From e9cbe5e666e50e112bc0a19755f2285900ca028a Mon Sep 17 00:00:00 2001 From: joanvallve <jvallve@iri.upc.edu> Date: Wed, 30 Apr 2025 15:49:40 +0200 Subject: [PATCH] adapted to new PB constructor and P::getState API --- src/processor/processor_visual_odometry.cpp | 4 ++-- test/gtest_factor_pixel_hp.cpp | 2 +- test/gtest_factor_pixel_point.cpp | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp index ed3ab66de..82582470c 100644 --- a/src/processor/processor_visual_odometry.cpp +++ b/src/processor/processor_visual_odometry.cpp @@ -30,8 +30,8 @@ namespace wolf { ProcessorVisualOdometry::ProcessorVisualOdometry(const YAML::Node& _params) - : ProcessorTracker("ProcessorVisualOdometry", "PO", 3, _params), - MotionProvider(TypeComposite{{'P', "StatePoint3d"}, {'O', "StateQuaternion"}}, _params), + : ProcessorTracker("ProcessorVisualOdometry", {{'P', "StatePoint3d"}, {'O', "StateQuaternion"}}, _params), + MotionProvider({{'P', "StatePoint3d"}, {'O', "StateQuaternion"}}, _params), params_visual_odometry_(_params), debug_img_id_(1e6) { diff --git a/test/gtest_factor_pixel_hp.cpp b/test/gtest_factor_pixel_hp.cpp index dac54a93f..0aec50ed6 100644 --- a/test/gtest_factor_pixel_hp.cpp +++ b/test/gtest_factor_pixel_hp.cpp @@ -65,7 +65,7 @@ TEST(ProcessorFactorPixelHp, testZeroResidual) std::static_pointer_cast<SensorCamera>(problem->installSensor(params, {vision_dir, wolf_schema_dir})); // Frame - FrameBasePtr frm0 = problem->emplaceFrame(0.0, problem->stateZero()); + FrameBasePtr frm0 = problem->emplaceFrame(0.0, problem->stateZero("PO")); // Capture auto cap0 = std::static_pointer_cast<CaptureImage>( diff --git a/test/gtest_factor_pixel_point.cpp b/test/gtest_factor_pixel_point.cpp index e1d5acadc..b0e9766e8 100644 --- a/test/gtest_factor_pixel_point.cpp +++ b/test/gtest_factor_pixel_point.cpp @@ -65,7 +65,7 @@ TEST(ProcessorFactorPixelPoint, testZeroResidual) std::static_pointer_cast<SensorCamera>(problem->installSensor(params, {vision_dir, wolf_schema_dir})); // Frame - FrameBasePtr frm0 = problem->emplaceFrame(0.0, problem->stateZero()); + FrameBasePtr frm0 = problem->emplaceFrame(0.0, problem->stateZero("PO")); // Capture auto cap0 = std::static_pointer_cast<CaptureImage>( -- GitLab