diff --git a/demos/processor_odom_3D.yaml b/demos/processor_odom_3D.yaml
index 8ea2d9176f080016b7145728a4f62eb8df82ae15..89e9d00f268fd341368f1c4063e4685985072750 100644
--- a/demos/processor_odom_3D.yaml
+++ b/demos/processor_odom_3D.yaml
@@ -3,10 +3,11 @@ type: "ODOM 3D" # This must match the KEY used in the SensorFactory
time_tolerance: 0.01 # seconds
unmeasured_perturbation_std: 0.001
-voting_active: false
-voting_aux_active: false
-max_time_span: 0.2 # seconds
-max_buff_length: 10 # motion deltas
-dist_traveled: 0.5 # meters
-angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
+keyframe_vote:
+ voting_active: false
+ voting_aux_active: false
+ max_time_span: 0.2 # seconds
+ max_buff_length: 10 # motion deltas
+ dist_traveled: 0.5 # meters
+ angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index fdbd88974f34df0326e16808c5b82378dfa73249..8a3cbd5d13e6db8fb60c053e40cbded040e18279 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -216,9 +216,9 @@ struct ProcessorParamsBase : public ParamsBase
ProcessorParamsBase(std::string _unique_name, const ParamsServer& _server):
ParamsBase(_unique_name, _server)
{
- voting_active = _server.getParam<bool>(_unique_name + "/voting_active");
- voting_aux_active = _server.getParam<bool>(_unique_name + "/voting_aux_active");
- time_tolerance = _server.getParam<Scalar>(_unique_name + "/time_tolerance");
+ time_tolerance = _server.getParam<Scalar>(_unique_name + "/time_tolerance");
+ voting_active = _server.getParam<bool>(_unique_name + "/keyframe_vote/voting_active");
+ voting_aux_active = _server.getParam<bool>(_unique_name + "/keyframe_vote/voting_aux_active");
}
virtual ~ProcessorParamsBase() = default;
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 6a96be5ef0c13a299e687bafb77bf38fbd48ede1..03c9f4308a2d0d1b6bba6ca0e722478a8d850e73 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -34,19 +34,19 @@ struct ProcessorParamsMotion : public ProcessorParamsBase
ProcessorParamsMotion(std::string _unique_name, const ParamsServer& _server):
ProcessorParamsBase(_unique_name, _server)
{
- max_time_span = _server.getParam<Scalar>(_unique_name + "/max_time_span");
- max_buff_length = _server.getParam<unsigned int>(_unique_name + "/max_buff_length");
- dist_traveled = _server.getParam<Scalar>(_unique_name + "/dist_traveled");
- angle_turned = _server.getParam<Scalar>(_unique_name + "/angle_turned");
+ max_time_span = _server.getParam<Scalar>(_unique_name + "/keyframe_vote/max_time_span");
+ max_buff_length = _server.getParam<unsigned int>(_unique_name + "/keyframe_vote/max_buff_length");
+ dist_traveled = _server.getParam<Scalar>(_unique_name + "/keyframe_vote/dist_traveled");
+ angle_turned = _server.getParam<Scalar>(_unique_name + "/keyframe_vote/angle_turned");
unmeasured_perturbation_std = _server.getParam<Scalar>(_unique_name + "/unmeasured_perturbation_std");
}
std::string print()
{
return "\n" + ProcessorParamsBase::print()
- + "max_time_span: " + std::to_string(max_time_span) + "\n"
- + "max_buff_length: " + std::to_string(max_buff_length) + "\n"
- + "dist_traveled: " + std::to_string(dist_traveled) + "\n"
- + "angle_turned: " +std::to_string(angle_turned) + "\n"
+ + "max_time_span: " + std::to_string(max_time_span) + "\n"
+ + "max_buff_length: " + std::to_string(max_buff_length) + "\n"
+ + "dist_traveled: " + std::to_string(dist_traveled) + "\n"
+ + "angle_turned: " + std::to_string(angle_turned) + "\n"
+ "unmeasured_perturbation_std: " + std::to_string(unmeasured_perturbation_std) + "\n";
}
diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp
index 6b6f53a64d655f77127ddf398add56246b2a55ed..f9f939553af76223416385f11785fe2ee694e70d 100644
--- a/src/yaml/processor_odom_3D_yaml.cpp
+++ b/src/yaml/processor_odom_3D_yaml.cpp
@@ -28,14 +28,17 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f
{
ProcessorParamsOdom3DPtr params = std::make_shared<ProcessorParamsOdom3D>();
- params->voting_active = config["voting_active"] .as<bool>();
- params->voting_aux_active = config["voting_aux_active"] .as<bool>();
- params->time_tolerance = config["time_tolerance"] .as<Scalar>();
- params->max_time_span = config["max_time_span"] .as<Scalar>();
- params->max_buff_length = config["max_buff_length"] .as<SizeEigen >();
- params->dist_traveled = config["dist_traveled"] .as<Scalar>();
- params->angle_turned = config["angle_turned"] .as<Scalar>();
- params->unmeasured_perturbation_std = config["unmeasured_perturbation_std"].as<Scalar>();
+ params->time_tolerance = config["time_tolerance"] .as<Scalar>();
+ params->unmeasured_perturbation_std = config["unmeasured_perturbation_std"] .as<Scalar>();
+
+ 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<Scalar>();
+ params->max_buff_length = keyframe_vote["max_buff_length"] .as<SizeEigen>();
+ params->dist_traveled = keyframe_vote["dist_traveled"] .as<Scalar>();
+ params->angle_turned = keyframe_vote["angle_turned"] .as<Scalar>();
return params;
}
diff --git a/test/gtest_parser_yaml.cpp b/test/gtest_parser_yaml.cpp
index a61d6d4f121c2c470991eb2c5016ad59e2254bca..7d155a86f70e66ae8d6f869f54eadc9b63fb68bf 100644
--- a/test/gtest_parser_yaml.cpp
+++ b/test/gtest_parser_yaml.cpp
@@ -44,8 +44,8 @@ TEST(ParserYAML, FollowOdom3D)
{
auto parser = parse("test/yaml/params1.yaml", wolf_root);
auto params = parser.getParams();
- EXPECT_EQ(params["my_proc_odom3d/max_buff_length"], "10");
- EXPECT_EQ(params["my_proc_odom3d/max_time_span"], "0.2");
+ EXPECT_EQ(params["my_proc_odom3d/keyframe_vote/max_buff_length"], "10");
+ EXPECT_EQ(params["my_proc_odom3d/keyframe_vote/max_time_span"], "0.2");
}
TEST(ParserYAML, JumpFile)
{
diff --git a/test/yaml/processor_odom_3D.yaml b/test/yaml/processor_odom_3D.yaml
index 5e94beeb249767881487f323bf84ff128e4eba20..a43fb60198d51944566308f3f06b0b6f33cee8bf 100644
--- a/test/yaml/processor_odom_3D.yaml
+++ b/test/yaml/processor_odom_3D.yaml
@@ -2,10 +2,12 @@ type: "ODOM 3D" # This must match the KEY used in the SensorFactory
time_tolerance: 0.01 # seconds
-voting_active: false
-voting_aux_active: false
-max_time_span: 0.2 # seconds
-max_buff_length: 10 # motion deltas
-dist_traveled: 0.5 # meters
-angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
+keyframe_vote:
+ voting_active: false
+ voting_aux_active: false
+ max_time_span: 0.2 # seconds
+ max_buff_length: 10 # motion deltas
+ dist_traveled: 0.5 # meters
+ angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
+
unmeasured_perturbation_std: 0.001
\ No newline at end of file