Commit d19b8514 authored by simalpha's avatar simalpha
Browse files

removing absolute paths LCM too.

parent 7b0801c7
......@@ -7,7 +7,7 @@
<author email="snobili@robots.ox.ac.uk">Simona Nobili</author>
<maintainer email="snobili@robots.ox.ac.uk">Simona Nobili</maintainer>
<maintainer email="mcamurri@robots.ox.ac.uk">Marco Camurri</maintainer>
<license>LGPL-2.1</license>
<license>LGPLv2.1</license>
<buildtool_depend>catkin</buildtool_depend>
......
......@@ -100,7 +100,6 @@ int main(int argc, char **argv){
parser.add(ca_cfg.lidar_channel, "l", "lidar_channel", "Input message e.g MULTISENSE_SCAN");
parser.parse();
/*===================================
= YAML Config =
===================================*/
......@@ -111,6 +110,21 @@ int main(int argc, char **argv){
}
yaml_conf.printParams();
RegistrationParams reg_params = yaml_conf.getRegistrationParams();
parser.add(reg_params.pointmatcher.configFileName, "r_conf", "reg_default_config", "Registration default config");
if(reg_params.pointmatcher.configFileName.empty()){
cerr << "ERROR: Param \"registration_default_config_file not found!\"" << endl;
}
OverlapParams overlap_params = yaml_conf.getOverlapParams();
ClassificationParams classification_params = yaml_conf.getClassificationParams();
parser.add(classification_params.svm.trainingFile, "r_conf", "svm_training_file", "SVM training file");
parser.add(classification_params.svm.testingFile, "r_conf", "svm_testing_file", "SVM testing file");
parser.add(classification_params.svm.saveFile, "r_conf", "svm_save_file", "SVM save file");
parser.add(classification_params.svm.saveProbs, "r_conf", "svm_save_probs", "SVM save probs");
parser.add(classification_params.svm.modelLocation, "r_conf", "svm_model_location", "SVM model location");
/*===================================
= Create LCM =
===================================*/
......@@ -126,9 +140,9 @@ int main(int argc, char **argv){
aicp::AppLCM* app = new aicp::AppLCM(lcm,
cl_cfg,
ca_cfg,
yaml_conf.getRegistrationParams(),
yaml_conf.getOverlapParams(),
yaml_conf.getClassificationParams());
reg_params,
overlap_params,
classification_params);
while(0 == lcm->handle());
delete app;
......
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