Rename a bunch of stuff

Author: contagon

CMakeLists.txt

@@ -31,7 +31,7 @@ add_library(FORM
 	form/form.cpp
 	form/feature/factor.cpp
 	form/optimization/constraints.cpp
-	form/mapping/scan_handler.cpp
+	form/mapping/keyscanner.cpp
 )
 target_sources(FORM
 	PUBLIC
@@ -41,14 +41,14 @@ target_sources(FORM
 	FILES 
 		# feature
 		form/feature/factor.hpp
-		form/feature/type.hpp
+		form/feature/features.hpp
 		form/feature/extraction.hpp
 		# optimization
 		form/optimization/constraints.hpp
 		form/optimization/gtsam.hpp
 		# mapping
 		form/mapping/map.hpp
-		form/mapping/scan_handler.hpp
+		form/mapping/keyscanner.hpp
 		# core
 		form/form.hpp
 		form/utils.hpp

form/feature/extraction.hpp

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "form/feature/type.hpp"
+#include "form/feature/features.hpp"
 #include "form/utils.hpp"
 #include <Eigen/Dense>
 
@@ -28,7 +28,8 @@ template <typename T> struct Curvature {
   }
 };
 
-struct FeatureExtractor {
+class FeatureExtractor {
+public:
   struct Params {
     // Parameters for keypoint extraction
     size_t neighbor_points = 5;
@@ -54,6 +55,12 @@ struct FeatureExtractor {
     static const auto tbb_control_settings = set_num_threads(num_threads);
   }
 
+  // ------------------------- Entrypoint ------------------------- //
+  template <typename Point>
+  [[nodiscard]] std::tuple<std::vector<PlanarFeat>, std::vector<PointFeat>>
+  extract(const std::vector<Point> &scan, size_t scan_idx) const;
+
+private:
   // ------------------------- Validators ------------------------- //
   template <typename Point>
   std::vector<bool> compute_valid_points(const std::vector<Point> &scan) const;
@@ -96,11 +103,6 @@ struct FeatureExtractor {
   template <typename Point>
   void find_neighbors(const size_t &idx, const std::vector<Point> &scan,
                       std::vector<Point> &out) const noexcept;
-
-  // Assume the points are in row-major order
-  template <typename Point>
-  [[nodiscard]] std::tuple<std::vector<PlanarFeat>, std::vector<PointFeat>>
-  extract(const std::vector<Point> &scan, size_t scan_idx) const;
 };
 } // namespace form
 

form/feature/factor.hpp

@@ -5,7 +5,7 @@
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <vector>
 
-#include "form/feature/type.hpp"
+#include "form/feature/features.hpp"
 #include "form/optimization/gtsam.hpp"
 
 namespace form {

form/feature/type.hpp renamed to form/feature/features.hpp

@@ -12,7 +12,7 @@ Estimator::Estimator(const Estimator::Params &params) noexcept
       m_constraints(params.constraints),
       m_matcher{Matcher<PlanarFeat>(params.matcher, params.num_threads),
                 Matcher<PointFeat>(params.matcher, params.num_threads)},
-      m_scan_handler(params.scans),
+      m_keyscanner(params.scans),
       m_keypoint_map{KeypointMap<PlanarFeat>(m_params.map),
                      KeypointMap<PointFeat>(m_params.map)} {}
 
@@ -80,9 +80,9 @@ Estimator::register_scan(const std::vector<Eigen::Vector3f> &scan) noexcept {
 
   // ---------------------------- Keyscan Selection ---------------------------- //
   const auto connections = [&](FrameIndex frame) {
-    return m_constraints.num_recent_connections(frame, m_scan_handler.oldest_rf());
+    return m_constraints.num_recent_connections(frame, m_keyscanner.oldest_rf());
   };
-  auto marg_frames = m_scan_handler.update(frame_idx, num_keypoints, connections);
+  auto marg_frames = m_keyscanner.update(frame_idx, num_keypoints, connections);
 
   // ----------------------------- Marginalization ----------------------------- //
   m_constraints.marginalize(marg_frames);

form/form.cpp

@@ -1,9 +1,9 @@
 #pragma once
 
 #include "form/feature/extraction.hpp"
-#include "form/feature/type.hpp"
+#include "form/feature/features.hpp"
+#include "form/mapping/keyscanner.hpp"
 #include "form/mapping/map.hpp"
-#include "form/mapping/scan_handler.hpp"
 #include "form/optimization/constraints.hpp"
 #include "form/optimization/matcher.hpp"
 
@@ -15,10 +15,8 @@
 
 namespace form {
 
-class Estimator {
-public:
+struct Estimator {
   struct Params {
-
     // Extraction params
     FeatureExtractor::Params extraction;
 
@@ -27,15 +25,13 @@ class Estimator {
     ConstraintManager::Params constraints;
 
     // Mapping params
-    ScanHandler::Params scans;
+    KeyScanner::Params scans;
     KeypointMapParams map;
 
     // points must be within this percent of range to be matched
     size_t num_threads = 0;
   };
 
-  Params m_params;
-
   // features
   FeatureExtractor m_extractor;
 
@@ -44,10 +40,11 @@ class Estimator {
   std::tuple<Matcher<PlanarFeat>, Matcher<PointFeat>> m_matcher;
 
   // mapping
-  ScanHandler m_scan_handler;
+  KeyScanner m_keyscanner;
   std::tuple<KeypointMap<PlanarFeat>, KeypointMap<PointFeat>> m_keypoint_map;
 
-public:
+  Params m_params;
+
   Estimator() : Estimator(Params()) {}
 
   Estimator(const Params &params) noexcept;

form/form.hpp

@@ -1,13 +1,13 @@
-#include "form/mapping/scan_handler.hpp"
+#include "form/mapping/keyscanner.hpp"
 #include <algorithm>
 #include <set>
 
 namespace form {
 
 // ------------------------- Doers ------------------------- //
 std::vector<FrameIndex>
-ScanHandler::update(FrameIndex idx, size_t size,
-                    std::function<size_t(FrameIndex)> connections) noexcept {
+KeyScanner::update(FrameIndex idx, size_t size,
+                   std::function<size_t(FrameIndex)> connections) noexcept {
   if (idx == 0) {
     m_keyframes.push_back(Frame(idx, size));
   } else {

form/mapping/scan_handler.cpp renamed to form/mapping/keyscanner.cpp

@@ -19,7 +19,7 @@ struct Frame {
   Frame(size_t idx_, size_t size_ = 0) : idx(idx_), size(size_) {}
 };
 
-class ScanHandler {
+class KeyScanner {
 public:
   struct Params {
     // Maximum number of keyframes to keep
@@ -43,8 +43,8 @@ class ScanHandler {
   std::deque<Frame> m_keyframes;
 
 public:
-  ScanHandler() : m_params() {}
-  ScanHandler(const Params &params) : m_params(params) {}
+  KeyScanner() : m_params() {}
+  KeyScanner(const Params &params) : m_params(params) {}
 
   // ------------------------- Doers ------------------------- //
   std::vector<FrameIndex>