Eliminating file duplicated in vision plugin (closing #242)

src/yaml/processor_image_yaml.cpp

-/**
- * \file processor_image_yaml.cpp
- *
- *  Created on: May 21, 2016
- *      \author: jsola
- */
-
-// wolf yaml
-#include "core/yaml/yaml_conversion.h"
-
-// wolf
-#include "core/common/factory.h"
-
-// yaml-cpp library
-#include <yaml-cpp/yaml.h>
-
-#include "core/processor/processor_params_image.h"
-
-namespace wolf
-{
-namespace
-{
-static ProcessorParamsBasePtr createProcessorParamsImage(const std::string & _filename_dot_yaml)
-{
-    using std::string;
-    using YAML::Node;
-
-    std::shared_ptr<ProcessorParamsTrackerFeatureImage> p = std::make_shared<ProcessorParamsTrackerFeatureImage>();
-
-    Node params = YAML::LoadFile(_filename_dot_yaml);
-
-    if (!params.IsNull())
-    {
-    	Node dd_yaml = params["vision_utils"];
-   	    p->yaml_file_params_vision_utils = dd_yaml["YAML file params"].as<std::string>();
-   	    // Check if relative path
-   	    if (!p->yaml_file_params_vision_utils.empty())
-   	    {
-   	        if (p->yaml_file_params_vision_utils[0] != '/')
-   	        {
-   	            std::string wolf_root = _WOLF_ROOT_DIR;
-   	            std::cout << "Wolf root: " << wolf_root << std::endl;
-   	            std::string abs_path = wolf_root + "/src/examples/" + p->yaml_file_params_vision_utils;
-   	            p->yaml_file_params_vision_utils = abs_path;
-   	        }
-   	    }
-
-        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>();
-        p->min_response_for_new_features = alg["minimum response for new features"].as<float>();
-        p->time_tolerance= alg["time tolerance"].as<Scalar>();
-        p->distance= alg["distance"].as<Scalar>();
-
-        Node noi = params["noise"];
-        p->pixel_noise_std = noi["pixel noise std"].as<Scalar>();
-        p->pixel_noise_var = p->pixel_noise_std * p->pixel_noise_std;
-    }
-
-    return p;
-}
-
-// Register in the SensorFactory
-const bool WOLF_UNUSED registered_prc_image_feature_par = ProcessorParamsFactory::get().registerCreator("IMAGE FEATURE", createProcessorParamsImage);
-const bool WOLF_UNUSED registered_prc_image_landmark_par = ProcessorParamsFactory::get().registerCreator("IMAGE LANDMARK", createProcessorParamsImage);
-
-}
-}