From f7247f89265e33e605f476d7197c5d73e56418b3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 7 Feb 2019 11:05:08 +0100
Subject: [PATCH] Remove name and type from ProcParams and Intrinsics structs
---
src/processor_base.cpp | 2 +-
src/processor_base.h | 9 +-------
.../processor_tracker_feature_trifocal.cpp | 1 -
src/sensor_base.h | 3 ---
...est_processor_tracker_feature_trifocal.cpp | 2 +-
src/yaml/processor_IMU_yaml.cpp | 8 -------
src/yaml/processor_odom_3D_yaml.cpp | 8 -------
...rocessor_tracker_feature_trifocal_yaml.cpp | 3 ---
src/yaml/sensor_IMU_yaml.cpp | 22 +++++++------------
src/yaml/sensor_camera_yaml.cpp | 9 +++-----
src/yaml/sensor_laser_2D_yaml.cpp | 4 ++--
src/yaml/sensor_odom_3D_yaml.cpp | 7 ------
12 files changed, 16 insertions(+), 62 deletions(-)
diff --git a/src/processor_base.cpp b/src/processor_base.cpp
index ea4bdc4e8..90943540e 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 bcf5c46b6..2b996e17f 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 7ffb99375..8c6426377 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 b52e8816e..98a95e2c5 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 71a8e7f46..28346689f 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 0e6587e29..e31c957f8 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 1b5a3f40d..047e42463 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 9e339d41a..05605b3ef 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 658becb6b..a29331bec 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 852adc977..583ecef95 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 160386e6e..110c3aa95 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 a6012aeef..8d1e391c2 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>();
--
GitLab