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Commit 3c3826fb authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Use flat hierarchy in sensor and odometer 3D YAML

parent 49ec3d12
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2 merge requests!312Adress 244: Do not use default yaml params,!305WIP: Resolve "Do not use default YAML params"
This commit is part of merge request !305. Comments created here will be created in the context of that merge request.
...@@ -24,20 +24,16 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f ...@@ -24,20 +24,16 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f
{ {
YAML::Node config = YAML::LoadFile(_filename_dot_yaml); YAML::Node config = YAML::LoadFile(_filename_dot_yaml);
WOLF_TRACE("");
if (config["type"].as<std::string>() == "ODOM 3D") 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>(); ProcessorParamsOdom3DPtr params = std::make_shared<ProcessorParamsOdom3D>();
params->time_tolerance = config["time_tolerance"] .as<Scalar>(); params->time_tolerance = config["time_tolerance"] .as<Scalar>();
params->max_time_span = kf_vote["max_time_span"] .as<Scalar>(); params->max_time_span = config["max_time_span"] .as<Scalar>();
params->max_buff_length = kf_vote["max_buff_length"] .as<SizeEigen >(); params->max_buff_length = config["max_buff_length"] .as<SizeEigen >();
params->dist_traveled = kf_vote["dist_traveled"] .as<Scalar>(); params->dist_traveled = config["dist_traveled"] .as<Scalar>();
params->angle_turned = kf_vote["angle_turned"] .as<Scalar>(); params->angle_turned = config["angle_turned"] .as<Scalar>();
return params; return params;
} }
......
...@@ -26,15 +26,15 @@ static IntrinsicsBasePtr createIntrinsicsOdom3D(const std::string & _filename_do ...@@ -26,15 +26,15 @@ static IntrinsicsBasePtr createIntrinsicsOdom3D(const std::string & _filename_do
if (config["type"].as<std::string>() == "ODOM 3D") 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>(); IntrinsicsOdom3DPtr params = std::make_shared<IntrinsicsOdom3D>();
params->k_disp_to_disp = variances["k_disp_to_disp"] .as<Scalar>(); params->k_disp_to_disp = config["k_disp_to_disp"] .as<Scalar>();
params->k_disp_to_rot = variances["k_disp_to_rot"] .as<Scalar>(); params->k_disp_to_rot = config["k_disp_to_rot"] .as<Scalar>();
params->k_rot_to_rot = variances["k_rot_to_rot"] .as<Scalar>(); params->k_rot_to_rot = config["k_rot_to_rot"] .as<Scalar>();
params->min_disp_var = variances["min_disp_var"] .as<Scalar>(); params->min_disp_var = config["min_disp_var"] .as<Scalar>();
params->min_rot_var = variances["min_rot_var"] .as<Scalar>(); params->min_rot_var = config["min_rot_var"] .as<Scalar>();
return params; return params;
} }
......
type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error. 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 name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
time_tolerance: 0.01 # seconds time_tolerance: 0.01 # seconds
keyframe_vote:
max_time_span: 0.2 # seconds max_time_span: 0.2 # seconds
max_buff_length: 10 # motion deltas max_buff_length: 10 # motion deltas
dist_traveled: 0.5 # meters dist_traveled: 0.5 # meters
angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg) angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file \ No newline at end of file
type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error. 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 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_disp: 0.02 # m^2 / m
k_disp_to_rot: 0.02 # rad^2 / m k_disp_to_rot: 0.02 # rad^2 / m
k_rot_to_rot: 0.01 # rad^2 / rad k_rot_to_rot: 0.01 # rad^2 / rad
min_disp_var: 0.01 # m^2 min_disp_var: 0.01 # m^2
min_rot_var: 0.01 # rad^2 min_rot_var: 0.01 # rad^2
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