From 3c3826fbcd3b80dac1f92d178ea3361e45a9714e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 19 Jul 2019 11:27:43 +0300
Subject: [PATCH] Use flat hierarchy in sensor and odometer 3D YAML
---
src/yaml/processor_odom_3D_yaml.cpp | 12 ++++--------
src/yaml/sensor_odom_3D_yaml.cpp | 12 ++++++------
test/yaml/processor_odom_3D.yaml | 10 +++++-----
test/yaml/sensor_odom_3D.yaml | 12 ++++++------
4 files changed, 21 insertions(+), 25 deletions(-)
diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp
index 6ea8024a4..211bd8652 100644
--- a/src/yaml/processor_odom_3D_yaml.cpp
+++ b/src/yaml/processor_odom_3D_yaml.cpp
@@ -24,20 +24,16 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f
{
YAML::Node config = YAML::LoadFile(_filename_dot_yaml);
- WOLF_TRACE("");
if (config["type"].as<std::string>() == "ODOM 3D")
{
- WOLF_TRACE("");
- YAML::Node kf_vote = config["keyframe_vote"];
- WOLF_TRACE("");
ProcessorParamsOdom3DPtr params = std::make_shared<ProcessorParamsOdom3D>();
params->time_tolerance = config["time_tolerance"] .as<Scalar>();
- params->max_time_span = kf_vote["max_time_span"] .as<Scalar>();
- params->max_buff_length = kf_vote["max_buff_length"] .as<SizeEigen >();
- params->dist_traveled = kf_vote["dist_traveled"] .as<Scalar>();
- params->angle_turned = kf_vote["angle_turned"] .as<Scalar>();
+ params->max_time_span = config["max_time_span"] .as<Scalar>();
+ params->max_buff_length = config["max_buff_length"] .as<SizeEigen >();
+ params->dist_traveled = config["dist_traveled"] .as<Scalar>();
+ params->angle_turned = config["angle_turned"] .as<Scalar>();
return params;
}
diff --git a/src/yaml/sensor_odom_3D_yaml.cpp b/src/yaml/sensor_odom_3D_yaml.cpp
index 623b03b3a..803963c71 100644
--- a/src/yaml/sensor_odom_3D_yaml.cpp
+++ b/src/yaml/sensor_odom_3D_yaml.cpp
@@ -26,15 +26,15 @@ static IntrinsicsBasePtr createIntrinsicsOdom3D(const std::string & _filename_do
if (config["type"].as<std::string>() == "ODOM 3D")
{
- YAML::Node variances = config["motion_variances"];
+// YAML::Node variances = config["motion_variances"];
IntrinsicsOdom3DPtr params = std::make_shared<IntrinsicsOdom3D>();
- params->k_disp_to_disp = variances["k_disp_to_disp"] .as<Scalar>();
- params->k_disp_to_rot = variances["k_disp_to_rot"] .as<Scalar>();
- params->k_rot_to_rot = variances["k_rot_to_rot"] .as<Scalar>();
- params->min_disp_var = variances["min_disp_var"] .as<Scalar>();
- params->min_rot_var = variances["min_rot_var"] .as<Scalar>();
+ params->k_disp_to_disp = config["k_disp_to_disp"] .as<Scalar>();
+ params->k_disp_to_rot = config["k_disp_to_rot"] .as<Scalar>();
+ params->k_rot_to_rot = config["k_rot_to_rot"] .as<Scalar>();
+ params->min_disp_var = config["min_disp_var"] .as<Scalar>();
+ params->min_rot_var = config["min_rot_var"] .as<Scalar>();
return params;
}
diff --git a/test/yaml/processor_odom_3D.yaml b/test/yaml/processor_odom_3D.yaml
index f99f8edbe..cdaf53674 100644
--- a/test/yaml/processor_odom_3D.yaml
+++ b/test/yaml/processor_odom_3D.yaml
@@ -1,8 +1,8 @@
type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
time_tolerance: 0.01 # seconds
-keyframe_vote:
- max_time_span: 0.2 # seconds
- max_buff_length: 10 # motion deltas
- dist_traveled: 0.5 # meters
- angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file
+
+max_time_span: 0.2 # seconds
+max_buff_length: 10 # motion deltas
+dist_traveled: 0.5 # meters
+angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file
diff --git a/test/yaml/sensor_odom_3D.yaml b/test/yaml/sensor_odom_3D.yaml
index 6a5424773..d55585689 100644
--- a/test/yaml/sensor_odom_3D.yaml
+++ b/test/yaml/sensor_odom_3D.yaml
@@ -1,8 +1,8 @@
type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
-motion_variances:
- k_disp_to_disp: 0.02 # m^2 / m
- k_disp_to_rot: 0.02 # rad^2 / m
- k_rot_to_rot: 0.01 # rad^2 / rad
- min_disp_var: 0.01 # m^2
- min_rot_var: 0.01 # rad^2
+
+k_disp_to_disp: 0.02 # m^2 / m
+k_disp_to_rot: 0.02 # rad^2 / m
+k_rot_to_rot: 0.01 # rad^2 / rad
+min_disp_var: 0.01 # m^2
+min_rot_var: 0.01 # rad^2
--
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