WIP: Resolve "Processor constructors and creators requiring a sensor pointer?"

Closes #248 (closed)

src/yaml/processor_odom_3D_yaml.cpp

@@ -24,17 +24,20 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f
 {
     YAML::Node config = YAML::LoadFile(_filename_dot_yaml);
 
-    if (config["processor type"].as<std::string>() == "ODOM 3D")
+    WOLF_TRACE("");
+    if (config["type"].as<std::string>() == "ODOM 3D")
     {
-        YAML::Node kf_vote = config["keyframe vote"];
+        WOLF_TRACE("");
+        YAML::Node kf_vote = config["keyframe_vote"];
+        WOLF_TRACE("");
 
         ProcessorParamsOdom3DPtr params = std::make_shared<ProcessorParamsOdom3D>();
 
-        params->time_tolerance      = config["time tolerance"]      .as<Scalar>();
-        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>();
-        params->angle_turned        = kf_vote["angle turned"]       .as<Scalar>();
+        params->time_tolerance      = config["time_tolerance"]      .as<Scalar>();
+        params->max_time_span       = kf_vote["max_time_span"]      .as<Scalar>();
+        params->max_buff_length     = kf_vote["max_buff_length"]    .as<SizeEigen  >();
+        params->dist_traveled       = kf_vote["dist_traveled"]      .as<Scalar>();
+        params->angle_turned        = kf_vote["angle_turned"]       .as<Scalar>();
 
         return params;
     }