From 59b298242e5215d9ea5f0c02d12705b7598be3c5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 9 Dec 2021 18:40:49 +0100
Subject: [PATCH] Remove frame's time tolerance from all APIs
---
include/gnss/processor/processor_gnss_fix.h | 4 ++--
include/gnss/processor/processor_gnss_tdcp.h | 4 ++--
src/processor/processor_gnss_fix.cpp | 2 +-
src/processor/processor_gnss_tdcp.cpp | 2 +-
test/gtest_factor_gnss_fix_2d.cpp | 2 +-
5 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/include/gnss/processor/processor_gnss_fix.h b/include/gnss/processor/processor_gnss_fix.h
index 56207a68b..0af093f18 100644
--- a/include/gnss/processor/processor_gnss_fix.h
+++ b/include/gnss/processor/processor_gnss_fix.h
@@ -153,7 +153,7 @@ class ProcessorGnssFix : public ProcessorBase
*
* The ProcessorTracker only processes incoming captures (it is not called).
*/
- void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override {};
+ void processKeyFrame(FrameBasePtr _keyframe_ptr) override {};
/** \brief trigger in capture
*
@@ -165,7 +165,7 @@ class ProcessorGnssFix : public ProcessorBase
*
* The ProcessorTracker only processes incoming captures, then it returns false.
*/
- bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) const override {return false;}
+ bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr) const override {return false;}
/** \brief store key frame
*
diff --git a/include/gnss/processor/processor_gnss_tdcp.h b/include/gnss/processor/processor_gnss_tdcp.h
index f3f9072ec..9c040a1e5 100644
--- a/include/gnss/processor/processor_gnss_tdcp.h
+++ b/include/gnss/processor/processor_gnss_tdcp.h
@@ -110,7 +110,7 @@ class ProcessorGnssTdcp : public ProcessorBase
*
* The ProcessorTracker only processes incoming captures (it is not called).
*/
- void processKeyFrame(FrameBasePtr _keyframe, const double& _time_tolerance) override;
+ void processKeyFrame(FrameBasePtr _keyframe) override;
/** \brief store key frame
*
@@ -134,7 +134,7 @@ class ProcessorGnssTdcp : public ProcessorBase
*
* The ProcessorTracker only processes incoming captures, then it returns false.
*/
- bool triggerInKeyFrame(FrameBasePtr _keyframe, const double& _time_tolerance) const override {return true;};
+ bool triggerInKeyFrame(FrameBasePtr _keyframe) const override {return true;};
bool voteForKeyFrame() const override;
diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp
index 813f03a0f..fb104bf26 100644
--- a/src/processor/processor_gnss_fix.cpp
+++ b/src/processor/processor_gnss_fix.cpp
@@ -171,7 +171,7 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture)
// Notify if KF created
if (KF_created)
- getProblem()->keyFrameCallback(new_frame, shared_from_this(), params_gnss_->time_tolerance);
+ getProblem()->keyFrameCallback(new_frame, shared_from_this());
}
FactorBasePtr ProcessorGnssFix::emplaceFactor(FeatureBasePtr _ftr)
diff --git a/src/processor/processor_gnss_tdcp.cpp b/src/processor/processor_gnss_tdcp.cpp
index f67920ab9..e19aeed9e 100644
--- a/src/processor/processor_gnss_tdcp.cpp
+++ b/src/processor/processor_gnss_tdcp.cpp
@@ -114,7 +114,7 @@ void ProcessorGnssTdcp::processCapture(CaptureBasePtr _capture)
*/
}
-void ProcessorGnssTdcp::processKeyFrame(FrameBasePtr _keyframe, const double& _time_tolerance)
+void ProcessorGnssTdcp::processKeyFrame(FrameBasePtr _keyframe)
{
WOLF_INFO("ProcessorGnssTdcp::processKeyFrame()");
diff --git a/test/gtest_factor_gnss_fix_2d.cpp b/test/gtest_factor_gnss_fix_2d.cpp
index a88b67bba..98fa09cc5 100644
--- a/test/gtest_factor_gnss_fix_2d.cpp
+++ b/test/gtest_factor_gnss_fix_2d.cpp
@@ -135,7 +135,7 @@ TEST(FactorGnssFix2dTest, configure_tree)
// Emplace a frame (FIXED)
Vector3d frame_pose = (Vector3d() << t_map_base(0), t_map_base(1), o_map_base(0)).finished();
frame_ptr = problem_ptr->emplaceFrame( TimeStamp(0), frame_pose);
- problem_ptr->keyFrameCallback(frame_ptr, nullptr, 1.0);
+ problem_ptr->keyFrameCallback(frame_ptr, nullptr);
// Create & process GNSS Fix capture
CaptureGnssFixPtr cap_gnss_ptr = std::make_shared<CaptureGnssFix>(TimeStamp(0), gnss_sensor_ptr, t_ecef_antena, 1e-3*Matrix3d::Identity());
--
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