From 42cf3d3a0ec7a81679defe251d0f8e7d58b0fbc2 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Tue, 28 Jun 2016 11:33:24 +0200
Subject: [PATCH] adapted to the new iterativelinefinder parameters
---
src/examples/test_2_lasers_offline.cpp | 4 ++--
src/examples/test_ceres_2_lasers.cpp | 4 ++--
src/examples/test_ceres_2_lasers_polylines.cpp | 11 +++++++++--
3 files changed, 13 insertions(+), 6 deletions(-)
diff --git a/src/examples/test_2_lasers_offline.cpp b/src/examples/test_2_lasers_offline.cpp
index cafdbcbca..12b8e13ef 100644
--- a/src/examples/test_2_lasers_offline.cpp
+++ b/src/examples/test_2_lasers_offline.cpp
@@ -131,7 +131,7 @@ int main(int argc, char** argv)
laser_1_intrinsics.scan_params = laserscanutils::LaserScanParams({laser_1_params(0), laser_1_params(1), laser_1_params(2), laser_1_params(3), laser_1_params(4), laser_1_params(5), laser_1_params(6), laser_1_params(7)});
ProcessorParamsLaser laser_1_processor_params;
- laser_1_processor_params.line_finder_params_ = laserscanutils::LineFinderIterativeParams({0.1, 5});
+ laser_1_processor_params.line_finder_params_ = laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2});
laser_1_processor_params.new_corners_th = 10;
// laser 2 extrinsics and intrinsics
@@ -144,7 +144,7 @@ int main(int argc, char** argv)
laser_2_intrinsics.scan_params = laserscanutils::LaserScanParams({laser_2_params(0), laser_2_params(1), laser_2_params(2), laser_2_params(3), laser_2_params(4), laser_2_params(5), laser_2_params(6), laser_2_params(7)});
ProcessorParamsLaser laser_2_processor_params;
- laser_2_processor_params.line_finder_params_ = laserscanutils::LineFinderIterativeParams({0.1, 5});
+ laser_2_processor_params.line_finder_params_ = laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2});
laser_2_processor_params.new_corners_th = 10;
Problem problem(FRM_PO_2D);
diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp
index fb7934627..d3a3899a2 100644
--- a/src/examples/test_ceres_2_lasers.cpp
+++ b/src/examples/test_ceres_2_lasers.cpp
@@ -226,8 +226,8 @@ int main(int argc, char** argv)
SensorGPSFix* gps_sensor = new SensorGPSFix(new StateBlock(gps_pose.head(2), true), new StateBlock(gps_pose.tail(1), true), gps_std);
SensorLaser2D* laser_1_sensor = new SensorLaser2D(new StateBlock(laser_1_pose.head(2), true), new StateBlock(laser_1_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
SensorLaser2D* laser_2_sensor = new SensorLaser2D(new StateBlock(laser_2_pose.head(2), true), new StateBlock(laser_2_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
- ProcessorTrackerLandmarkCorner* laser_1_processor = new ProcessorTrackerLandmarkCorner(laserscanutils::LineFinderIterativeParams({0.1, 5}), 3, 10);
- ProcessorTrackerLandmarkCorner* laser_2_processor = new ProcessorTrackerLandmarkCorner(laserscanutils::LineFinderIterativeParams({0.1, 5}), 3, 10);
+ ProcessorTrackerLandmarkCorner* laser_1_processor = new ProcessorTrackerLandmarkCorner(laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2}), 3, 10);
+ ProcessorTrackerLandmarkCorner* laser_2_processor = new ProcessorTrackerLandmarkCorner(laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2}), 3, 10);
ProcessorOdom2D* odom_processor = new ProcessorOdom2D(1,1,100);
odom_sensor->addProcessor(odom_processor);
laser_1_sensor->addProcessor(laser_1_processor);
diff --git a/src/examples/test_ceres_2_lasers_polylines.cpp b/src/examples/test_ceres_2_lasers_polylines.cpp
index b21bc4fb7..a20ba72d1 100644
--- a/src/examples/test_ceres_2_lasers_polylines.cpp
+++ b/src/examples/test_ceres_2_lasers_polylines.cpp
@@ -226,8 +226,15 @@ int main(int argc, char** argv)
SensorGPSFix* gps_sensor = new SensorGPSFix(new StateBlock(gps_pose.head(2), true), new StateBlock(gps_pose.tail(1), true), gps_std);
SensorLaser2D* laser_1_sensor = new SensorLaser2D(new StateBlock(laser_1_pose.head(2), true), new StateBlock(laser_1_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
SensorLaser2D* laser_2_sensor = new SensorLaser2D(new StateBlock(laser_2_pose.head(2), true), new StateBlock(laser_2_pose.tail(1), true), laserscanutils::LaserScanParams({M_PI/2,-M_PI/2, -M_PI/720,0.01,0.2,100,0.01,0.01}));
- ProcessorTrackerLandmarkPolyline* laser_1_processor = new ProcessorTrackerLandmarkPolyline(laserscanutils::LineFinderIterativeParams({0.1, 5}), 3, 10);
- ProcessorTrackerLandmarkPolyline* laser_2_processor = new ProcessorTrackerLandmarkPolyline(laserscanutils::LineFinderIterativeParams({0.1, 5}), 3, 10);
+
+ wolf::ProcessorParamsPolyline laser_processor_params;
+ laser_processor_params.line_finder_params = laserscanutils::LineFinderIterativeParams({0.1, 5, 1, 2});
+ laser_processor_params.new_features_th = 3;
+ laser_processor_params.loop_frames_th = 10;
+ laser_processor_params.time_tolerance = 0.1;
+ laser_processor_params.position_error_th = 0.5;
+ ProcessorTrackerLandmarkPolyline* laser_1_processor = new ProcessorTrackerLandmarkPolyline(laser_processor_params);
+ ProcessorTrackerLandmarkPolyline* laser_2_processor = new ProcessorTrackerLandmarkPolyline(laser_processor_params);
ProcessorOdom2D* odom_processor = new ProcessorOdom2D(1,1,100);
odom_sensor->addProcessor(odom_processor);
laser_1_sensor->addProcessor(laser_1_processor);
--
GitLab