Simplify parameter initialization for tracking_module

ithink3iam · Jun 13, 2022 · 3f4b160 · 3f4b160
1 parent 7cac67e
commit 3f4b160
Showing 1 changed file with 4 additions and 27 deletions.
diff --git a/src/stella_vslam/tracking_module.cc b/src/stella_vslam/tracking_module.cc
@@ -16,38 +16,15 @@
 
 #include <spdlog/spdlog.h>
 
-namespace {
-using namespace stella_vslam;
-
-double get_reloc_distance_threshold(const YAML::Node& yaml_node) {
-    spdlog::debug("load maximum distance threshold where close keyframes could be found");
-    return yaml_node["reloc_distance_threshold"].as<double>(0.2);
-}
-
-double get_reloc_angle_threshold(const YAML::Node& yaml_node) {
-    spdlog::debug("load maximum angle threshold between given pose and close keyframes");
-    return yaml_node["reloc_angle_threshold"].as<double>(0.45);
-}
-
-double get_enable_auto_relocalization(const YAML::Node& yaml_node) {
-    return yaml_node["enable_auto_relocalization"].as<bool>(true);
-}
-
-double get_use_robust_matcher_for_relocalization_request(const YAML::Node& yaml_node) {
-    return yaml_node["use_robust_matcher_for_relocalization_request"].as<bool>(false);
-}
-
-} // unnamed namespace
-
 namespace stella_vslam {
 
 tracking_module::tracking_module(const std::shared_ptr<config>& cfg, data::map_database* map_db,
                                  data::bow_vocabulary* bow_vocab, data::bow_database* bow_db)
     : camera_(cfg->camera_),
-      reloc_distance_threshold_(get_reloc_distance_threshold(util::yaml_optional_ref(cfg->yaml_node_, "Tracking"))),
-      reloc_angle_threshold_(get_reloc_angle_threshold(util::yaml_optional_ref(cfg->yaml_node_, "Tracking"))),
-      enable_auto_relocalization_(get_enable_auto_relocalization(util::yaml_optional_ref(cfg->yaml_node_, "Tracking"))),
-      use_robust_matcher_for_relocalization_request_(get_use_robust_matcher_for_relocalization_request(util::yaml_optional_ref(cfg->yaml_node_, "Tracking"))),
+      reloc_distance_threshold_(util::yaml_optional_ref(cfg->yaml_node_, "Tracking")["reloc_distance_threshold"].as<double>(0.2)),
+      reloc_angle_threshold_(util::yaml_optional_ref(cfg->yaml_node_, "Tracking")["reloc_angle_threshold"].as<double>(0.45)),
+      enable_auto_relocalization_(util::yaml_optional_ref(cfg->yaml_node_, "Tracking")["enable_auto_relocalization"].as<bool>(true)),
+      use_robust_matcher_for_relocalization_request_(util::yaml_optional_ref(cfg->yaml_node_, "Tracking")["use_robust_matcher_for_relocalization_request"].as<bool>(false)),
       map_db_(map_db), bow_vocab_(bow_vocab), bow_db_(bow_db),
       initializer_(map_db, bow_db, util::yaml_optional_ref(cfg->yaml_node_, "Initializer")),
       frame_tracker_(camera_, 10, initializer_.get_use_fixed_seed()),