diff --git a/src/processor_base.cpp b/src/processor_base.cpp
index ea4bdc4e82e1edbcb83c9500656f0b0d05de6ab8..90943540e929a22bf24c12d55ca89329b5f3c935 100644
--- a/src/processor_base.cpp
+++ b/src/processor_base.cpp
@@ -8,7 +8,7 @@ namespace wolf {
unsigned int ProcessorBase::processor_id_count_ = 0;
ProcessorBase::ProcessorBase(const std::string& _type, ProcessorParamsBasePtr _params) :
- NodeBase("PROCESSOR", _type, _params->name),
+ NodeBase("PROCESSOR", _type),
processor_id_(++processor_id_count_),
params_(_params),
sensor_ptr_()
diff --git a/src/processor_base.h b/src/processor_base.h
index bcf5c46b62730d593165f99fdb8d021296964812..2b996e17f3e58bacf694f8485f71444bb96cafd5 100644
--- a/src/processor_base.h
+++ b/src/processor_base.h
@@ -112,13 +112,9 @@ struct ProcessorParamsBase
ProcessorParamsBase() = default;
ProcessorParamsBase(bool _voting_active,
- Scalar _time_tolerance,
- const std::string& _type,
- const std::string& _name)
+ Scalar _time_tolerance)
: voting_active(_voting_active)
, time_tolerance(_time_tolerance)
- , type(_type)
- , name(_name)
{
//
}
@@ -131,9 +127,6 @@ struct ProcessorParamsBase
/// a particular Capture of this processor to allow assigning
/// this Capture to the Keyframe.
Scalar time_tolerance = Scalar(0);
-
- std::string type;
- std::string name;
};
//class ProcessorBase
diff --git a/src/processors/processor_tracker_feature_trifocal.cpp b/src/processors/processor_tracker_feature_trifocal.cpp
index 7ffb993755e37f242c9ab8df551fdb29f417d2d2..8c64263770c79faabdaa6ac985065e9dbcae1fd4 100644
--- a/src/processors/processor_tracker_feature_trifocal.cpp
+++ b/src/processors/processor_tracker_feature_trifocal.cpp
@@ -39,7 +39,6 @@ ProcessorTrackerFeatureTrifocal::ProcessorTrackerFeatureTrifocal(ProcessorParams
prev_origin_ptr_(nullptr),
initialized_(false)
{
- setName(_params_tracker_feature_trifocal->name);
assert(!(params_tracker_feature_trifocal_->yaml_file_params_vision_utils.empty()) && "Missing YAML file with vision_utils parameters!");
assert(file_exists(params_tracker_feature_trifocal_->yaml_file_params_vision_utils) && "Cannot setup processor: vision_utils' YAML file does not exist.");
diff --git a/src/sensor_base.h b/src/sensor_base.h
index b52e8816e8d91455cda89c1ee2687c6754569f92..98a95e2c59e6f0248b83d90ea131a5008cde7d80 100644
--- a/src/sensor_base.h
+++ b/src/sensor_base.h
@@ -25,9 +25,6 @@ namespace wolf {
struct IntrinsicsBase
{
virtual ~IntrinsicsBase() = default;
-
- std::string type;
- std::string name;
};
class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBase>
diff --git a/src/test/gtest_processor_tracker_feature_trifocal.cpp b/src/test/gtest_processor_tracker_feature_trifocal.cpp
index 71a8e7f469ceee695ae6da01fd6743949895ff2e..28346689f2570829b054aedaaac0c4b9cd7cae24 100644
--- a/src/test/gtest_processor_tracker_feature_trifocal.cpp
+++ b/src/test/gtest_processor_tracker_feature_trifocal.cpp
@@ -82,7 +82,7 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
intr);
ProcessorParamsTrackerFeatureTrifocalPtr params_tracker_feature_trifocal = std::make_shared<ProcessorParamsTrackerFeatureTrifocal>();
- params_tracker_feature_trifocal->name = "trifocal";
+// params_tracker_feature_trifocal->name = "trifocal";
params_tracker_feature_trifocal->pixel_noise_std = 1.0;
params_tracker_feature_trifocal->voting_active = true;
params_tracker_feature_trifocal->min_features_for_keyframe = 5;
diff --git a/src/yaml/processor_IMU_yaml.cpp b/src/yaml/processor_IMU_yaml.cpp
index 0e6587e29472cf8854d6fa3df030edc3b817c19e..e31c957f86b2eac07b3df83e4c9199118eaf60b3 100644
--- a/src/yaml/processor_IMU_yaml.cpp
+++ b/src/yaml/processor_IMU_yaml.cpp
@@ -26,18 +26,10 @@ static ProcessorParamsBasePtr createProcessorIMUParams(const std::string & _file
if (config["processor type"].as<std::string>() == "IMU")
{
-
- // YAML:: to Eigen::
- using namespace Eigen;
- std::string processor_type = config["processor type"] .as<std::string>();
- std::string processor_name = config["processor name"] .as<std::string>();
-
YAML::Node kf_vote = config["keyframe vote"];
ProcessorParamsIMUPtr params = std::make_shared<ProcessorParamsIMU>();
- params->type = processor_type;
- params->name = processor_name;
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>();
diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp
index 1b5a3f40db3589a8e51201273a93872cc827d8ce..047e42463a5466b66079ad9dfff9072f9566abac 100644
--- a/src/yaml/processor_odom_3D_yaml.cpp
+++ b/src/yaml/processor_odom_3D_yaml.cpp
@@ -26,18 +26,10 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f
if (config["processor type"].as<std::string>() == "ODOM 3D")
{
-
- // YAML:: to Eigen::
- using namespace Eigen;
- std::string processor_type = config["processor type"] .as<std::string>();
- std::string processor_name = config["processor name"] .as<std::string>();
-
YAML::Node kf_vote = config["keyframe vote"];
ProcessorParamsOdom3DPtr params = std::make_shared<ProcessorParamsOdom3D>();
- params->type = processor_type;
- params->name = processor_name;
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>();
diff --git a/src/yaml/processor_tracker_feature_trifocal_yaml.cpp b/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
index 9e339d41aee83258fc9ecc2aaa0e9c76efdb8311..05605b3ef49d8a308e438d378e9d249084d80537 100644
--- a/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
+++ b/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
@@ -34,9 +34,6 @@ static ProcessorParamsBasePtr createProcessorParamsTrackerFeatureTrifocal(const
{
ProcessorParamsTrackerFeatureTrifocalPtr params = std::make_shared<ProcessorParamsTrackerFeatureTrifocal>();
- params->type = config["processor type"].as<std::string>();
- params->name = config["processor name"].as<std::string>();
-
YAML::Node vision_utils = config ["vision_utils"];
params->yaml_file_params_vision_utils = vision_utils["YAML file params"].as<std::string>();
diff --git a/src/yaml/sensor_IMU_yaml.cpp b/src/yaml/sensor_IMU_yaml.cpp
index 658becb6bf8dd50722454d2c83947357a3e57a2b..a29331becfebfc0d132ac78d13b0fcb7d83ab6f3 100644
--- a/src/yaml/sensor_IMU_yaml.cpp
+++ b/src/yaml/sensor_IMU_yaml.cpp
@@ -27,23 +27,17 @@ static IntrinsicsBasePtr createIntrinsicsIMU(const std::string & _filename_dot_y
if (config["sensor type"].as<std::string>() == "IMU")
{
-
- // YAML:: to Eigen::
- using namespace Eigen;
- std::string sensor_type = config["sensor type"] .as<std::string>();
- std::string sensor_name = config["sensor name"] .as<std::string>();
-
- YAML::Node variances = config["motion variances"];
- YAML::Node kf_vote = config["keyframe vote"];
+ YAML::Node variances = config["motion variances"];
+ YAML::Node kf_vote = config["keyframe vote"];
IntrinsicsIMUPtr params = std::make_shared<IntrinsicsIMU>();
- params->a_noise = variances["a_noise"] .as<Scalar>();
- params->w_noise = variances["w_noise"] .as<Scalar>();
- params->ab_initial_stdev = variances["ab_initial_stdev"] .as<Scalar>();
- params->wb_initial_stdev = variances["wb_initial_stdev"] .as<Scalar>();
- params->ab_rate_stdev = variances["ab_rate_stdev"] .as<Scalar>();
- params->wb_rate_stdev = variances["wb_rate_stdev"] .as<Scalar>();
+ params->a_noise = variances["a_noise"] .as<Scalar>();
+ params->w_noise = variances["w_noise"] .as<Scalar>();
+ params->ab_initial_stdev = variances["ab_initial_stdev"] .as<Scalar>();
+ params->wb_initial_stdev = variances["wb_initial_stdev"] .as<Scalar>();
+ params->ab_rate_stdev = variances["ab_rate_stdev"] .as<Scalar>();
+ params->wb_rate_stdev = variances["wb_rate_stdev"] .as<Scalar>();
return params;
}
diff --git a/src/yaml/sensor_camera_yaml.cpp b/src/yaml/sensor_camera_yaml.cpp
index 852adc977ac61c465613ed08a6dfd267f2cceedd..583ecef953accc5a04c25d0825ceb3d1908f6525 100644
--- a/src/yaml/sensor_camera_yaml.cpp
+++ b/src/yaml/sensor_camera_yaml.cpp
@@ -24,13 +24,12 @@ static IntrinsicsBasePtr createIntrinsicsCamera(const std::string & _filename_do
{
YAML::Node camera_config = YAML::LoadFile(_filename_dot_yaml);
- if ("CAMERA") //camera_config["sensor type"])
+ // if (camera_config["sensor type"].as<std::string>() == "CAMERA") // this does not work: camera YAML files are ROS-styled
+ if (camera_config["camera_matrix"]) // check that at least this field exists to validate YAML file of the correct type
{
// YAML:: to Eigen::
using namespace Eigen;
- std::string sensor_type = "CAMERA"; //camera_config["sensor type"] .as<std::string>();
- std::string sensor_name = camera_config["camera_name"] .as<std::string>();
unsigned int width = camera_config["image_width"] .as<unsigned int>();
unsigned int height = camera_config["image_height"] .as<unsigned int>();
VectorXd intrinsic = camera_config["camera_matrix"]["data"] .as<VectorXd>();
@@ -38,8 +37,6 @@ static IntrinsicsBasePtr createIntrinsicsCamera(const std::string & _filename_do
// Eigen:: to wolf::
std::shared_ptr<IntrinsicsCamera> intrinsics_cam = std::make_shared<IntrinsicsCamera>();
- intrinsics_cam->type = sensor_type;
- intrinsics_cam->name = sensor_name;
intrinsics_cam->pinhole_model[0] = intrinsic[2];
intrinsics_cam->pinhole_model[1] = intrinsic[5];
intrinsics_cam->pinhole_model[2] = intrinsic[0];
@@ -87,7 +84,7 @@ static IntrinsicsBasePtr createIntrinsicsCamera(const std::string & _filename_do
return intrinsics_cam;
}
- std::cout << "Bad configuration file. No sensor type found." << std::endl;
+ std::cout << "Bad configuration file. No or bad sensor type found." << std::endl;
return nullptr;
}
diff --git a/src/yaml/sensor_laser_2D_yaml.cpp b/src/yaml/sensor_laser_2D_yaml.cpp
index 160386e6ea9f3b005ab1ea073ffe6bcf269c3d4c..110c3aa950157b83da46467f3a7d332688e78650 100644
--- a/src/yaml/sensor_laser_2D_yaml.cpp
+++ b/src/yaml/sensor_laser_2D_yaml.cpp
@@ -23,9 +23,9 @@ namespace {
// intrinsics creator
IntrinsicsBasePtr createIntrinsicsLaser2D(const std::string& _filename_dot_yaml)
{
- // TODO: Parse YAML <-- maybe we want this out of this file?
+ // If required: Parse YAML
+
IntrinsicsLaser2DPtr params; // dummy
- params->type = "LASER 2D"; // fill this one just for the fun of it
return params;
}
diff --git a/src/yaml/sensor_odom_3D_yaml.cpp b/src/yaml/sensor_odom_3D_yaml.cpp
index a6012aeef037ba22493f562969614ff885341aa4..8d1e391c2c061454e11b6b558ca133ed7fe3ea7d 100644
--- a/src/yaml/sensor_odom_3D_yaml.cpp
+++ b/src/yaml/sensor_odom_3D_yaml.cpp
@@ -26,14 +26,7 @@ static IntrinsicsBasePtr createIntrinsicsOdom3D(const std::string & _filename_do
if (config["sensor type"].as<std::string>() == "ODOM 3D")
{
-
- // YAML:: to Eigen::
- using namespace Eigen;
- std::string sensor_type = config["sensor type"] .as<std::string>();
- std::string sensor_name = config["sensor name"] .as<std::string>();
-
YAML::Node variances = config["motion variances"];
- YAML::Node kf_vote = config["keyframe vote"];
IntrinsicsOdom3DPtr params = std::make_shared<IntrinsicsOdom3D>();