From d7c12bc558af9a6f9967a8c599c45b59d39eb6b7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 19 Dec 2020 17:05:37 +0100
Subject: [PATCH] Rename emplaceKeyFrame -> emplaceFrame
---
test/gtest_factor_epipolar.cpp | 4 ++--
test/gtest_factor_pixel_hp.cpp | 8 ++++----
test/gtest_factor_trifocal.cpp | 6 +++---
test/gtest_processor_bundle_adjustment.cpp | 2 +-
4 files changed, 10 insertions(+), 10 deletions(-)
diff --git a/test/gtest_factor_epipolar.cpp b/test/gtest_factor_epipolar.cpp
index ddb6d5db4..f468fc3e7 100644
--- a/test/gtest_factor_epipolar.cpp
+++ b/test/gtest_factor_epipolar.cpp
@@ -41,8 +41,8 @@ TEST(FactorEpipolar, exemple)
auto S = P->installSensor("SensorCamera", "camera", posecam, intr);
auto camera = std::static_pointer_cast<SensorCamera>(S);
- auto F0 = P ->emplaceKeyFrame(0.0, pose0);
- auto F1 = P ->emplaceKeyFrame(1.0, pose1);
+ auto F0 = P ->emplaceFrame(0.0, pose0);
+ auto F1 = P ->emplaceFrame(1.0, pose1);
auto C0 = CaptureBase ::emplace<CaptureImage>(F0, F0->getTimeStamp(), camera, cv::Mat());
auto C1 = CaptureBase ::emplace<CaptureImage>(F1, F1->getTimeStamp(), camera, cv::Mat());
auto f0 = FeatureBase ::emplace<FeaturePointImage>(C0, pix0, 0, cv::Mat(), Matrix2d::Identity());
diff --git a/test/gtest_factor_pixel_hp.cpp b/test/gtest_factor_pixel_hp.cpp
index a6e9bd316..8a1b9fe0b 100644
--- a/test/gtest_factor_pixel_hp.cpp
+++ b/test/gtest_factor_pixel_hp.cpp
@@ -169,15 +169,15 @@ class FactorPixelHpTest : public testing::Test{
cv::KeyPoint kp = cv::KeyPoint(p, 32.0f);
cv::Mat des = cv::Mat::zeros(1,8, CV_8UC1);
- F1 = problem->emplaceKeyFrame(1.0, pose1);
+ F1 = problem->emplaceFrame(1.0, pose1);
I1 = std::static_pointer_cast<CaptureImage>(CaptureBase::emplace<CaptureImage>(F1, 1.0, camera, cv::Mat(intr->width,intr->height,CV_8UC1)));
f11 = std::static_pointer_cast<FeaturePointImage>(FeatureBase::emplace<FeaturePointImage>(I1, kp, 0, des, pix_cov)); // pixel at origin
- F2 = problem->emplaceKeyFrame(2.0, pose2);
+ F2 = problem->emplaceFrame(2.0, pose2);
I2 = std::static_pointer_cast<CaptureImage>((CaptureBase::emplace<CaptureImage>(F2, 2.0, camera, cv::Mat(intr->width,intr->height,CV_8UC1))));
f21 = std::static_pointer_cast<FeaturePointImage>(FeatureBase::emplace<FeaturePointImage>(I2, kp, 0, des, pix_cov)); // pixel at origin
- F3 = problem->emplaceKeyFrame(3.0, pose3);
+ F3 = problem->emplaceFrame(3.0, pose3);
I3 = std::static_pointer_cast<CaptureImage>(CaptureBase::emplace<CaptureImage>(F3, 3.0, camera, cv::Mat(intr->width,intr->height,CV_8UC1)));
f31 = std::static_pointer_cast<FeaturePointImage>(FeatureBase::emplace<FeaturePointImage>(I3, kp, 0, des, pix_cov)); // pixel at origin
@@ -217,7 +217,7 @@ TEST(ProcessorFactorPixelHp, testZeroResidual)
ProcessorBundleAdjustmentPtr proc_bundle_adj = std::static_pointer_cast<ProcessorBundleAdjustment>(proc);
// Frame
- FrameBasePtr frm0 = problem_ptr->emplaceKeyFrame(0.0, problem_ptr->stateZero());
+ FrameBasePtr frm0 = problem_ptr->emplaceFrame(0.0, problem_ptr->stateZero());
// Capture
auto cap0 = std::static_pointer_cast<CaptureImage>(CaptureImage::emplace<CaptureImage>(frm0, TimeStamp(0), camera, cv::Mat::zeros(480,640, 1)));
diff --git a/test/gtest_factor_trifocal.cpp b/test/gtest_factor_trifocal.cpp
index 4d67f4ecf..2dd5fd72c 100644
--- a/test/gtest_factor_trifocal.cpp
+++ b/test/gtest_factor_trifocal.cpp
@@ -141,15 +141,15 @@ class FactorTrifocalTest : public testing::Test{
Vector2d pix(0,0);
Matrix2d pix_cov(Matrix2d::Identity() * pow(pixel_noise_std, 2));
- F1 = problem->emplaceKeyFrame(1.0, pose1);
+ F1 = problem->emplaceFrame(1.0, pose1);
I1 = std::static_pointer_cast<CaptureImage>(CaptureBase::emplace<CaptureImage>(F1, 1.0, camera, cv::Mat(2,2,CV_8UC1)));
f1 = FeatureBase::emplace<FeatureBase>(I1, "PIXEL", pix, pix_cov); // pixel at origin
- F2 = problem->emplaceKeyFrame(2.0, pose2);
+ F2 = problem->emplaceFrame(2.0, pose2);
I2 = std::static_pointer_cast<CaptureImage>((CaptureBase::emplace<CaptureImage>(F2, 2.0, camera, cv::Mat(2,2,CV_8UC1))));
f2 = FeatureBase::emplace<FeatureBase>(I2, "PIXEL", pix, pix_cov); // pixel at origin
- F3 = problem->emplaceKeyFrame(3.0, pose3);
+ F3 = problem->emplaceFrame(3.0, pose3);
I3 = std::static_pointer_cast<CaptureImage>(CaptureBase::emplace<CaptureImage>(F3, 3.0, camera, cv::Mat(2,2,CV_8UC1)));
f3 = FeatureBase::emplace<FeatureBase>(I3, "PIXEL", pix, pix_cov); // pixel at origin
diff --git a/test/gtest_processor_bundle_adjustment.cpp b/test/gtest_processor_bundle_adjustment.cpp
index d37e1911e..591c13cab 100644
--- a/test/gtest_processor_bundle_adjustment.cpp
+++ b/test/gtest_processor_bundle_adjustment.cpp
@@ -255,7 +255,7 @@ TEST(ProcessorBundleAdjustment, emplaceLandmark)
ProcessorBundleAdjustmentPtr proc_bundle_adj = std::static_pointer_cast<ProcessorBundleAdjustment>(proc);
//Frame
- FrameBasePtr frm0 = problem_ptr->emplaceKeyFrame(0.0, problem_ptr->stateZero());
+ FrameBasePtr frm0 = problem_ptr->emplaceFrame(0.0, problem_ptr->stateZero());
// Capture, feature and factor
auto cap0 = std::static_pointer_cast<CaptureImage>(CaptureImage::emplace<CaptureImage>(frm0, TimeStamp(0), camera, cv::Mat::zeros(480,640, 1)));
--
GitLab