reconfig code

apps/imu_pose.cpp

@@ -50,37 +50,6 @@ int main(int argc, char *argv[])
         boost::filesystem::create_directory(FLAGS_log_dir);
     }
 
-    string offlineResultDir = FLAGS_base_dir + "/result";
-    string pcdResultDir = offlineResultDir + "/pcd";
-    string basePcdResultDir = offlineResultDir + "/basePcd";
-    string guessPcdResultDir = offlineResultDir + "/guessPcd";
-    string rawFrameResultDir = offlineResultDir + "/raw_frame";
-    if(!boost::filesystem::exists(offlineResultDir)){
-        boost::filesystem::create_directory(offlineResultDir);
-    }
-    int unused;
-    unused = system(string("rm " + offlineResultDir + "/*").c_str());
-    if(!boost::filesystem::exists(pcdResultDir)){
-        boost::filesystem::create_directory(pcdResultDir);
-    }else{
-        unused = system(string("rm " + pcdResultDir + "/*").c_str());
-    }
-    if(!boost::filesystem::exists(basePcdResultDir)){
-        boost::filesystem::create_directory(basePcdResultDir);
-    }else{
-        unused = system(string("rm " + basePcdResultDir + "/*").c_str());
-    }
-    if(!boost::filesystem::exists(guessPcdResultDir)){
-        boost::filesystem::create_directory(guessPcdResultDir);
-    }else{
-        unused = system(string("rm " + guessPcdResultDir + "/*").c_str());
-    }
-    if(!boost::filesystem::exists(rawFrameResultDir)){
-        boost::filesystem::create_directory(rawFrameResultDir);
-    }else{
-        unused = system(string("rm " + rawFrameResultDir + "/*").c_str());
-    }
-
     Parameter::Instance()->init(FLAGS_base_dir);
     SysController::Ptr sysController(new SysController());
 

libs/system/parameter.cpp

@@ -19,33 +19,8 @@ Parameter::Ptr Parameter::Instance()
 void Parameter::init(const string &baseDir)
 {
     baseDir_ = baseDir;
-    mapPath_ = baseDir_ + "/stream/";
-    Matrix4d m;
-    m << -0.043905, -0.999033, 00.002312, 00.54,
-            00.994052, -0.043455, 00.099861, 00.28,
-            -0.099664, 00.006683, 00.994999, 00.06,
-            00.0000000, 00.0000000, 00.0000000, 01.0000000;
-    calib_.translation() = m.block(0, 3, 3, 1);
-    calib_.linear() = m.block(0, 0, 3, 3);
-    Quaterniond calibQ(calib_.linear());
-    auto calibRpy = RotationQuaternionToEulerVector(calibQ);
-    LOG(INFO) << "calibRpy: " << calibRpy.transpose();
 
-    std::ifstream ifs(baseDir_ + "/stream.offset");
-    if(ifs) {
-        string line;
-        getline(ifs, line);
-        {
-            std::istringstream iss(line);
-            string subline;
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> offset_.x();
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> offset_.y();
-        }
-        ifs.close();
-    }
-    ifs.open(baseDir_ + "/imu2base.calib");
+    std::ifstream ifs(baseDir_ + "/imu2base.calib");
     if(ifs) {
         string line;
         float r, p, y;
@@ -62,42 +37,12 @@ void Parameter::init(const string &baseDir)
         }
         ifs.close();
 
-  //      fprintf(stderr, "imu2base_   %f, %f, %f\n", r, p, y);
         imu2base_.linear() =
                 Matrix3f(AngleAxisf(y, Vector3f::UnitZ())
                 * AngleAxisf(p, Vector3f::UnitY())
                 * AngleAxisf(r, Vector3f::UnitX())).cast<double>();
     }
-    localToSlamstart_.x() = slamStart_.x() - offset_.x();
-    localToSlamstart_.y() = slamStart_.y() - offset_.y();
 
-    ifs.open(baseDir_ + "/init_pose.txt");
-    if(ifs) {
-        string line;
-        Vector3d rpy;
-        getline(ifs, line);
-        {
-            std::istringstream iss(line);
-            string subline;
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> initPose_.translation().x();
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> initPose_.translation().y();
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> initPose_.translation().z();
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> rpy.x();
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> rpy.y();
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> rpy.z();
-        }
-        ifs.close();
-        initPose_.linear() =
-        Matrix3d(AngleAxisd(rpy.z(), Vector3d::UnitZ())
-        * AngleAxisd(rpy.y(), Vector3d::UnitY())
-        * AngleAxisd(rpy.x(), Vector3d::UnitX()));
-    }
     ifs.open(baseDir_ + "/imu2base_lever_arm.txt");
     if(ifs) {
         string line;
@@ -115,34 +60,6 @@ void Parameter::init(const string &baseDir)
         ifs.close();
         LOG(INFO) << "arm_: " << arm_.transpose();
     }
-    ifs.open(baseDir_ + "/eskf_init_pose.txt");
-    if(ifs) {
-        string line;
-        Vector3d rpy;
-        getline(ifs, line);
-        {
-            std::istringstream iss(line);
-            string subline;
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> eskf_init_pose_.translation().x();
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> eskf_init_pose_.translation().y();
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> eskf_init_pose_.translation().z();
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> rpy.x();
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> rpy.y();
-            getline(iss, subline, ',');
-            std::istringstream(subline) >> rpy.z();
-        }
-        LOG(INFO) << "eskf_init_rot_ rot: " << rpy.transpose();
-        ifs.close();
-        eskf_init_pose_.linear() =
-        Matrix3f(AngleAxisf(rpy.z(), Vector3f::UnitZ())
-        * AngleAxisf(rpy.y(), Vector3f::UnitY())
-        * AngleAxisf(rpy.x(), Vector3f::UnitX()));
-    }
 
 }