From 70128b3a23448f082e47cc1f43acb48500b114c2 Mon Sep 17 00:00:00 2001 From: dehann Date: Sat, 15 Jul 2023 00:48:33 -0700 Subject: [PATCH] fixing tests, issue on set SA --- ext/CaesarImagesExt.jl | 2 ++ ext/Images/ScanMatcherPose2.jl | 17 +++++++++-------- ext/WeakdepsPrototypes.jl | 3 ++- 3 files changed, 13 insertions(+), 9 deletions(-) diff --git a/ext/CaesarImagesExt.jl b/ext/CaesarImagesExt.jl index 9825eb424..898c96b30 100644 --- a/ext/CaesarImagesExt.jl +++ b/ext/CaesarImagesExt.jl @@ -29,6 +29,8 @@ import IncrementalInference: getSample, preambleCache, _update!, getManifold import Caesar: applyMaskImage, makeMaskImage, makeMaskImages, imhcatPretty, toImage import Caesar: writevideo, csmAnimationJoinImgs, csmAnimateSideBySide, makeVideoFromData import Caesar: overlayScanMatcher +import Caesar: overlayScatter, overlayScatterMutate + import Caesar: ScanMatcherPose2, PackedScanMatcherPose2 import Caesar: _PARCHABLE_PACKED_CLOUD import Caesar: ScatterAlign, ScatterAlignPose2, ScatterAlignPose3 diff --git a/ext/Images/ScanMatcherPose2.jl b/ext/Images/ScanMatcherPose2.jl index de8b03cea..8d77b73cc 100644 --- a/ext/Images/ScanMatcherPose2.jl +++ b/ext/Images/ScanMatcherPose2.jl @@ -38,15 +38,8 @@ Base.show(io::IO, ::MIME"text/plain", arp::ScanMatcherPose2) = show(io, arp) Base.show(io::IO, ::MIME"application/juno.inline", arp::ScanMatcherPose2) = show(io, arp) -""" - $SIGNATURES - -Overlay the two images from `AlignRadarPose2` with the first (red) fixed and transform the second image (blue) according to `tf`. -Notes: -- `tf` is a Manifolds.jl type `::ProductRepr` (or newer `::ArrayPartition`) to represent a `SpecialEuclidean(2)` manifold point. -""" -function overlayScanMatcher(sm::ScanMatcherPose2, +function overlayScanMatcherOLD(sm::ScanMatcherPose2, trans::Vector{Float64}=Float64[0;0], rot::Real=0.0; score=Ref(0.0), @@ -72,6 +65,14 @@ end # +""" + $SIGNATURES + +Overlay the two images from `AlignRadarPose2` with the first (red) fixed and transform the second image (blue) according to `tf`. + +Notes: +- `tf` is a Manifolds.jl type `::ProductRepr` (or newer `::ArrayPartition`) to represent a `SpecialEuclidean(2)` manifold point. +""" function overlayScanMatcher(sm::ScanMatcherPose2, tf::ArrayPartition = Manifolds.identity_element(SpecialEuclidean(2)); kw... ) diff --git a/ext/WeakdepsPrototypes.jl b/ext/WeakdepsPrototypes.jl index 54d79313e..0ab861d35 100644 --- a/ext/WeakdepsPrototypes.jl +++ b/ext/WeakdepsPrototypes.jl @@ -24,10 +24,10 @@ export ScatterAlignPose2, PackedScatterAlignPose2 export ScatterAlignPose3, PackedScatterAlignPose3 export overlayScanMatcher +export overlayScanMatcherOLD export overlayScatter, overlayScatterMutate - function applyMaskImage end function makeMaskImage end function makeMaskImages end @@ -40,6 +40,7 @@ function csmAnimateSideBySide end function makeVideoFromData end function overlayScanMatcher end +function overlayScanMatcherOLD end function overlayScatter end function overlayScatterMutate end