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Commit fc7202fb authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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Merge remote-tracking branch 'origin/454-implementation-of-new-nodes-creation' into rerefactor

parents 7d71b379 539eea67
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1 merge request!473Rerefactor
Pipeline #17861 canceled
Stage: license
    Stage: clang
      Stage: yaml_templates
        Stage: build_and_test
          Stage: deploy_plugins
            Stage: deploy_ros
              This commit is part of merge request !473. Comments created here will be created in the context of that merge request.
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              include/core/factor/factor_diff_drive.h
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              − 12
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              ...@@ -147,16 +147,4 @@ inline bool FactorDiffDrive::operator()(const T* const _p1, ...@@ -147,16 +147,4 @@ inline bool FactorDiffDrive::operator()(const T* const _p1,
              return true; return true;
              } }
              // inline Eigen::VectorXd FactorDiffDrive::residual()
              // {
              // VectorXd residual(3);
              // operator()(getFrameOther()->getP()->getState().data(),
              // getFrameOther()->getO()->getState().data(),
              // getFrame()->getP()->getState().data(),
              // getFrame()->getO()->getState().data(),
              // getCaptureOther()->getSensorIntrinsic()->getState().data(),
              // residual.data());
              // return residual;
              // }
              } // namespace wolf } // namespace wolf
              include/core/factor/factor_relative_pose_2d_with_extrinsics.h
              + 0
              − 29
              View file @ fc7202fb
              ...@@ -193,33 +193,4 @@ inline bool FactorRelativePose2dWithExtrinsics::operator()(const T* const _p_ref ...@@ -193,33 +193,4 @@ inline bool FactorRelativePose2dWithExtrinsics::operator()(const T* const _p_ref
              return true; return true;
              } }
              // inline Eigen::Vector3d FactorRelativePose2dWithExtrinsics::residual() const
              // {
              // Eigen::Vector3d res;
              // Eigen::VectorXd p_sensor, o_sensor, p_ref, o_ref, p_target, o_target;
              // p_sensor = getCapture()->getSensorP()->getState();
              // o_sensor = getCapture()->getSensorO()->getState();
              // // FRAME CASE
              // if (not getFramesFactored().empty())
              // {
              // p_ref = getFrameOther()->getP()->getState();
              // o_ref = getFrameOther()->getO()->getState();
              // p_target = getCapture()->getFrame()->getP()->getState();
              // o_target = getCapture()->getFrame()->getO()->getState();
              // }
              // // LANDMARK CASE
              // else if (not getLandmarksFactored().empty())
              // {
              // p_ref = getCapture()->getFrame()->getP()->getState();
              // o_ref = getCapture()->getFrame()->getO()->getState();
              // p_target = getLandmarkOther()->getP()->getState();
              // o_target = getLandmarkOther()->getO()->getState();
              // }
              // operator()(
              // p_ref.data(), o_ref.data(), p_target.data(), o_target.data(), p_sensor.data(), o_sensor.data(), res.data());
              // return res;
              // }
              } // namespace wolf } // namespace wolf
              include/core/factor/factor_relative_pose_3d_with_extrinsics.h
              + 0
              − 34
              View file @ fc7202fb
              ...@@ -186,38 +186,4 @@ inline bool FactorRelativePose3dWithExtrinsics::operator()(const T* const _p_ref ...@@ -186,38 +186,4 @@ inline bool FactorRelativePose3dWithExtrinsics::operator()(const T* const _p_ref
              return true; return true;
              } }
              // inline Eigen::Vector6d FactorRelativePose3dWithExtrinsics::residual() const
              // {
              // Eigen::Vector6d res;
              // Eigen::VectorXd p_sensor, o_sensor, p_ref, o_ref, p_target, o_target;
              // p_sensor = getCapture()->getSensorP()->getState();
              // o_sensor = getCapture()->getSensorO()->getState();
              // // FRAME CASE
              // if (not getFramesFactored().empty())
              // {
              // p_ref = getFrameOther()->getP()->getState();
              // o_ref = getFrameOther()->getO()->getState();
              // p_target = getCapture()->getFrame()->getP()->getState();
              // o_target = getCapture()->getFrame()->getO()->getState();
              // }
              // // LANDMARK CASE
              // else if (not getLandmarksFactored().empty())
              // {
              // p_ref = getCapture()->getFrame()->getP()->getState();
              // o_ref = getCapture()->getFrame()->getO()->getState();
              // p_target = getLandmarkOther()->getP()->getState();
              // o_target = getLandmarkOther()->getO()->getState();
              // }
              // operator()(
              // p_ref.data(), o_ref.data(), p_target.data(), o_target.data(), p_sensor.data(), o_sensor.data(), res.data());
              // return res;
              // }
              // inline double FactorRelativePose3dWithExtrinsics::cost() const
              // {
              // return residual().squaredNorm();
              // }
              } // namespace wolf } // namespace wolf
              include/core/factor/factor_relative_position_3d_with_extrinsics.h
              + 0
              − 34
              View file @ fc7202fb
              ...@@ -123,38 +123,4 @@ inline bool FactorRelativePosition3dWithExtrinsics::operator()(const T* const _p ...@@ -123,38 +123,4 @@ inline bool FactorRelativePosition3dWithExtrinsics::operator()(const T* const _p
              return true; return true;
              } }
              // inline Eigen::Vector3d FactorRelativePosition3dWithExtrinsics::residual() const
              // {
              // Eigen::Vector3d res;
              // Eigen::VectorXd p_sensor, o_sensor, p_ref, o_ref, p_target;
              // p_sensor = getCapture()->getSensorP()->getState();
              // o_sensor = getCapture()->getSensorO()->getState();
              // // FRAME-FRAME CASE
              // if (getFramesFactored().size() == 2)
              // {
              // p_ref = getFrameOther()->getP()->getState();
              // o_ref = getFrameOther()->getO()->getState();
              // p_target = getCapture()->getFrame()->getP()->getState();
              // }
              // // FRAME-LANDMARK CASE
              // else if (getLandmarksFactored().size() == 1)
              // {
              // p_ref = getCapture()->getFrame()->getP()->getState();
              // o_ref = getCapture()->getFrame()->getO()->getState();
              // p_target = getLandmarkOther()->getP()->getState();
              // }
              // else
              // throw std::runtime_error(
              // "FactorRelativePosition3dWithExtrinsics::operator(): unknown case! not FRAME-FRAME or FRAME-LANDMARK");
              // operator()(p_ref.data(), o_ref.data(), p_target.data(), p_sensor.data(), o_sensor.data(), res.data());
              // return res;
              // }
              // inline double FactorRelativePosition3dWithExtrinsics::cost() const
              // {
              // return residual().squaredNorm();
              // }
              } // namespace wolf } // namespace wolf
              include/core/processor/processor_base.h
              + 1
              − 1
              View file @ fc7202fb
              ...@@ -26,9 +26,9 @@ ...@@ -26,9 +26,9 @@
              #include "core/processor/buffer.h" #include "core/processor/buffer.h"
              #include "core/processor/motion_provider.h" #include "core/processor/motion_provider.h"
              #include "core/processor/factory_processor.h" #include "core/processor/factory_processor.h"
              #include "core/sensor/sensor_base.h"
              #include "core/frame/frame_base.h" #include "core/frame/frame_base.h"
              #include "core/common/time_stamp.h" #include "core/common/time_stamp.h"
              #include "core/processor/buffer.h"
              // std // std
              #include <memory> #include <memory>
              ......
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