diff --git a/include/core/sensor/factory_sensor.h b/include/core/sensor/factory_sensor.h
index d51b407e3e33ba37ab087bd12373c68bba6f51a3..13968e370e83326135ef5958e3abcd9e457a92b3 100644
--- a/include/core/sensor/factory_sensor.h
+++ b/include/core/sensor/factory_sensor.h
@@ -70,9 +70,10 @@ namespace wolf
*
* \code
* static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const ParamsServer& _server);
+ * static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const std::string& _yaml_filepath);
* \endcode
*
- * They follow the general implementation shown below:
+ * They follow the general implementations shown below:
*
* \code
* static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const ParamsServer& _server)
@@ -85,6 +86,22 @@ namespace wolf
*
* return sensor;
* }
+ * static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const std::string& _yaml_filepath)
+ * {
+ * // parse the yaml file
+ * auto parser = ParserYaml(_yaml_filepath, "", true);
+ *
+ * // load the parameters
+ * auto server = ParamsServer(parser.getParams());
+ *
+ * // Do create the Sensor Parameters --- example: ParamsSensorCamera
+ * auto params = std::make_shared<ParamsSensorCamera>(_unique_name, server);
+ *
+ * // Do create the Sensor object --- example: SensorCamera
+ * auto sensor = std::make_shared<SensorCamera>(_unique_name, _dim, params, server);
+ *
+ * return sensor;
+ * }
* \endcode
*
* #### Creating sensors
@@ -97,6 +114,12 @@ namespace wolf
* auto camera_ptr = FactorySensor::create("SensorCamera", "Front-left camera", 3, param_server);
* \endcode
*
+ * or:
+ *
+ * \code
+ * auto camera_ptr = FactorySensorYaml::create("SensorCamera", "Front-left camera", 3, yaml_filepath);
+ * \endcode
+ *
* where ABSOLUTELY ALL input parameters are important. In particular, the sensor name "Front-left camera" will be used to identify this camera
* and to assign it the appropriate processors. DO NOT USE IT WITH DUMMY PARAMETERS!
*
@@ -121,12 +144,16 @@ namespace wolf
* namespace {
* const bool registered_camera = FactorySensor::registerCreator("SensorCamera", SensorCamera::create);
* }
+ * namespace {
+ * const bool registered_camera_yaml = FactorySensorYaml::registerCreator("SensorCamera", SensorCamera::create);
+ * }
* main () { ... }
* \endcode
* or inside your main(), where a direct call is possible:
* \code
* main () {
* FactorySensor::registerCreator("SensorCamera", SensorCamera::create);
+ * FactorySensor::registerCreatorYaml("SensorCamera", SensorCamera::create);
* ...
* }
* \endcode
@@ -136,9 +163,11 @@ namespace wolf
* \code
* namespace {
* const bool registered_camera = FactorySensor::registerCreator("SensorCamera", SensorCamera::create);
+ * const bool registered_camera_yaml = FactorySensorYaml::registerCreator("SensorCamera", SensorCamera::create);
* }
* \endcode
- * Automatic registration is recommended in wolf, and implemented in the classes shipped with it using the macro WOLF_REGISTER_SENSOR(SensorType).
+ * Automatic registration is recommended in wolf, and implemented in the classes shipped with it using the macros
+ * WOLF_REGISTER_SENSOR(SensorType) and WOLF_REGISTER_SENSOR_YAML(SensorType).
* You are free to comment out these lines and place them wherever you consider it more convenient for your design.
*
* #### Example 2: creating sensors
@@ -160,24 +189,18 @@ namespace wolf
* // the parameter server or a yaml file
*
* SensorBasePtr camera_1_ptr =
- * FactorySensor::create ( "SensorCamera" ,
- * "Front-left camera" ,
- * extrinsics_1 ,
- * intrinsics_1 );
+ * FactorySensor::create ( "SensorCamera",
+ * "Front-left camera" ,
+ * 3 ,
+ * parameter_server );
*
* // A second camera... with a different name!
*
- * Eigen::VectorXd extrinsics_2(7);
- *
- * ParamsSensorCameraPtr intrinsics_2 =
- * FactoryParamsSensor::create("ParamsSensorCamera",
- * camera_2.yaml);
- *
* SensorBasePtr camera_2_ptr =
* FactorySensor::create( "SensorCamera" ,
- * "Front-right camera" ,
- * extrinsics_2 ,
- * intrinsics_2 );
+ * "Front-right camera" ,
+ * 3 ,
+ * yaml_filename );
*
* return 0;
* }
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index cf693f57c9b8b3fa8de09299d01c7b69ddbe968c..c43d61d1553d74b3eae74cf7f95fa73ca05d1f71 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -58,27 +58,27 @@ namespace wolf {
* ParamsSensorClassPtr _params)
*
*/
-#define WOLF_SENSOR_CREATE(SensorClass, ParamsSensorClass) \
-static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const ParamsServer& _server) \
-{ \
- auto params = std::make_shared<ParamsSensorClass>(_unique_name, _server); \
- \
- auto sensor = std::make_shared<SensorClass>(_unique_name, _dim, params, _server); \
- \
- return sensor; \
-} \
-static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const std::string& _yaml_file) \
-{ \
- auto parser = ParserYaml(_yaml_file, "", true); \
- \
- auto server = ParamsServer(parser.getParams()); \
- \
- auto params = std::make_shared<ParamsSensorClass>(_unique_name, server); \
- \
- auto sensor = std::make_shared<SensorClass>(_unique_name, _dim, params, server); \
- \
- return sensor; \
-} \
+#define WOLF_SENSOR_CREATE(SensorClass, ParamsSensorClass) \
+static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const ParamsServer& _server) \
+{ \
+ auto params = std::make_shared<ParamsSensorClass>(_unique_name, _server); \
+ \
+ auto sensor = std::make_shared<SensorClass>(_unique_name, _dim, params, _server); \
+ \
+ return sensor; \
+} \
+static SensorBasePtr create(const std::string& _unique_name, SizeEigen _dim, const std::string& _yaml_filepath) \
+{ \
+ auto parser = ParserYaml(_yaml_filepath, "", true); \
+ \
+ auto server = ParamsServer(parser.getParams()); \
+ \
+ auto params = std::make_shared<ParamsSensorClass>(_unique_name, server); \
+ \
+ auto sensor = std::make_shared<SensorClass>(_unique_name, _dim, params, server); \
+ \
+ return sensor; \
+} \
/** \brief base struct for intrinsic sensor parameters
*