From 7756bf272d23f15c6b986b84cc9d98ddbc40d2a8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Thu, 18 Jul 2019 20:41:28 +0300 Subject: [PATCH] fix some YAML param names --- src/yaml/processor_odom_3D_yaml.cpp | 17 ++++++++++------- src/yaml/sensor_odom_3D_yaml.cpp | 10 +++++----- test/yaml/processor_odom_3D.yaml | 2 +- test/yaml/sensor_odom_3D.yaml | 6 +++--- 4 files changed, 19 insertions(+), 16 deletions(-) diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp index ff5647795..6ea8024a4 100644 --- a/src/yaml/processor_odom_3D_yaml.cpp +++ b/src/yaml/processor_odom_3D_yaml.cpp @@ -24,17 +24,20 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f { YAML::Node config = YAML::LoadFile(_filename_dot_yaml); - if (config["processor type"].as<std::string>() == "ODOM 3D") + WOLF_TRACE(""); + if (config["type"].as<std::string>() == "ODOM 3D") { - YAML::Node kf_vote = config["keyframe vote"]; + 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 buffer length"] .as<SizeEigen >(); - params->dist_traveled = kf_vote["dist traveled"] .as<Scalar>(); - params->angle_turned = kf_vote["angle turned"] .as<Scalar>(); + 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>(); return params; } diff --git a/src/yaml/sensor_odom_3D_yaml.cpp b/src/yaml/sensor_odom_3D_yaml.cpp index 3756953b4..623b03b3a 100644 --- a/src/yaml/sensor_odom_3D_yaml.cpp +++ b/src/yaml/sensor_odom_3D_yaml.cpp @@ -24,15 +24,15 @@ static IntrinsicsBasePtr createIntrinsicsOdom3D(const std::string & _filename_do { YAML::Node config = YAML::LoadFile(_filename_dot_yaml); - if (config["sensor 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>(); - params->k_disp_to_disp = variances["disp_to_disp"] .as<Scalar>(); - params->k_disp_to_rot = variances["disp_to_rot"] .as<Scalar>(); - params->k_rot_to_rot = variances["rot_to_rot"] .as<Scalar>(); + 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>(); diff --git a/test/yaml/processor_odom_3D.yaml b/test/yaml/processor_odom_3D.yaml index 7df9dd021..f99f8edbe 100644 --- a/test/yaml/processor_odom_3D.yaml +++ b/test/yaml/processor_odom_3D.yaml @@ -3,6 +3,6 @@ name: "Main odometer" # This is ignored. The name provided to the SensorF time_tolerance: 0.01 # seconds keyframe_vote: max_time_span: 0.2 # seconds - max_buffer_length: 10 # motion deltas + 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 075681ffb..6a5424773 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: - disp_to_disp: 0.02 # m^2 / m - disp_to_rot: 0.02 # rad^2 / m - rot_to_rot: 0.01 # rad^2 / rad + 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 -- GitLab