From fb4d8d71f75c9db6eec732546af794b6267bdd07 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Sat, 19 Dec 2020 17:17:15 +0100 Subject: [PATCH] rerane emplaceKeyFrame -> emplaceFrame. remove isKey() gtest_factor_gnss_pseudo_range fails, but it failed already in core --- src/processor/processor_gnss_fix.cpp | 2 +- src/processor/processor_tracker_gnss.cpp | 3 +-- test/gtest_factor_gnss_fix_2d.cpp | 3 +-- test/gtest_factor_gnss_pseudo_range.cpp | 2 +- test/gtest_factor_gnss_tdcp.cpp | 4 ++-- 5 files changed, 6 insertions(+), 8 deletions(-) diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp index b2ad0211a..1c0246db7 100644 --- a/src/processor/processor_gnss_fix.cpp +++ b/src/processor/processor_gnss_fix.cpp @@ -84,7 +84,7 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture) else if (permittedKeyFrame() && voteForKeyFrame()) { WOLF_DEBUG("PR ", getName()," emplacing KF TS = ", incoming_capture_->getTimeStamp()); - new_frame = getProblem()->emplaceKeyFrame(incoming_capture_->getTimeStamp()); + new_frame = getProblem()->emplaceFrame(incoming_capture_->getTimeStamp()); KF_created = true; } // OTHERWISE return diff --git a/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp index 621d55e30..9b9a8f299 100644 --- a/src/processor/processor_tracker_gnss.cpp +++ b/src/processor/processor_tracker_gnss.cpp @@ -367,8 +367,7 @@ void ProcessorTrackerGnss::establishFactors() WOLF_DEBUG("TDCP BATCH ref frame ", KF->id()); // discard non-key frames, last-last pair and frames without CaptureGnss - if (not KF->isKey() or - KF == last_ptr_->getFrame() or + if (KF == last_ptr_->getFrame() or KF->getCaptureOf(getSensor(),"CaptureGnss") == nullptr) continue; diff --git a/test/gtest_factor_gnss_fix_2d.cpp b/test/gtest_factor_gnss_fix_2d.cpp index 401cd95f9..f3bb033d4 100644 --- a/test/gtest_factor_gnss_fix_2d.cpp +++ b/test/gtest_factor_gnss_fix_2d.cpp @@ -113,7 +113,7 @@ 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->emplaceKeyFrame( TimeStamp(0), frame_pose); + frame_ptr = problem_ptr->emplaceFrame( TimeStamp(0), frame_pose); problem_ptr->keyFrameCallback(frame_ptr, nullptr, 1.0); // Create & process GNSS Fix capture @@ -122,7 +122,6 @@ TEST(FactorGnssFix2dTest, configure_tree) // Checks EXPECT_TRUE(problem_ptr->check(1)); - EXPECT_TRUE(frame_ptr->isKey()); } /* diff --git a/test/gtest_factor_gnss_pseudo_range.cpp b/test/gtest_factor_gnss_pseudo_range.cpp index 1f2ae8a11..77b274389 100644 --- a/test/gtest_factor_gnss_pseudo_range.cpp +++ b/test/gtest_factor_gnss_pseudo_range.cpp @@ -104,7 +104,7 @@ void setUpProblem() Vector7d frm_state; frm_state.head<3>() = t_map_base; frm_state.tail<4>() = q_map_base.coeffs(); - frm = prb->emplaceKeyFrame( TimeStamp(0), frm_state); + frm = prb->emplaceFrame( TimeStamp(0), frm_state); // capture cap = CaptureBase::emplace<CaptureGnss>(frm, TimeStamp(0), gnss_sensor, nullptr); diff --git a/test/gtest_factor_gnss_tdcp.cpp b/test/gtest_factor_gnss_tdcp.cpp index cd51ec56a..a1f030838 100644 --- a/test/gtest_factor_gnss_tdcp.cpp +++ b/test/gtest_factor_gnss_tdcp.cpp @@ -119,13 +119,13 @@ void setUpProblem() Vector7d frm_r_state; frm_r_state.head<3>() = t_map_base_r; frm_r_state.tail<4>() = q_map_base_r.coeffs(); - frm_r = prb->emplaceKeyFrame( TimeStamp(0), frm_r_state); + frm_r = prb->emplaceFrame( TimeStamp(0), frm_r_state); // Frame k Vector7d frm_k_state; frm_k_state.head<3>() = t_map_base_k; frm_k_state.tail<4>() = q_map_base_k.coeffs(); - frm_k = prb->emplaceKeyFrame( TimeStamp(1), frm_k_state); + frm_k = prb->emplaceFrame( TimeStamp(1), frm_k_state); // capture r cap_r = CaptureBase::emplace<CaptureGnss>(frm_r, TimeStamp(0), gnss_sensor, nullptr); -- GitLab