From 44d8563a992b037f3607d328b8815bf41e029e23 Mon Sep 17 00:00:00 2001 From: Ignacio Vizzo Date: Thu, 29 Feb 2024 14:36:25 +0100 Subject: [PATCH] Remove always True flag (#281) This also makes the C++ and Python pipelines closer, since the C++ has no option to enable/disable preprocessing --- config/advanced.yaml | 1 - config/basic.yaml | 1 - python/kiss_icp/config/config.py | 1 - python/kiss_icp/preprocess.py | 9 ++------- 4 files changed, 2 insertions(+), 10 deletions(-) diff --git a/config/advanced.yaml b/config/advanced.yaml index 3b7acd31..a9124ae2 100644 --- a/config/advanced.yaml +++ b/config/advanced.yaml @@ -5,7 +5,6 @@ out_dir: "results" data: deskew: True - preprocess: True max_range: 100.0 # can be also changed in the CLI min_range: 0.0 diff --git a/config/basic.yaml b/config/basic.yaml index 7540d89c..ef5457a4 100644 --- a/config/basic.yaml +++ b/config/basic.yaml @@ -2,7 +2,6 @@ out_dir: "results" data: deskew: False - preprocess: True max_range: 100.0 # can be also changed in the CLI min_range: 5.0 diff --git a/python/kiss_icp/config/config.py b/python/kiss_icp/config/config.py index e568a206..4c9a29e9 100644 --- a/python/kiss_icp/config/config.py +++ b/python/kiss_icp/config/config.py @@ -26,7 +26,6 @@ class DataConfig(BaseModel): - preprocess: bool = True max_range: float = 100.0 min_range: float = 5.0 deskew: bool = False diff --git a/python/kiss_icp/preprocess.py b/python/kiss_icp/preprocess.py index d68090e5..0a1cdcd5 100644 --- a/python/kiss_icp/preprocess.py +++ b/python/kiss_icp/preprocess.py @@ -27,15 +27,10 @@ def get_preprocessor(config: KISSConfig): - return Preprocessor(config) if config.data.preprocess else Stubcessor() + return Preprocessor(config) -class Stubcessor: - def __call__(self, frame: np.ndarray): - return frame - - -class Preprocessor(Stubcessor): +class Preprocessor: def __init__(self, config: KISSConfig): self.config = config