From 5680bc04c111773795c03ef0ef6191b4c408a42d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 12 Dec 2020 21:59:52 +0100
Subject: [PATCH] Remove API for Aux frames
---
include/core/processor/processor_base.h | 27 -------------------------
src/processor/processor_base.cpp | 5 -----
src/yaml/processor_odom_3d_yaml.cpp | 1 -
3 files changed, 33 deletions(-)
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index f6b5cc5fb..c8945c803 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -227,7 +227,6 @@ struct ParamsProcessorBase : public ParamsBase
{
time_tolerance = _server.getParam<double>(prefix + _unique_name + "/time_tolerance");
voting_active = _server.getParam<bool>(prefix + _unique_name + "/keyframe_vote/voting_active");
- voting_aux_active = _server.getParam<bool>(prefix + _unique_name + "/keyframe_vote/voting_aux_active");
apply_loss_function = _server.getParam<bool>(prefix + _unique_name + "/apply_loss_function");
}
@@ -239,12 +238,10 @@ struct ParamsProcessorBase : public ParamsBase
*/
double time_tolerance;
bool voting_active; ///< Whether this processor is allowed to vote for a Key Frame or not
- bool voting_aux_active; ///< Whether this processor is allowed to vote for an Auxiliary Frame or not
bool apply_loss_function; ///< Whether this processor emplaces factors with loss function or not
std::string print() const override
{
- + "voting_aux_active: " + std::to_string(voting_aux_active) + "\n"
return "voting_active: " + std::to_string(voting_active) + "\n"
+ "time_tolerance: " + std::to_string(time_tolerance) + "\n"
+ "apply_loss_function: " + std::to_string(apply_loss_function) + "\n";
@@ -337,19 +334,8 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
*/
virtual bool voteForKeyFrame() const = 0;
- /** \brief Vote for Auxiliary Frame generation
- *
- * If a Auxiliary Frame criterion is validated, this function returns true,
- * meaning that it wants to create a Auxiliary Frame at the \b last Capture.
- *
- * WARNING! This function only votes! It does not create Auxiliary Frames!
- */
- virtual bool voteForAuxFrame() const {return false;};
-
virtual bool permittedKeyFrame() final;
- virtual bool permittedAuxFrame() final;
-
void setProblem(ProblemPtr) override;
public:
@@ -377,8 +363,6 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
bool isVotingActive() const;
- bool isVotingAuxActive() const;
-
void setVotingActive(bool _voting_active = true);
int getDim() const;
@@ -388,7 +372,6 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
void link(SensorBasePtr);
template<typename classType, typename... T>
static std::shared_ptr<classType> emplace(SensorBasePtr _sen_ptr, T&&... all);
- void setVotingAuxActive(bool _voting_active = true);
virtual void printHeader(int depth, //
bool constr_by, //
@@ -439,21 +422,11 @@ inline bool ProcessorBase::isVotingActive() const
return params_->voting_active;
}
-inline bool ProcessorBase::isVotingAuxActive() const
-{
- return params_->voting_aux_active;
-}
-
inline void ProcessorBase::setVotingActive(bool _voting_active)
{
params_->voting_active = _voting_active;
}
-inline void ProcessorBase::setVotingAuxActive(bool _voting_active)
-{
- params_->voting_aux_active = _voting_active;
-}
-
inline bool ProcessorBase::isMotion() const
{
// check if this inherits from IsMotion
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 258e7c3d8..7e1015a4d 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -33,11 +33,6 @@ bool ProcessorBase::permittedKeyFrame()
return isVotingActive() && getProblem()->permitKeyFrame(shared_from_this());
}
-bool ProcessorBase::permittedAuxFrame()
-{
- return isVotingAuxActive() && getProblem()->permitAuxFrame(shared_from_this());
-}
-
void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const double& _time_tol_other)
{
assert(_keyframe_ptr != nullptr && "keyFrameCallback with a nullptr frame");
diff --git a/src/yaml/processor_odom_3d_yaml.cpp b/src/yaml/processor_odom_3d_yaml.cpp
index 9c21e3842..bd168ee20 100644
--- a/src/yaml/processor_odom_3d_yaml.cpp
+++ b/src/yaml/processor_odom_3d_yaml.cpp
@@ -34,7 +34,6 @@ static ParamsProcessorBasePtr createProcessorOdom3dParams(const std::string & _f
YAML::Node keyframe_vote = config["keyframe_vote"];
params->voting_active = keyframe_vote["voting_active"] .as<bool>();
- params->voting_aux_active = keyframe_vote["voting_aux_active"].as<bool>();
params->max_time_span = keyframe_vote["max_time_span"] .as<double>();
params->max_buff_length = keyframe_vote["max_buff_length"] .as<SizeEigen>();
params->dist_traveled = keyframe_vote["dist_traveled"] .as<double>();
--
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