Remove all CalibSize things

include/core/sensor/sensor_base.h

@@ -90,7 +90,6 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
     private:
         HardwareBaseWPtr hardware_ptr_;
         ProcessorBasePtrList processor_list_;
-        SizeEigen calib_size_;
 
         static unsigned int sensor_id_count_; ///< Object counter (acts as simple ID factory)
 
@@ -234,8 +233,6 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
                                 unsigned int _start_idx = 0,
                                 int _size = -1);
 
-        SizeEigen getCalibSize() const;
-
         VectorComposite getCalibration() const;
         void getCalibration(VectorComposite& _calib) const;
 
@@ -262,11 +259,6 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
         template<typename classType, typename... T>
         static std::shared_ptr<classType> emplace(HardwareBasePtr _hwd_ptr, T&&... all);
 
-    protected:
-        SizeEigen computeCalibSize() const;
-
-    private:
-        void updateCalibSize();
 };
 
 }
@@ -354,16 +346,6 @@ inline void SensorBase::addPriorIntrinsics(const Eigen::VectorXd& _x, const Eige
     addPriorParameter("I", _x, _cov);
 }
 
-inline SizeEigen SensorBase::getCalibSize() const
-{
-    return calib_size_;
-}
-
-inline void SensorBase::updateCalibSize()
-{
-    calib_size_ = computeCalibSize();
-}
-
 } // namespace wolf
 
 #endif

src/sensor/sensor_base.cpp

@@ -20,7 +20,6 @@ SensorBase::SensorBase(const std::string& _type,
         NodeBase("SENSOR", _type),
         HasStateBlocks(""),
         hardware_ptr_(),
-        calib_size_(0),
         sensor_id_(++sensor_id_count_), // simple ID factory
         noise_std_(_noise_size),
         noise_cov_(_noise_size, _noise_size)
@@ -40,8 +39,6 @@ SensorBase::SensorBase(const std::string& _type,
 
     if (_intr_ptr)
         addStateBlock("I", _intr_ptr, _intr_dyn);
-
-    updateCalibSize();
 }
 
 SensorBase::SensorBase(const std::string& _type,
@@ -55,7 +52,6 @@ SensorBase::SensorBase(const std::string& _type,
         NodeBase("SENSOR", _type),
         HasStateBlocks(""),
         hardware_ptr_(),
-        calib_size_(0),
         sensor_id_(++sensor_id_count_), // simple ID factory
         noise_std_(_noise_std),
         noise_cov_(_noise_std.size(), _noise_std.size())
@@ -70,8 +66,6 @@ SensorBase::SensorBase(const std::string& _type,
 
     if (_intr_ptr)
         addStateBlock("I", _intr_ptr, _intr_dyn);
-
-    updateCalibSize();
 }
 
 SensorBase::~SensorBase()
@@ -105,7 +99,6 @@ void SensorBase::fixExtrinsics()
         if (sbp != nullptr)
             sbp->fix();
     }
-    updateCalibSize();
 }
 
 void SensorBase::unfixExtrinsics()
@@ -116,7 +109,6 @@ void SensorBase::unfixExtrinsics()
         if (sbp != nullptr)
             sbp->unfix();
     }
-    updateCalibSize();
 }
 
 void SensorBase::fixIntrinsics()
@@ -131,7 +123,6 @@ void SensorBase::fixIntrinsics()
                 sbp->fix();
         }
     }
-    updateCalibSize();
 }
 
 void SensorBase::unfixIntrinsics()
@@ -146,7 +137,6 @@ void SensorBase::unfixIntrinsics()
                 sbp->unfix();
         }
     }
-    updateCalibSize();
 }
 
 void SensorBase::addPriorParameter(const std::string& _key, const Eigen::VectorXd& _x, const Eigen::MatrixXd& _cov, unsigned int _start_idx, int _size)
@@ -315,18 +305,6 @@ StateBlockPtr SensorBase::getIntrinsic() const
     return getStateBlockDynamic("I");
 }
 
-SizeEigen SensorBase::computeCalibSize() const
-{
-    SizeEigen sz = 0;
-    for (const auto& pair_key_sb : getStateBlockMap())
-    {
-        auto sb = pair_key_sb.second;
-        if (sb && !sb->isFixed())
-            sz += sb->getSize();
-    }
-    return sz;
-}
-
 VectorComposite SensorBase::getCalibration() const
 {
     VectorComposite calib;