6 files changed, 26 insertions(+), 26 deletions(-)
diff --git a/.gitignore b/.gitignore
index dc88af0b4..2e5e67470 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,3 +26,4 @@ src/examples/map_polyline_example_write.yaml
src/CMakeCache.txt
src/CMakeFiles/cmake.check_cache
+src/examples/map_apriltag_save.yaml
diff --git a/src/examples/test_map_yaml.cpp b/src/examples/test_map_yaml.cpp
index 049e3dbc0..80273a384 100644
--- a/src/examples/test_map_yaml.cpp
+++ b/src/examples/test_map_yaml.cpp
@@ -75,7 +75,7 @@ int main()
std::string wolf_config = wolf_root + "/src/examples";
std::cout << "\nWolf directory for configuration files: " << wolf_config << std::endl;
- ProblemPtr problem = Problem::create(FRM_PO_2D);
+ ProblemPtr problem = Problem::create("PO 2D");
filename = wolf_config + "/map_polyline_example.yaml";
std::cout << "Reading map from file: " << filename << std::endl;
problem->loadMap(filename);
diff --git a/src/examples/test_yaml.cpp b/src/examples/test_yaml.cpp
index 2ca6eb55e..56a33fe1d 100644
--- a/src/examples/test_yaml.cpp
+++ b/src/examples/test_yaml.cpp
@@ -71,27 +71,27 @@ int main()
- // Processor Image parameters
-
- ProcessorParamsImage p;
-
- Node params = YAML::LoadFile(wolf_root + "/src/examples/processor_image_feature.yaml");
-
- if (params["processor type"])
- {
- Node as = params["active search"];
- p.active_search.grid_width = as["grid width"].as<unsigned int>();
- p.active_search.grid_height = as["grid height"].as<unsigned int>();
- p.active_search.separation = as["separation"].as<unsigned int>();
-
- Node img = params["image"];
- p.image.width = img["width"].as<unsigned int>();
- p.image.height = img["height"].as<unsigned int>();
-
- Node alg = params["algorithm"];
- p.max_new_features = alg["maximum new features"].as<unsigned int>();
- p.min_features_for_keyframe = alg["minimum features for new keyframe"].as<unsigned int>();
- }
+// // Processor Image parameters
+//
+// ProcessorParamsImage p;
+//
+// Node params = YAML::LoadFile(wolf_root + "/src/examples/processor_image_feature.yaml");
+//
+// if (params["processor type"])
+// {
+// Node as = params["active search"];
+// p.active_search.grid_width = as["grid width"].as<unsigned int>();
+// p.active_search.grid_height = as["grid height"].as<unsigned int>();
+// p.active_search.separation = as["separation"].as<unsigned int>();
+//
+// Node img = params["image"];
+// p.image.width = img["width"].as<unsigned int>();
+// p.image.height = img["height"].as<unsigned int>();
+//
+// Node alg = params["algorithm"];
+// p.max_new_features = alg["maximum new features"].as<unsigned int>();
+// p.min_features_for_keyframe = alg["minimum features for new keyframe"].as<unsigned int>();
+// }
return 0;
diff --git a/src/landmark_AHP.h b/src/landmark_AHP.h
index ad55a0724..e8d695b19 100644
--- a/src/landmark_AHP.h
+++ b/src/landmark_AHP.h
@@ -20,8 +20,8 @@ class LandmarkAHP : public LandmarkBase
{
protected:
cv::Mat cv_descriptor_;
- FrameBasePtr anchor_frame_; // TODO check pointer type
- SensorBasePtr anchor_sensor_; // TODO check pointer type
+ FrameBasePtr anchor_frame_;
+ SensorBasePtr anchor_sensor_;
public:
LandmarkAHP(Eigen::Vector4s _position_homogeneous, FrameBasePtr _anchor_frame, SensorBasePtr _anchor_sensor, cv::Mat _2D_descriptor);
diff --git a/src/processor_tracker_feature_corner.cpp b/src/processor_tracker_feature_corner.cpp
index 3b0ac96a2..5876bdd2b 100644
--- a/src/processor_tracker_feature_corner.cpp
+++ b/src/processor_tracker_feature_corner.cpp
@@ -176,7 +176,6 @@ void ProcessorTrackerFeatureCorner::extractCorners(CaptureLaser2DPtr _capture_la
measurement.head(2) = corner.pt_.head(2);
measurement(2) = corner.orientation_;
measurement(3) = corner.aperture_;
- // TODO: maybe in line object?
Scalar L1 = corner.line_1_.length();
Scalar L2 = corner.line_2_.length();
Scalar cov_angle_line1 = 12 * corner.line_1_.error_
diff --git a/src/test/gtest_odom_2D.cpp b/src/test/gtest_odom_2D.cpp
index ef833a48a..0ee5206e8 100644
--- a/src/test/gtest_odom_2D.cpp
+++ b/src/test/gtest_odom_2D.cpp
@@ -453,7 +453,7 @@ TEST(Odom2D, KF_callback)
// check the split KF
ASSERT_POSE2D_APPROX(keyframe_1->getState() , integrated_pose_vector[m_split], 1e-6);
- ASSERT_MATRIX_APPROX(problem->getFrameCovariance(keyframe_1) , integrated_cov_vector [m_split], 1e-6); // FIXME test does not pass
+ ASSERT_MATRIX_APPROX(problem->getFrameCovariance(keyframe_1) , integrated_cov_vector [m_split], 1e-6);
// check other KF in the future of the split KF
ASSERT_POSE2D_APPROX(problem->getLastKeyFramePtr()->getState() , integrated_pose_vector[n_split], 1e-6);
--
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