Removed CameraData where it is not needed anymore

Author: cassinaj

src/dbot/tracker/builder/rbc_particle_filter_tracker_builder.hpp

@@ -77,18 +77,15 @@ class RbcParticleFilterTrackerBuilder
     /**
      * \brief Creates a RbcParticleFilterTrackerBuilder
      * \param param			Builder and sub-builder parameters
-     * \param camera_data	Tracker camera data object
      */
     RbcParticleFilterTrackerBuilder(
         const std::shared_ptr<StateTransitionBuilder>& state_transition_builder,
         const std::shared_ptr<ObservationModelBuilder>& obsrv_model_builder,
         const std::shared_ptr<ObjectModel>& object_model,
-        const std::shared_ptr<CameraData>& camera_data,
         const Parameters& params)
         : state_transition_builder_(state_transition_builder),
           obsrv_model_builder_(obsrv_model_builder),
           object_model_(object_model),
-          camera_data_(camera_data),
           params_(params)
     {
     }
@@ -103,7 +100,6 @@ class RbcParticleFilterTrackerBuilder
         auto tracker = std::make_shared<RbcParticleFilterObjectTracker>(
             filter,
             object_model_,
-            camera_data_,
             params_.evaluation_count,
             params_.moving_average_update_rate);
 
@@ -162,7 +158,6 @@ class RbcParticleFilterTrackerBuilder
     std::shared_ptr<StateTransitionBuilder> state_transition_builder_;
     std::shared_ptr<ObservationModelBuilder> obsrv_model_builder_;
     std::shared_ptr<ObjectModel> object_model_;
-    std::shared_ptr<CameraData> camera_data_;
     Parameters params_;
 };
 }

src/dbot/tracker/builder/rms_gaussian_filter_tracker_builder.cpp

@@ -41,7 +41,7 @@ RmsGaussianFilterTrackerBuilder::build()
     auto filter = create_filter(object_model);
 
     auto tracker = std::make_shared<RmsGaussianFilterObjectTracker>(
-        filter, object_model, camera_data_, param_.update_rate);
+        filter, object_model, param_.update_rate);
 
     return tracker;
 }

src/dbot/tracker/object_tracker.cpp

@@ -17,10 +17,8 @@
 namespace dbot
 {
 ObjectTracker::ObjectTracker(const std::shared_ptr<ObjectModel> &object_model,
-                             const std::shared_ptr<CameraData> &camera_data,
                              double update_rate)
     : object_model_(object_model),
-      camera_data_(camera_data),
       update_rate_(update_rate),
       moving_average_(object_model_->count_parts())
 {
@@ -39,11 +37,6 @@ void ObjectTracker::initialize(const std::vector<State>& initial_states)
     moving_average_ = to_model_coordinate_system(on_initialize(states));
 }
 
-const std::shared_ptr<CameraData>& ObjectTracker::camera_data() const
-{
-    return camera_data_;
-}
-
 void ObjectTracker::move_average(const ObjectTracker::State& new_state,
                                  ObjectTracker::State& moving_average,
                                  double update_rate)

src/dbot/tracker/object_tracker.hpp

@@ -26,7 +26,6 @@
 #include <memory>
 #include <mutex>
 
-#include <dbot/util/camera_data.hpp>
 #include <dbot/util/object_model.hpp>
 
 #include <osr/pose_vector.hpp>
@@ -55,13 +54,10 @@ class ObjectTracker
      *     Rbc particle filter instance
      * \param object_model
      *     Object model instance
-     * \param camera_data
-     *     Camera data container
      * \param update_rate
      *     Moving average update rate
      */
     ObjectTracker(const std::shared_ptr<ObjectModel>& object_model,
-                  const std::shared_ptr<CameraData>& camera_data,
                   double update_rate);
 
     virtual ~ObjectTracker() { }
@@ -110,11 +106,6 @@ class ObjectTracker
      */
     State to_model_coordinate_system(const State& state);
 
-    /**
-     * \brief Returns camera data
-     */
-    const std::shared_ptr<CameraData> &camera_data() const;
-
     /**
      * \brief Updates the moving average with the new state using the specified
      *        update rate. The update rate is the weight on the new state. That
@@ -139,7 +130,6 @@ class ObjectTracker
 
 protected:
     std::shared_ptr<ObjectModel> object_model_;
-    std::shared_ptr<CameraData> camera_data_;
     State moving_average_;
     double update_rate_;
     std::mutex mutex_;

src/dbot/tracker/rbc_particle_filter_object_tracker.cpp

@@ -28,10 +28,9 @@ namespace dbot
 RbcParticleFilterObjectTracker::RbcParticleFilterObjectTracker(
     const std::shared_ptr<Filter>& filter,
     const std::shared_ptr<ObjectModel>& object_model,
-    const std::shared_ptr<dbot::CameraData>& camera_data,
     int evaluation_count,
     double update_rate)
-    : ObjectTracker(object_model, camera_data, update_rate),
+    : ObjectTracker(object_model, update_rate),
       filter_(filter),
       evaluation_count_(evaluation_count)
 {
@@ -41,7 +40,7 @@ auto RbcParticleFilterObjectTracker::on_initialize(
     const std::vector<State>& initial_states) -> State
 {
     filter_->set_particles(initial_states);
-    filter_->filter(camera_data_->depth_image_vector(), zero_input());
+    // filter_->filter(camera_data_->depth_image_vector(), zero_input());
     filter_->resample(evaluation_count_ / object_model_->count_parts());
 
     State delta_mean = filter_->belief().mean();

src/dbot/tracker/rbc_particle_filter_object_tracker.hpp

@@ -65,7 +65,6 @@ class RbcParticleFilterObjectTracker : public ObjectTracker
     RbcParticleFilterObjectTracker(
         const std::shared_ptr<Filter>& filter,
         const std::shared_ptr<ObjectModel>& object_model,
-        const std::shared_ptr<CameraData>& camera_data,
         int evaluation_count,
         double update_rate);
 

src/dbot/tracker/rms_gaussian_filter_object_tracker.cpp

@@ -28,9 +28,8 @@ namespace dbot
 RmsGaussianFilterObjectTracker::RmsGaussianFilterObjectTracker(
     const std::shared_ptr<Filter>& filter,
     const std::shared_ptr<ObjectModel>& object_model,
-    const std::shared_ptr<CameraData>& camera_data,
     double update_rate)
-    : ObjectTracker(object_model, camera_data, update_rate),
+    : ObjectTracker(object_model, update_rate),
       filter_(filter),
       belief_(filter_->create_belief())
 {

src/dbot/tracker/rms_gaussian_filter_object_tracker.hpp

@@ -30,7 +30,7 @@
 #pragma once
 
 #include <dbot/tracker/object_tracker.hpp>
-#include <dbot/model/observation/depth_pixel_observation_model.hpp>
+#include <dbot/model/depth_pixel_observation_model.hpp>
 
 #include <fl/util/types.hpp>
 #include <fl/model/process/linear_state_transition_model.hpp>
@@ -94,7 +94,6 @@ class RmsGaussianFilterObjectTracker : public ObjectTracker
     RmsGaussianFilterObjectTracker(
         const std::shared_ptr<Filter>& filter,
         const std::shared_ptr<ObjectModel>& object_model,
-        const std::shared_ptr<CameraData>& camera_data,
         double update_rate);
 
     /**