From 536cf3396dd43c14c74a1775cf1b45bba557c502 Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 27 Mar 2014 11:25:06 +0100 Subject: [PATCH] renamed state machine enum variables to comply with ros style guide --- svo/include/svo/frame_handler_base.h | 30 ++++++++++++++++------ svo/src/frame_handler_base.cpp | 27 ++++++++++---------- svo/src/frame_handler_mono.cpp | 38 ++++++++++++++-------------- svo_ros/src/benchmark_node.cpp | 4 +-- svo_ros/src/visualizer.cpp | 4 +-- svo_ros/src/vo_node.cpp | 4 +-- 6 files changed, 61 insertions(+), 46 deletions(-) diff --git a/svo/include/svo/frame_handler_base.h b/svo/include/svo/frame_handler_base.h index d8d8109..50afc14 100644 --- a/svo/include/svo/frame_handler_base.h +++ b/svo/include/svo/frame_handler_base.h @@ -26,13 +26,14 @@ #include #include -namespace vk { - class AbstractCamera; - class PerformanceMonitor; +namespace vk +{ +class AbstractCamera; +class PerformanceMonitor; } -namespace svo { - +namespace svo +{ class Point; class Matcher; class DepthFilter; @@ -41,9 +42,22 @@ class DepthFilter; class FrameHandlerBase : boost::noncopyable { public: - enum Stage { PAUSED, FIRST_FRAME, SECOND_FRAME, DEFAULT_FRAME }; - enum TrackingQuality { INSUFFICIENT, BAD, GOOD }; - enum UpdateResult { NO_KEYFRAME, IS_KEYFRAME, FAILURE }; + enum Stage { + STAGE_PAUSED, + STAGE_FIRST_FRAME, + STAGE_SECOND_FRAME, + STAGE_DEFAULT_FRAME + }; + enum TrackingQuality { + TRACKING_INSUFFICIENT, + TRACKING_BAD, + TRACKING_GOOD + }; + enum UpdateResult { + RESULT_NO_KEYFRAME, + RESULT_IS_KEYFRAME, + RESULT_FAILURE + }; FrameHandlerBase(); diff --git a/svo/src/frame_handler_base.cpp b/svo/src/frame_handler_base.cpp index 04227ec..ac7aaf3 100644 --- a/svo/src/frame_handler_base.cpp +++ b/svo/src/frame_handler_base.cpp @@ -28,7 +28,8 @@ #include #include -namespace svo { +namespace svo +{ // definition of global and static variables which were declared in the header #ifdef SVO_TRACE @@ -37,13 +38,13 @@ vk::PerformanceMonitor* g_permon = NULL; FrameHandlerBase:: FrameHandlerBase() : - stage_(PAUSED), + stage_(STAGE_PAUSED), set_reset_(false), set_start_(false), acc_frame_timings_(10), acc_num_obs_(10), num_obs_last_(0), - tracking_quality_(BAD), + tracking_quality_(TRACKING_BAD), depth_filter_(NULL) { #ifdef SVO_TRACE @@ -96,10 +97,10 @@ startFrameProcessingCommon(const double timestamp) if(set_start_) { resetAll(); - stage_ = FIRST_FRAME; + stage_ = STAGE_FIRST_FRAME; } - if(stage_ == PAUSED) + if(stage_ == STAGE_PAUSED) return false; SVO_LOG(timestamp); @@ -123,7 +124,7 @@ finishFrameProcessingCommon( // save processing time to calculate fps acc_frame_timings_.push_back(timer_.stop()); - if(stage_ == DEFAULT_FRAME) + if(stage_ == STAGE_DEFAULT_FRAME) acc_num_obs_.push_back(num_observations); num_obs_last_ = num_observations; SVO_STOP_TIMER("tot_time"); @@ -138,7 +139,7 @@ finishFrameProcessingCommon( #endif // reset if failure or requested - if(dropout == FAILURE || set_reset_) + if(dropout == RESULT_FAILURE || set_reset_) resetAll(); return 0; } @@ -147,10 +148,10 @@ void FrameHandlerBase:: resetCommon() { map_.reset(); - stage_ = PAUSED; + stage_ = STAGE_PAUSED; set_reset_ = false; set_start_ = false; - tracking_quality_ = BAD; + tracking_quality_ = TRACKING_BAD; depth_filter_->reset(); num_obs_last_ = 0; SVO_INFO_STREAM("RESET"); @@ -159,22 +160,22 @@ resetCommon() void FrameHandlerBase:: setTrackingQuality(const size_t num_observations) { - tracking_quality_ = GOOD; + tracking_quality_ = TRACKING_GOOD; if(num_observations < Config::qualityMinFts()) { ROS_WARN_STREAM_THROTTLE(0.5, "Tracking less than "<< Config::qualityMinFts() <<" features!"); - tracking_quality_ = BAD; + tracking_quality_ = TRACKING_BAD; } const int feature_drop = static_cast(num_obs_last_) - num_observations; if(feature_drop > Config::qualityMaxFtsDrop()) { ROS_WARN_STREAM("Lost "<< feature_drop <<" features!"); - tracking_quality_ = BAD; + tracking_quality_ = TRACKING_BAD; } if(num_observations < 20) { ROS_ERROR_STREAM("Tracking less than 20 features!"); - tracking_quality_ = INSUFFICIENT; + tracking_quality_ = TRACKING_INSUFFICIENT; } } diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp index 105d546..b0846c0 100644 --- a/svo/src/frame_handler_mono.cpp +++ b/svo/src/frame_handler_mono.cpp @@ -58,12 +58,12 @@ addImage(const cv::Mat& img, const double timestamp) SVO_STOP_TIMER("pyramid_creation"); // process frame - UpdateResult res = FAILURE; - if(stage_ == DEFAULT_FRAME) + UpdateResult res = RESULT_FAILURE; + if(stage_ == STAGE_DEFAULT_FRAME) res = processFrame(); - else if(stage_ == SECOND_FRAME) + else if(stage_ == STAGE_SECOND_FRAME) res = processSecondFrame(); - else if(stage_ == FIRST_FRAME) + else if(stage_ == STAGE_FIRST_FRAME) res = processFirstFrame(); // set last frame @@ -81,7 +81,7 @@ setFirstFrame(const FramePtr& first_frame) last_frame_ = first_frame; last_frame_->setKeyframe(); map_.addKeyframe(last_frame_); - stage_ = DEFAULT_FRAME; + stage_ = STAGE_DEFAULT_FRAME; } FrameHandlerMono::UpdateResult FrameHandlerMono:: @@ -89,12 +89,12 @@ processFirstFrame() { new_frame_->T_f_w_ = T_f_w_init_; if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE) - return NO_KEYFRAME; + return RESULT_NO_KEYFRAME; new_frame_->setKeyframe(); map_.addKeyframe(new_frame_); - stage_ = SECOND_FRAME; + stage_ = STAGE_SECOND_FRAME; SVO_INFO_STREAM("Init: Selected first frame."); - return IS_KEYFRAME; + return RESULT_IS_KEYFRAME; } FrameHandlerMono::UpdateResult FrameHandlerMono:: @@ -102,9 +102,9 @@ processSecondFrame() { initialization::InitResult res = klt_homography_init_.addSecondFrame(new_frame_); if(res == initialization::FAILURE) - return FAILURE; + return RESULT_FAILURE; else if(res == initialization::NO_KEYFRAME) - return NO_KEYFRAME; + return RESULT_NO_KEYFRAME; // two-frame bundle adjustment #ifdef USE_BUNDLE_ADJUSTMENT @@ -118,10 +118,10 @@ processSecondFrame() // add frame to map new_frame_->setKeyframe(); map_.addKeyframe(new_frame_); - stage_ = DEFAULT_FRAME; + stage_ = STAGE_DEFAULT_FRAME; klt_homography_init_.reset(); SVO_INFO_STREAM("Init: Selected second frame, triangulated initial map."); - return IS_KEYFRAME; + return RESULT_IS_KEYFRAME; } FrameHandlerMono::UpdateResult FrameHandlerMono:: @@ -150,7 +150,7 @@ processFrame() SVO_DEBUG_STREAM("Reprojection:\t nPoints = "<addFrame(new_frame_); - return NO_KEYFRAME; + return RESULT_NO_KEYFRAME; } // new keyframe selected @@ -224,7 +224,7 @@ processFrame() new_frame_->setKeyframe(); map_.addKeyframe(new_frame_); - return IS_KEYFRAME; + return RESULT_IS_KEYFRAME; } void FrameHandlerMono:: diff --git a/svo_ros/src/benchmark_node.cpp b/svo_ros/src/benchmark_node.cpp index 561f131..fb121cc 100644 --- a/svo_ros/src/benchmark_node.cpp +++ b/svo_ros/src/benchmark_node.cpp @@ -141,7 +141,7 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir) visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); // write pose to tracefile - if(vo_->stage() == svo::FrameHandlerMono::DEFAULT_FRAME) + if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); } } @@ -216,7 +216,7 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) // Add image to VO vo_->addImage(img, it->timestamp_); - if(vo_->stage() != svo::FrameHandlerMono::DEFAULT_FRAME) + if(vo_->stage() != svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) continue; // Compute pose error and trace to file diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index d8aa72f..eda01c6 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -110,7 +110,7 @@ publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono cv::cvtColor(frame->img_pyr_[img_pub_level_], img_rgb, CV_GRAY2RGB); // during initialization, draw lines - if(slam.stage() == FrameHandlerBase::SECOND_FRAME) + if(slam.stage() == FrameHandlerBase::STAGE_SECOND_FRAME) { const vector& px_ref(slam.initFeatureTrackRefPx()); const vector& px_cur(slam.initFeatureTrackCurPx()); @@ -148,7 +148,7 @@ publishMinimal(const cv::Mat& img, const FramePtr& frame, const FrameHandlerMono img_msg.encoding = sensor_msgs::image_encodings::BGR8; pub_images_.publish(img_msg.toImageMsg()); } - else if(frame == NULL && pub_images_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::PAUSED) + else if(frame == NULL && pub_images_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_PAUSED) { // display image when slam is not running cv_bridge::CvImage img_msg; diff --git a/svo_ros/src/vo_node.cpp b/svo_ros/src/vo_node.cpp index 27b7ef0..9dc31dd 100644 --- a/svo_ros/src/vo_node.cpp +++ b/svo_ros/src/vo_node.cpp @@ -110,13 +110,13 @@ imgCb(const sensor_msgs::ImageConstPtr& msg) vo_->addImage(img, msg->header.stamp.toSec()); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec()); - if(publish_markers_ && vo_->stage() != FrameHandlerBase::PAUSED) + if(publish_markers_ && vo_->stage() != FrameHandlerBase::STAGE_PAUSED) visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); if(publish_dense_input_) visualizer_.exportToDense(vo_->lastFrame()); - if(vo_->stage() == FrameHandlerMono::PAUSED) + if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED) usleep(100000); // avoid busy loop when paused }