diff --git a/src/hello_wolf/processor_range_bearing.cpp b/src/hello_wolf/processor_range_bearing.cpp
index b2c66924f2292f30884b0d3dbebf2f31758bfbf7..4f8e0dabf7c410408bfb12e7167c40aab4973402 100644
--- a/src/hello_wolf/processor_range_bearing.cpp
+++ b/src/hello_wolf/processor_range_bearing.cpp
@@ -28,7 +28,7 @@ void ProcessorRangeBearing::process(CaptureBasePtr _capture)
if ( !kf_pack_buffer_.empty() )
{
// KeyFrame Callback received
- KFPackPtr pack = kf_pack_buffer_.selectPack( _capture->getTimeStamp(), params_->time_tolerance );
+ PackKeyFramePtr pack = kf_pack_buffer_.selectPack( _capture->getTimeStamp(), params_->time_tolerance );
if (pack!=nullptr)
kf = pack->key_frame;
diff --git a/src/processor_base.cpp b/src/processor_base.cpp
index ed77aab55d10bf08a3bb155d58c182c31ee7b1a8..28a6f3dde73ebba6bba0e9c632660d9d13180803 100644
--- a/src/processor_base.cpp
+++ b/src/processor_base.cpp
@@ -78,25 +78,25 @@ void ProcessorBase::remove()
/////////////////////////////////////////////////////////////////////////////////////////
-void KFPackBuffer::removeUpTo(const TimeStamp& _time_stamp)
+void PackKeyFrameBuffer::removeUpTo(const TimeStamp& _time_stamp)
{
- KFPackBuffer::Iterator post = container_.upper_bound(_time_stamp);
+ PackKeyFrameBuffer::Iterator post = container_.upper_bound(_time_stamp);
container_.erase(container_.begin(), post); // erasing by range
}
-void KFPackBuffer::add(const FrameBasePtr& _key_frame, const Scalar& _time_tolerance)
+void PackKeyFrameBuffer::add(const FrameBasePtr& _key_frame, const Scalar& _time_tolerance)
{
TimeStamp time_stamp = _key_frame->getTimeStamp();
- KFPackPtr kfpack = std::make_shared<KFPack>(_key_frame, _time_tolerance);
+ PackKeyFramePtr kfpack = std::make_shared<PackKeyFrame>(_key_frame, _time_tolerance);
container_.emplace(time_stamp, kfpack);
}
-KFPackPtr KFPackBuffer::selectPack(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
+PackKeyFramePtr PackKeyFrameBuffer::selectPack(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
{
if (container_.empty())
return nullptr;
- KFPackBuffer::Iterator post = container_.upper_bound(_time_stamp);
+ PackKeyFrameBuffer::Iterator post = container_.upper_bound(_time_stamp);
bool prev_exists = (post != container_.begin());
bool post_exists = (post != container_.end());
@@ -105,7 +105,7 @@ KFPackPtr KFPackBuffer::selectPack(const TimeStamp& _time_stamp, const Scalar& _
if (prev_exists)
{
- KFPackBuffer::Iterator prev = std::prev(post);
+ PackKeyFrameBuffer::Iterator prev = std::prev(post);
bool prev_ok = checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance);
@@ -128,17 +128,17 @@ KFPackPtr KFPackBuffer::selectPack(const TimeStamp& _time_stamp, const Scalar& _
return nullptr;
}
-KFPackPtr KFPackBuffer::selectPack(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
+PackKeyFramePtr PackKeyFrameBuffer::selectPack(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
{
return selectPack(_capture->getTimeStamp(), _time_tolerance);
}
-KFPackPtr KFPackBuffer::selectPackBefore(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
+PackKeyFramePtr PackKeyFrameBuffer::selectPackBefore(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
{
if (container_.empty())
return nullptr;
- KFPackBuffer::Iterator post = container_.upper_bound(_time_stamp);
+ PackKeyFrameBuffer::Iterator post = container_.upper_bound(_time_stamp);
bool prev_exists = (post != container_.begin());
@@ -157,12 +157,12 @@ KFPackPtr KFPackBuffer::selectPackBefore(const TimeStamp& _time_stamp, const Sca
return nullptr;
}
-KFPackPtr KFPackBuffer::selectPackBefore(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
+PackKeyFramePtr PackKeyFrameBuffer::selectPackBefore(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
{
return selectPackBefore(_capture->getTimeStamp(), _time_tolerance);
}
-void KFPackBuffer::print(void)
+void PackKeyFrameBuffer::print(void)
{
std::cout << "[ ";
for (auto iter : container_)
@@ -172,7 +172,7 @@ void KFPackBuffer::print(void)
std::cout << "]" << std::endl;
}
-bool KFPackBuffer::checkTimeTolerance(const TimeStamp& _time_stamp1, const Scalar& _time_tolerance1,
+bool PackKeyFrameBuffer::checkTimeTolerance(const TimeStamp& _time_stamp1, const Scalar& _time_tolerance1,
const TimeStamp& _time_stamp2, const Scalar& _time_tolerance2)
{
Scalar time_diff = std::fabs(_time_stamp1 - _time_stamp2);
diff --git a/src/processor_base.h b/src/processor_base.h
index 169bc881d26308f02908c154a797fdccc6be49f6..b9dc4b8d6464062e21a91e8d4133462731ac1be6 100644
--- a/src/processor_base.h
+++ b/src/processor_base.h
@@ -24,16 +24,16 @@ namespace wolf {
*
* Used in keyframe callbacks as the minimal pack of information needed by the processor receiving the callback.
*/
-class KFPack
+class PackKeyFrame
{
public:
- KFPack(const FrameBasePtr _key_frame, const Scalar _time_tolerance) : key_frame(_key_frame), time_tolerance(_time_tolerance) {};
- ~KFPack(){};
+ PackKeyFrame(const FrameBasePtr _key_frame, const Scalar _time_tolerance) : key_frame(_key_frame), time_tolerance(_time_tolerance) {};
+ ~PackKeyFrame(){};
FrameBasePtr key_frame;
Scalar time_tolerance;
};
-WOLF_PTR_TYPEDEFS(KFPack);
+WOLF_PTR_TYPEDEFS(PackKeyFrame);
@@ -41,25 +41,25 @@ WOLF_PTR_TYPEDEFS(KFPack);
*
* Object and functions to manage a buffer of KFPack objects.
*/
-class KFPackBuffer
+class PackKeyFrameBuffer
{
public:
- typedef std::map<TimeStamp,KFPackPtr>::iterator Iterator; // buffer iterator
+ typedef std::map<TimeStamp,PackKeyFramePtr>::iterator Iterator; // buffer iterator
- KFPackBuffer(void);
- ~KFPackBuffer(void);
+ PackKeyFrameBuffer(void);
+ ~PackKeyFrameBuffer(void);
/**\brief Select a Pack from the buffer
*
* Select from the buffer the closest pack (w.r.t. time stamp),
* respecting a defined time tolerances
*/
- KFPackPtr selectPack(const TimeStamp& _time_stamp, const Scalar& _time_tolerance);
- KFPackPtr selectPack(const CaptureBasePtr _capture, const Scalar& _time_tolerance);
+ PackKeyFramePtr selectPack(const TimeStamp& _time_stamp, const Scalar& _time_tolerance);
+ PackKeyFramePtr selectPack(const CaptureBasePtr _capture, const Scalar& _time_tolerance);
- KFPackPtr selectPackBefore(const TimeStamp& _time_stamp, const Scalar& _time_tolerance);
- KFPackPtr selectPackBefore(const CaptureBasePtr _capture, const Scalar& _time_tolerance);
+ PackKeyFramePtr selectPackBefore(const TimeStamp& _time_stamp, const Scalar& _time_tolerance);
+ PackKeyFramePtr selectPackBefore(const CaptureBasePtr _capture, const Scalar& _time_tolerance);
/**\brief Buffer size
*
@@ -100,7 +100,7 @@ class KFPackBuffer
private:
- std::map<TimeStamp,KFPackPtr> container_; // Main buffer container
+ std::map<TimeStamp,PackKeyFramePtr> container_; // Main buffer container
};
/** \brief base struct for processor parameters
@@ -142,7 +142,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
protected:
unsigned int processor_id_;
ProcessorParamsBasePtr params_;
- KFPackBuffer kf_pack_buffer_;
+ PackKeyFrameBuffer kf_pack_buffer_;
private:
SensorBaseWPtr sensor_ptr_;
@@ -248,27 +248,27 @@ inline void ProcessorBase::setTimeTolerance(Scalar _time_tolerance)
params_->time_tolerance = _time_tolerance;
}
-inline KFPackBuffer::KFPackBuffer(void)
+inline PackKeyFrameBuffer::PackKeyFrameBuffer(void)
{
}
-inline KFPackBuffer::~KFPackBuffer(void)
+inline PackKeyFrameBuffer::~PackKeyFrameBuffer(void)
{
}
-inline void KFPackBuffer::clear()
+inline void PackKeyFrameBuffer::clear()
{
container_.clear();
}
-inline bool KFPackBuffer::empty()
+inline bool PackKeyFrameBuffer::empty()
{
return container_.empty();
}
-inline SizeStd KFPackBuffer::size(void)
+inline SizeStd PackKeyFrameBuffer::size(void)
{
return container_.size();
}
diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp
index d15a942a738fd17dc62c75e12c2fba8d6f7e10ec..450cd9d8c2333e06ef76a269939430fe42a18705 100644
--- a/src/processor_motion.cpp
+++ b/src/processor_motion.cpp
@@ -51,7 +51,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
preProcess(); // Derived class operations
- KFPackPtr pack = computeProcessingStep();
+ PackKeyFramePtr pack = computeProcessingStep();
if (pack)
kf_pack_buffer_.removeUpTo( pack->key_frame->getTimeStamp() );
@@ -573,7 +573,7 @@ FeatureBasePtr ProcessorMotion::emplaceFeature(CaptureMotionPtr _capture_motion)
return feature;
}
-KFPackPtr ProcessorMotion::computeProcessingStep()
+PackKeyFramePtr ProcessorMotion::computeProcessingStep()
{
if (!getProblem()->priorIsSet())
{
@@ -584,7 +584,7 @@ KFPackPtr ProcessorMotion::computeProcessingStep()
throw std::runtime_error("ProcessorMotion received data before being initialized.");
}
- KFPackPtr pack = kf_pack_buffer_.selectPackBefore(last_ptr_, params_motion_->time_tolerance);
+ PackKeyFramePtr pack = kf_pack_buffer_.selectPackBefore(last_ptr_, params_motion_->time_tolerance);
if (pack)
{
diff --git a/src/processor_motion.h b/src/processor_motion.h
index 7087ef593e06106bd1ac8c2dcf21b470420a87d2..4e20cab461bfb9cb5555f3091b1abd5d086d6573 100644
--- a/src/processor_motion.h
+++ b/src/processor_motion.h
@@ -235,7 +235,7 @@ class ProcessorMotion : public ProcessorBase
*/
virtual void postProcess() { };
- KFPackPtr computeProcessingStep();
+ PackKeyFramePtr computeProcessingStep();
// These are the pure virtual functions doing the mathematics
diff --git a/src/processor_tracker.cpp b/src/processor_tracker.cpp
index c71c7f9d9d835b73e83e00880b653f7d50dcea45..0b9fbf56106eacd8fbe556a22ae908762298b070 100644
--- a/src/processor_tracker.cpp
+++ b/src/processor_tracker.cpp
@@ -52,7 +52,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
{
case FIRST_TIME_WITH_PACK :
{
- KFPackPtr pack = kf_pack_buffer_.selectPack( incoming_ptr_, params_tracker_->time_tolerance);
+ PackKeyFramePtr pack = kf_pack_buffer_.selectPack( incoming_ptr_, params_tracker_->time_tolerance);
kf_pack_buffer_.removeUpTo( incoming_ptr_->getTimeStamp() );
WOLF_DEBUG( "PT ", getName(), ": KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp().get() );
@@ -93,7 +93,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
case SECOND_TIME_WITH_PACK :
{
// No-break case only for debug. Next case will be executed too.
- KFPackPtr pack = kf_pack_buffer_.selectPack( incoming_ptr_, params_tracker_->time_tolerance);
+ PackKeyFramePtr pack = kf_pack_buffer_.selectPack( incoming_ptr_, params_tracker_->time_tolerance);
WOLF_DEBUG( "PT ", getName(), ": KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp().get() );
}
case SECOND_TIME_WITHOUT_PACK :
@@ -116,7 +116,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
}
case RUNNING_WITH_PACK :
{
- KFPackPtr pack = kf_pack_buffer_.selectPack( last_ptr_ , params_tracker_->time_tolerance);
+ PackKeyFramePtr pack = kf_pack_buffer_.selectPack( last_ptr_ , params_tracker_->time_tolerance);
kf_pack_buffer_.removeUpTo( last_ptr_->getTimeStamp() );
WOLF_DEBUG( "PT ", getName(), ": KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp().get() );
diff --git a/src/test/CMakeLists.txt b/src/test/CMakeLists.txt
index d82115af01812bc97573a99bade059fd5d1df967..985471013c0f232b742259fa2c66af823a5968a1 100644
--- a/src/test/CMakeLists.txt
+++ b/src/test/CMakeLists.txt
@@ -69,8 +69,8 @@ wolf_add_gtest(gtest_IMU_tools gtest_IMU_tools.cpp)
# target_link_libraries(gtest_IMU_tools ${PROJECT_NAME}) // WOLF library not needed
# IMU tools test
-wolf_add_gtest(gtest_KF_pack_buffer gtest_KF_pack_buffer.cpp)
-target_link_libraries(gtest_KF_pack_buffer ${PROJECT_NAME})
+wolf_add_gtest(gtest_pack_KF_buffer gtest_pack_KF_buffer.cpp)
+target_link_libraries(gtest_pack_KF_buffer ${PROJECT_NAME})
# LocalParametrizationXxx classes test
wolf_add_gtest(gtest_local_param gtest_local_param.cpp)
diff --git a/src/test/gtest_KF_pack_buffer.cpp b/src/test/gtest_pack_KF_buffer.cpp
similarity index 61%
rename from src/test/gtest_KF_pack_buffer.cpp
rename to src/test/gtest_pack_KF_buffer.cpp
index e96a710ba5683d98046a21ca7cf5ab4ccfaee9b9..dab222c29248b5be35c61d9de10ffb041647217f 100644
--- a/src/test/gtest_KF_pack_buffer.cpp
+++ b/src/test/gtest_pack_KF_buffer.cpp
@@ -1,5 +1,5 @@
/*
- * gtest_KF_pack_buffer.cpp
+ * gtest_pack_KF_buffer.cpp
*
* Created on: Mar 5, 2018
* Author: jsola
@@ -22,11 +22,11 @@
using namespace wolf;
using namespace Eigen;
-class KFPackBufferTest : public testing::Test
+class BufferPackKeyFrameTest : public testing::Test
{
public:
- KFPackBuffer kfpackbuffer;
+ PackKeyFrameBuffer pack_kf_buffer;
FrameBasePtr f10, f20, f21, f28;
Scalar tt10, tt20, tt21, tt28;
TimeStamp timestamp;
@@ -46,29 +46,29 @@ class KFPackBufferTest : public testing::Test
};
};
-TEST_F(KFPackBufferTest, empty)
+TEST_F(BufferPackKeyFrameTest, empty)
{
- ASSERT_TRUE(kfpackbuffer.empty());
+ ASSERT_TRUE(pack_kf_buffer.empty());
}
-TEST_F(KFPackBufferTest, add)
+TEST_F(BufferPackKeyFrameTest, add)
{
- kfpackbuffer.add(f10, tt10);
- ASSERT_EQ(kfpackbuffer.size(), (unsigned int) 1);
- kfpackbuffer.add(f20, tt20);
- ASSERT_EQ(kfpackbuffer.size(), (unsigned int) 2);
+ pack_kf_buffer.add(f10, tt10);
+ ASSERT_EQ(pack_kf_buffer.size(), (unsigned int) 1);
+ pack_kf_buffer.add(f20, tt20);
+ ASSERT_EQ(pack_kf_buffer.size(), (unsigned int) 2);
}
-TEST_F(KFPackBufferTest, clear)
+TEST_F(BufferPackKeyFrameTest, clear)
{
- kfpackbuffer.add(f10, tt10);
- kfpackbuffer.add(f20, tt20);
- ASSERT_EQ(kfpackbuffer.size(), (unsigned int) 2);
- kfpackbuffer.clear();
- ASSERT_TRUE(kfpackbuffer.empty());
+ pack_kf_buffer.add(f10, tt10);
+ pack_kf_buffer.add(f20, tt20);
+ ASSERT_EQ(pack_kf_buffer.size(), (unsigned int) 2);
+ pack_kf_buffer.clear();
+ ASSERT_TRUE(pack_kf_buffer.empty());
}
-//TEST_F(KFPackBufferTest, print)
+//TEST_F(BufferPackKeyFrameTest, print)
//{
// kfpackbuffer.clear();
// kfpackbuffer.add(f10, tt10);
@@ -76,18 +76,18 @@ TEST_F(KFPackBufferTest, clear)
// kfpackbuffer.print();
//}
-TEST_F(KFPackBufferTest, checkTimeTolerance)
+TEST_F(BufferPackKeyFrameTest, checkTimeTolerance)
{
- kfpackbuffer.clear();
- kfpackbuffer.add(f10, tt10);
- kfpackbuffer.add(f20, tt20);
+ pack_kf_buffer.clear();
+ pack_kf_buffer.add(f10, tt10);
+ pack_kf_buffer.add(f20, tt20);
// min time tolerance > diff between time stamps. It should return true
- ASSERT_TRUE(kfpackbuffer.checkTimeTolerance(10, 20, 20, 20));
+ ASSERT_TRUE(pack_kf_buffer.checkTimeTolerance(10, 20, 20, 20));
// min time tolerance < diff between time stamps. It should return true
- ASSERT_FALSE(kfpackbuffer.checkTimeTolerance(10, 1, 20, 20));
+ ASSERT_FALSE(pack_kf_buffer.checkTimeTolerance(10, 1, 20, 20));
}
-TEST_F(KFPackBufferTest, selectPack)
+TEST_F(BufferPackKeyFrameTest, selectPack)
{
// Evaluation using two packs (p1,p2)
// with different time tolerances (tp1,tp2)
@@ -111,7 +111,7 @@ TEST_F(KFPackBufferTest, selectPack)
// 7 7 5 | 20
// 7 7 7 | 20
- kfpackbuffer.clear();
+ pack_kf_buffer.clear();
// input packages
std::vector<int> p1 = {2, 7}; // Pack 1 time tolerances
@@ -131,26 +131,26 @@ TEST_F(KFPackBufferTest, selectPack)
{
for (unsigned int ip2=0;ip2<p2.size();++ip2)
{
- kfpackbuffer.add(f10, p1[ip1]);
- kfpackbuffer.add(f20, p2[ip2]);
+ pack_kf_buffer.add(f10, p1[ip1]);
+ pack_kf_buffer.add(f20, p2[ip2]);
for (unsigned int iq=0;iq<q.size();++iq)
{
- KFPackPtr packQ = kfpackbuffer.selectPack(16, q[iq]);
+ PackKeyFramePtr packQ = pack_kf_buffer.selectPack(16, q[iq]);
if (packQ!=nullptr)
ASSERT_EQ(packQ->key_frame->getTimeStamp(),res(ip1*6+ip2*3+iq));
}
- kfpackbuffer.clear();
+ pack_kf_buffer.clear();
}
}
}
-TEST_F(KFPackBufferTest, selectPackBefore)
+TEST_F(BufferPackKeyFrameTest, selectPackBefore)
{
- kfpackbuffer.clear();
+ pack_kf_buffer.clear();
- kfpackbuffer.add(f10, tt10);
- kfpackbuffer.add(f20, tt20);
- kfpackbuffer.add(f21, tt21);
+ pack_kf_buffer.add(f10, tt10);
+ pack_kf_buffer.add(f20, tt20);
+ pack_kf_buffer.add(f21, tt21);
// input time stamps
std::vector<TimeStamp> q_ts = {9.5, 9.995, 10.005, 19.5, 20.5, 21.5};
@@ -190,50 +190,50 @@ TEST_F(KFPackBufferTest, selectPackBefore)
for (int i=0; i<3; i++)
{
- KFPackPtr packQ;
+ PackKeyFramePtr packQ;
int j = 0;
for (auto ts : q_ts)
{
- packQ = kfpackbuffer.selectPackBefore(ts, tt);
+ packQ = pack_kf_buffer.selectPackBefore(ts, tt);
if (packQ)
res(i,j) = packQ->key_frame->getTimeStamp().get();
j++;
}
- kfpackbuffer.removeUpTo(packQ->key_frame->getTimeStamp());
+ pack_kf_buffer.removeUpTo(packQ->key_frame->getTimeStamp());
}
ASSERT_MATRIX_APPROX(res, truth, 1e-6);
}
-TEST_F(KFPackBufferTest, removeUpTo)
+TEST_F(BufferPackKeyFrameTest, removeUpTo)
{
// Small time tolerance for all test asserts
Scalar tt = 0.1;
- kfpackbuffer.clear();
- kfpackbuffer.add(f10, tt10);
- kfpackbuffer.add(f20, tt20);
- kfpackbuffer.add(f21, tt21);
+ pack_kf_buffer.clear();
+ pack_kf_buffer.add(f10, tt10);
+ pack_kf_buffer.add(f20, tt20);
+ pack_kf_buffer.add(f21, tt21);
// it should remove f20 and f10, thus size should be 1 after removal
// Specifically, only f21 should remain
- KFPackPtr pack20 = std::make_shared<KFPack>(f20,tt20);
- kfpackbuffer.removeUpTo( pack20->key_frame->getTimeStamp() );
- ASSERT_EQ(kfpackbuffer.size(), (unsigned int) 1);
- ASSERT_TRUE(kfpackbuffer.selectPack(f10->getTimeStamp(),tt)==nullptr);
- ASSERT_TRUE(kfpackbuffer.selectPack(f20->getTimeStamp(),tt)==nullptr);
- ASSERT_TRUE(kfpackbuffer.selectPack(f21->getTimeStamp(),tt)!=nullptr);
+ PackKeyFramePtr pack20 = std::make_shared<PackKeyFrame>(f20,tt20);
+ pack_kf_buffer.removeUpTo( pack20->key_frame->getTimeStamp() );
+ ASSERT_EQ(pack_kf_buffer.size(), (unsigned int) 1);
+ ASSERT_TRUE(pack_kf_buffer.selectPack(f10->getTimeStamp(),tt)==nullptr);
+ ASSERT_TRUE(pack_kf_buffer.selectPack(f20->getTimeStamp(),tt)==nullptr);
+ ASSERT_TRUE(pack_kf_buffer.selectPack(f21->getTimeStamp(),tt)!=nullptr);
// Chech removal of an imprecise time stamp
// Specifically, only f28 should remain
- kfpackbuffer.add(f28, tt28);
- ASSERT_EQ(kfpackbuffer.size(), (unsigned int) 2);
+ pack_kf_buffer.add(f28, tt28);
+ ASSERT_EQ(pack_kf_buffer.size(), (unsigned int) 2);
FrameBasePtr f22 = std::make_shared<FrameBase>(TimeStamp(22),nullptr,nullptr,nullptr);
- KFPackPtr pack22 = std::make_shared<KFPack>(f22,5);
- kfpackbuffer.removeUpTo( pack22->key_frame->getTimeStamp() );
- ASSERT_EQ(kfpackbuffer.size(), (unsigned int) 1);
- ASSERT_TRUE(kfpackbuffer.selectPack(f21->getTimeStamp(),tt)==nullptr);
- ASSERT_TRUE(kfpackbuffer.selectPack(f28->getTimeStamp(),tt)!=nullptr);
+ PackKeyFramePtr pack22 = std::make_shared<PackKeyFrame>(f22,5);
+ pack_kf_buffer.removeUpTo( pack22->key_frame->getTimeStamp() );
+ ASSERT_EQ(pack_kf_buffer.size(), (unsigned int) 1);
+ ASSERT_TRUE(pack_kf_buffer.selectPack(f21->getTimeStamp(),tt)==nullptr);
+ ASSERT_TRUE(pack_kf_buffer.selectPack(f28->getTimeStamp(),tt)!=nullptr);
}
int main(int argc, char **argv)