From a10e69223bfd4f2add8a84f3573218fde0f53a6c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 8 Aug 2022 23:04:07 +0200
Subject: [PATCH] Remove commented Ftr and Fac emplacers
---
include/core/processor/factory_processor.h | 1 +
include/core/processor/processor_diff_drive.h | 2 --
include/core/processor/processor_motion.h | 10 --------
include/core/processor/processor_odom_2d.h | 2 --
include/core/processor/processor_odom_3d.h | 2 --
src/processor/processor_diff_drive.cpp | 22 -----------------
src/processor/processor_motion.cpp | 6 -----
src/processor/processor_odom_2d.cpp | 24 -------------------
src/processor/processor_odom_3d.cpp | 19 ---------------
9 files changed, 1 insertion(+), 87 deletions(-)
diff --git a/include/core/processor/factory_processor.h b/include/core/processor/factory_processor.h
index 74f01419e..fbd3261c2 100644
--- a/include/core/processor/factory_processor.h
+++ b/include/core/processor/factory_processor.h
@@ -37,6 +37,7 @@ struct ParamsProcessorBase;
// wolf
#include "core/common/factory.h"
+#include "core/utils/params_server.h"
// std
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 2a00afd27..462e5ee22 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -79,8 +79,6 @@ class ProcessorDiffDrive : public ProcessorOdom2d
const VectorXd& _calib,
const VectorXd& _calib_preint,
const CaptureBasePtr& _capture_origin) override;
- // FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) override;
- // FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) override;
void emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) override;
VectorXd getCalibration(const CaptureBaseConstPtr _capture = nullptr) const override;
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 4e883fa4e..3bf0b9961 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -477,16 +477,6 @@ class ProcessorMotion : public ProcessorBase, public MotionProvider
const VectorXd& _calib_preint,
const CaptureBasePtr& _capture_origin_ptr) = 0;
- // /** \brief emplace a feature corresponding to given capture and add the feature to this capture
- // * \param _capture_motion: the parent capture
- // */
- // virtual FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) = 0;
-
- // /** \brief emplace a factor and link it in the wolf tree
- // * \param _feature_motion: the parent feature
- // * \param _frame_origin: the frame constrained by this motion factor
- // */
- // virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) = 0;
/** \brief emplace the features and factors corresponding to given capture and link them to the capture
* \param _capture_own: the parent capture
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index 1f2f9a245..1612a4bf5 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -104,8 +104,6 @@ class ProcessorOdom2d : public ProcessorMotion
const VectorXd& _calib,
const VectorXd& _calib_preint,
const CaptureBasePtr& _capture_origin_ptr) override;
- // FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_motion) override;
- // FactorBasePtr emplaceFactor(FeatureBasePtr _feature, CaptureBasePtr _capture_origin) override;
void emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) override;
VectorXd getCalibration(const CaptureBaseConstPtr _capture) const override;
void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
diff --git a/include/core/processor/processor_odom_3d.h b/include/core/processor/processor_odom_3d.h
index c4cef80a7..fca115c83 100644
--- a/include/core/processor/processor_odom_3d.h
+++ b/include/core/processor/processor_odom_3d.h
@@ -125,8 +125,6 @@ class ProcessorOdom3d : public ProcessorMotion
const VectorXd& _calib,
const VectorXd& _calib_preint,
const CaptureBasePtr& _capture_origin) override;
- // FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_motion) override;
- // FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) override;
void emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) override;
VectorXd getCalibration(const CaptureBaseConstPtr _capture) const override;
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index 34326e1d7..310fb5f10 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -182,28 +182,6 @@ void ProcessorDiffDrive::emplaceFeaturesAndFactors(CaptureBasePtr _capture_origi
params_prc_diff_drv_selfcal_->apply_loss_function);
}
-// FeatureBasePtr ProcessorDiffDrive::emplaceFeature(CaptureMotionPtr _capture_motion)
-// {
-// auto key_feature_ptr = FeatureBase::emplace<FeatureDiffDrive>(_capture_motion,
-// _capture_motion->getBuffer().back().delta_integr_,
-// _capture_motion->getBuffer().back().delta_integr_cov_,
-// _capture_motion->getCalibrationPreint(),
-// _capture_motion->getBuffer().back().jacobian_calib_);
-
-// return key_feature_ptr;
-// }
-
-// FactorBasePtr ProcessorDiffDrive::emplaceFactor(FeatureBasePtr _feature,
-// CaptureBasePtr _capture_origin)
-// {
-// auto ftr_motion = std::static_pointer_cast<FeatureMotion>(_feature);
-// auto fac_odom = FactorBase::emplace<FactorDiffDrive>(ftr_motion,
-// ftr_motion,
-// _capture_origin,
-// shared_from_this(),
-// params_prc_diff_drv_selfcal_->apply_loss_function);
-// return fac_odom;
-// }
} /* namespace wolf */
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 0d34672fd..4a798a037 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -484,12 +484,6 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
auto keyframe = last_ptr_->getFrame();
keyframe ->link(getProblem());
- // // create motion feature and add it to the key_capture
- // auto key_feature = emplaceFeature(last_ptr_);
-
- // // create motion factor and link it to parent feature and other frame (which is origin's frame)
- // auto factor = emplaceFactor(key_feature, origin_ptr_);
-
// create motion feature and add it to the key_capture
// create motion factor and link it to parent feature and other frame (which is origin's frame)
emplaceFeaturesAndFactors(origin_ptr_, last_ptr_);
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index 05cc6c6e1..69dfe4e6e 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -176,30 +176,6 @@ void ProcessorOdom2d::emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin,
feature, feature, _capture_origin->getFrame(), shared_from_this(), params_->apply_loss_function, TOP_MOTION);
}
-// FeatureBasePtr ProcessorOdom2d::emplaceFeature(CaptureMotionPtr _capture_motion)
-// {
-// Eigen::MatrixXd covariance = _capture_motion->getBuffer().back().delta_integr_cov_;
-// makePosDef(covariance);
-
-// FeatureBasePtr key_feature_ptr = FeatureBase::emplace<FeatureBase>(_capture_motion,
-// "ProcessorOdom2d",
-// _capture_motion->getBuffer().back().delta_integr_,
-// covariance);
-// return key_feature_ptr;
-// }
-
-// FactorBasePtr ProcessorOdom2d::emplaceFactor(FeatureBasePtr _feature, CaptureBasePtr _capture_origin)
-// {
-// auto fac_odom = FactorBase::emplace<FactorRelativePose2d>(_feature,
-// _feature,
-// _capture_origin->getFrame(),
-// shared_from_this(),
-// params_->apply_loss_function,
-// TOP_MOTION);
-// return fac_odom;
-// }
-
-
} /* namespace wolf */
diff --git a/src/processor/processor_odom_3d.cpp b/src/processor/processor_odom_3d.cpp
index 83e42b4b2..1870bb66b 100644
--- a/src/processor/processor_odom_3d.cpp
+++ b/src/processor/processor_odom_3d.cpp
@@ -221,25 +221,6 @@ Eigen::VectorXd ProcessorOdom3d::correctDelta (const Eigen::VectorXd& delta_prei
return delta_corrected;
}
-// FeatureBasePtr ProcessorOdom3d::emplaceFeature(CaptureMotionPtr _capture_motion)
-// {
-// FeatureBasePtr key_feature_ptr = FeatureBase::emplace<FeatureBase>(_capture_motion,
-// "ProcessorOdom3d",
-// _capture_motion->getBuffer().back().delta_integr_,
-// _capture_motion->getBuffer().back().delta_integr_cov_);
-// return key_feature_ptr;
-// }
-
-// FactorBasePtr ProcessorOdom3d::emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin)
-// {
-// auto fac_odom = FactorBase::emplace<FactorRelativePose3d>(_feature_motion,
-// _feature_motion,
-// _capture_origin->getFrame(),
-// shared_from_this(),
-// params_->apply_loss_function,
-// TOP_MOTION);
-// return fac_odom;
-// }
void ProcessorOdom3d::emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own)
{
--
GitLab