further cleaning the code

hridaybavle · May 7, 2021 · f7c0692 · f7c0692
1 parent 1b6123f
commit f7c0692
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Showing 10 changed files with 3 additions and 254 deletions.
diff --git a/include/ps_graph_slam/semantic_graph_slam.h b/include/ps_graph_slam/semantic_graph_slam.h
@@ -18,10 +18,6 @@
 // segmented pointcloud acc to detection
 #include "planar_segmentation/point_cloud_segmentation.h"
 
-// semantic mapping
-#include "ps_graph_slam/map_cloud.h"
-#include "ps_graph_slam/mapping.h"
-
 class semantic_graph_slam {
 public:
   semantic_graph_slam();
@@ -37,13 +33,6 @@ class semantic_graph_slam {
 private:
   std::unique_ptr<point_cloud_segmentation> pc_seg_obj_;
   std::unique_ptr<data_association> data_ass_obj_;
-  // mapping* semantic_mapping_obj_;
-  // std::thread* semantic_mapping_th_;
-  // std::thread* semantic_mapping_opt_th_;
-
-public:
-  // mapping related params
-  std::vector<map_cloud> get3DMap();
 
 private:
   bool empty_keyframe_queue();

diff --git a/include/semantic_graph_slam_ros.h b/include/semantic_graph_slam_ros.h
@@ -64,8 +64,6 @@
 
 #include "ps_graph_slam/semantic_graph_slam.h"
 
-#include "ps_graph_slam/map_cloud.h"
-
 class semantic_graph_slam_ros {
 
 public:

diff --git a/launch/octomap.launch b/launch/octomap.launch
diff --git a/launch/ps_slam_with_snap_pose_bucket_det_drone_data.launch b/launch/ps_slam_with_snap_pose_bucket_det_drone_data.launch
diff --git a/launch/ps_slam_with_snap_pose_bucket_det_lab_data_with_octomap.launch b/launch/ps_slam_with_snap_pose_bucket_det_lab_data_with_octomap.launch
@@ -2,7 +2,7 @@
 <launch>
 
   <param name="use_sim_time" value="true" />
-	<!--<arg name="bagfile" default="/media/hriday/0F2F8B1E48317A85/home/Documents/PhD/Rosbags/Semantic_SLAM/semantic_slam/ACL/lab/with_snap_pose/entire_lab/entire_lab_3_rounds.bag"/>-->
+	<arg name="bagfile" default="/media/hriday/0F2F8B1E48317A85/home/Documents/PhD/Rosbags/Semantic_SLAM/semantic_slam/ACL/lab/with_snap_pose/entire_lab/entire_lab_3_rounds.bag"/>
 
 	<!-- Play the bagfile -->
   <node pkg="rosbag" type="play" name="rosbag" args="--clock $(arg bagfile)" />
@@ -26,7 +26,7 @@
 			<remap from="depth_registered/image_rect" to="/camera/aligned_depth_to_color/image_rect"/>
   	</node>
 
-  <!--shape color object detector -->
+  <!--shape color object detector 
 	<arg name="front_camera_image_topic_name" 										default="/camera/color/image_raw" />
   <arg name="object_recognized_front_camera_topic_name" 				default="/image_processed/object_recognized_front_camera" />
 	<arg name="config_file"																				default="$(find ShapeColor_ObjectDetection)/cfg/objectDetector_configFile.xml"/>
@@ -35,7 +35,7 @@
 				<param name="front_camera_image_topic_name"											value="$(arg front_camera_image_topic_name)" 									type="string"/>
 				<param name="object_recognized_front_camera_topic_name" 				value="$(arg object_recognized_front_camera_topic_name)" 			type="string"/>
 				<param name="config_file"																				value="$(arg config_file)"																		type="string"/>
-		</node>
+		</node>-->
 
   <!--launching the semantic slam node -->	
 	<node name="semantic_graph_slam_node" pkg="semantic_SLAM" type="semantic_graph_SLAM_node" output="screen">

diff --git a/launch/ps_slam_with_yolo_TUM.launch b/launch/ps_slam_with_yolo_TUM.launch
diff --git a/launch/ps_slam_with_yolo_TUM_f1_desk2.launch b/launch/ps_slam_with_yolo_TUM_f1_desk2.launch
diff --git a/launch/ps_slam_with_yolo_TUM_f2.launch b/launch/ps_slam_with_yolo_TUM_f2.launch
diff --git a/launch/ps_slam_with_yolo_TUM_f2_desk.launch b/launch/ps_slam_with_yolo_TUM_f2_desk.launch
diff --git a/src/ps_graph_slam/semantic_graph_slam.cpp b/src/ps_graph_slam/semantic_graph_slam.cpp
@@ -389,13 +389,6 @@ void semantic_graph_slam::getDetectedObjectsPose(
   seg_obj_vec = seg_obj_vec_;
 }
 
-std::vector<map_cloud> semantic_graph_slam::get3DMap() {
-  std::vector<map_cloud> cloud_map_vector;
-  // cloud_map_vector = semantic_mapping_obj_->getOutputMap();
-
-  return cloud_map_vector;
-}
-
 void semantic_graph_slam::saveGraph(std::string save_graph_path) {
   graph_slam_->save(save_graph_path);
   std::cout << "saved the graph at " << save_graph_path << std::endl;