consol transform code and clean-up

src/3rdParty/_PCL/services/ConsolidateRigidTransform.jl

@@ -41,43 +41,14 @@ function apply( M_::Union{<:typeof(SpecialEuclidean(2)),<:typeof(SpecialEuclidea
   return _pc
 end
 
-
 ## ============================================================
 ## FIXME, not-yet-consolidated rigid transform code that must be deprecated below
 ## ============================================================
 
-const _SO3_MANI = SpecialOrthogonal(3)
-const _SE3_MANI = SpecialEuclidean(3)
-
-# name euler here is very ambiguous, these are Lie algebra elements
-# used to manipulate cartesian coordinates in a TranslationGroup(3) space.
-function euler_angles_to_linearized_rotation_matrix(α1, α2, α3, rigid::Bool=true)
-  dR = if rigid
-    # TODO likely faster performance by using a retraction instead of expmap
-    exp_lie(_SO3_MANI, hat(_SO3_MANI, SMatrix{3,3, Float64}(I), SA[α1, α2, α3]))
-  else
-    SMatrix{3,3,Float64}(1.0,0,0,0,1,0,0,0,1) + 
-      hat(_SO3_MANI, Identity(_SO3_MANI), SA[α1, α2, α3])
-    # [ 1 -α3  α2
-    #   α3   1 -α1
-    #  -α2  α1   1]
-  end
-end
-
-function create_homogeneous_transformation_matrix(R, t)
-  H = affine_matrix(_SE3_MANI, ArrayPartition(t, R))
-  # H = [R          t
-  #      zeros(1,3) 1]
-end
-function euler_coord_to_homogeneous_coord(XE)
-  no_points = size(XE, 1)
-  XH = [XE ones(no_points,1)]
-end
-function homogeneous_coord_to_euler_coord(XH)
-  XE = XH[:,1:3]./XH[:,4]
-end
-
-function transform!(pc, H)
+function transform!(
+  pc, 
+  H::AbstractMatrix
+)
   XInH = euler_coord_to_homogeneous_coord([pc.x pc.y pc.z])
   XOutH = transpose(H*XInH')
   XOut = homogeneous_coord_to_euler_coord(XOutH)

src/Caesar.jl

@@ -56,21 +56,17 @@ include("ExportAPI.jl")
 
 ## ===============================================================================================
 # and source files
-include("BearingRangeTrackingServer.jl")
+include("services/BearingRangeTrackingServer.jl")
 
-include("services/_FastTransform3D.jl")
-include("SlamServer.jl")
-include("DataUtils.jl")
-include("UserFunctions.jl")
+include("transforms/entities/TransformTypes.jl")
+include("transforms/services/HomographyTransforms.jl")
+include("transforms/services/_FastTransform3D.jl")
 
-# Configuration
-include("config/CaesarConfig.jl")
+include("services/DataUtils.jl")
+include("services/UserFunctions.jl")
 
 include("Deprecated.jl")
 
-# Multisession operation
-# include("attic/multisession/Multisession.jl")
-
 # SAS-SLAM
 include("beamforming/czt.jl")
 include("beamforming/CBF.jl")