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>(
-- 
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