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Load DataPointsFilters config from a YAML::Node object #570

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merged 2 commits into from
May 18, 2024
Merged

Load DataPointsFilters config from a YAML::Node object #570

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1c578cb
Add function that allows loading Yaml configuration from a YAML::Node
boxanm May 10, 2024
04d8bb4
Add function that allows loading Yaml configuration from a YAML::Node
boxanm May 10, 2024
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14 changes: 9 additions & 5 deletions pointmatcher/DataPointsFilter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,23 +68,27 @@ template<typename T>
PointMatcher<T>::DataPointsFilters::DataPointsFilters()
{}

//! Construct a chain from a YAML file
template<typename T>
PointMatcher<T>::DataPointsFilters::DataPointsFilters(std::istream& in)
PointMatcher<T>::DataPointsFilters::DataPointsFilters(const YAML::Node& doc)
{
YAML::Node doc = YAML::Load(in);

// Fix for issue #6: compilation on gcc 4.4.4
//PointMatcher<T> pm;
const PointMatcher & pm = PointMatcher::get();

for(YAML::const_iterator moduleIt = doc.begin(); moduleIt != doc.end(); ++moduleIt)
{
const YAML::Node& module(*moduleIt);
this->push_back(pm.REG(DataPointsFilter).createFromYAML(module));
}
}

//! Construct a chain from a YAML file
template<typename T>
PointMatcher<T>::DataPointsFilters::DataPointsFilters(std::istream& in) :
DataPointsFilters(YAML::Load(in))
{
}

//! Init the chain
template<typename T>
void PointMatcher<T>::DataPointsFilters::init()
Expand Down
28 changes: 21 additions & 7 deletions pointmatcher/ICP.cpp
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Expand Up @@ -110,14 +110,13 @@ void PointMatcher<T>::ICPChainBase::setDefault()

//! Construct an ICP algorithm from a YAML file
template<typename T>
void PointMatcher<T>::ICPChainBase::loadFromYaml(std::istream& in)
void PointMatcher<T>::ICPChainBase::loadFromYamlNode(const YAML::Node& doc)
{
this->cleanup();

YAML::Node doc = YAML::Load(in);
typedef set<string> StringSet;
StringSet usedModuleTypes;

// Fix for issue #6: compilation on gcc 4.4.4
//PointMatcher<T> pm;
const PointMatcher & pm = PointMatcher::get();
Expand All @@ -140,14 +139,14 @@ void PointMatcher<T>::ICPChainBase::loadFromYaml(std::istream& in)
this->transformations.push_back(std::make_shared<typename TransformationsImpl<T>::RigidTransformation>());
else
this->transformations.push_back(std::make_shared<typename TransformationsImpl<T>::SimilarityTransformation>());

usedModuleTypes.insert(createModulesFromRegistrar("transformationCheckers", doc, pm.REG(TransformationChecker), transformationCheckers));
usedModuleTypes.insert(createModuleFromRegistrar("inspector", doc, pm.REG(Inspector),inspector));


// FIXME: this line cause segfault when there is an error in the yaml file...
//loadAdditionalYAMLContent(doc);

// check YAML entries that do not correspend to any module
for(YAML::const_iterator moduleTypeIt = doc.begin(); moduleTypeIt != doc.end(); ++moduleTypeIt)
{
Expand All @@ -158,6 +157,15 @@ void PointMatcher<T>::ICPChainBase::loadFromYaml(std::istream& in)
(boost::format("Module type %1% does not exist") % moduleType).str()
);
}

}

//! Construct an ICP algorithm from a YAML file
template<typename T>
void PointMatcher<T>::ICPChainBase::loadFromYaml(std::istream& in)
{
YAML::Node doc = YAML::Load(in);
loadFromYamlNode(doc);
}

//! Return the remaining number of points in reading after prefiltering but before the iterative process
Expand Down Expand Up @@ -528,6 +536,12 @@ void PointMatcher<T>::ICPSequence::setDefault()
}
}

template<typename T>
void PointMatcher<T>::ICPSequence::loadFromYamlNode(const YAML::Node& doc)
{
ICPChainBase::loadFromYamlNode(doc);
}

template<typename T>
void PointMatcher<T>::ICPSequence::loadFromYaml(std::istream& in)
{
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3 changes: 3 additions & 0 deletions pointmatcher/PointMatcher.h
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Original file line number Diff line number Diff line change
Expand Up @@ -455,6 +455,7 @@ struct PointMatcher
struct DataPointsFilters: public std::vector<std::shared_ptr<DataPointsFilter> >
{
DataPointsFilters();
DataPointsFilters(const YAML::Node& doc);
DataPointsFilters(std::istream& in);
void init();
void apply(DataPoints& cloud);
Expand Down Expand Up @@ -670,6 +671,7 @@ struct PointMatcher
virtual void setDefault();

virtual void loadFromYaml(std::istream& in);
virtual void loadFromYamlNode(const YAML::Node& doc);
unsigned getPrefilteredReadingPtsCount() const;
unsigned getPrefilteredReferencePtsCount() const;

Expand Down Expand Up @@ -746,6 +748,7 @@ struct PointMatcher
void clearMap();
virtual void setDefault();
virtual void loadFromYaml(std::istream& in);
virtual void loadFromYamlNode(const YAML::Node& doc);
PM_DEPRECATED("Use getPrefilteredInternalMap instead. "
"Function now always returns map with filter chain applied. "
"This may have altered your program behavior."
Expand Down
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