diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index b75801bde13cff3a003e0ba746bec5fb864bb813..cd7ba019179d7bfb7aa61723073028ccc3b17024 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -25,15 +25,15 @@ void ProcessorRangeBearing::process(CaptureBasePtr _capture)
// 1. get KF
FrameBasePtr kf(nullptr);
- if ( !kf_pack_buffer_.empty() )
+ if ( !buffer_pack_kf_.empty() )
{
// KeyFrame Callback received
- PackKeyFramePtr pack = kf_pack_buffer_.selectPack( _capture->getTimeStamp(), params_->time_tolerance );
+ PackKeyFramePtr pack = buffer_pack_kf_.selectPack( _capture->getTimeStamp(), params_->time_tolerance );
if (pack!=nullptr)
kf = pack->key_frame;
- kf_pack_buffer_.removeUpTo( _capture->getTimeStamp() );
+ buffer_pack_kf_.removeUpTo( _capture->getTimeStamp() );
assert( kf && "Callback KF is not close enough to _capture!");
}
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index a6f8ac588195b3402ba2aebab998a8d8f6fcf1f7..3955b3cb35b1e5846f6d9260ef361b043bd3bfd8 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -40,14 +40,14 @@ WOLF_PTR_TYPEDEFS(PackKeyFrame);
*
* Object and functions to manage a buffer of KFPack objects.
*/
-class PackKeyFrameBuffer
+class BufferPackKeyFrame
{
public:
typedef std::map<TimeStamp,PackKeyFramePtr>::iterator Iterator; // buffer iterator
- PackKeyFrameBuffer(void);
- ~PackKeyFrameBuffer(void);
+ BufferPackKeyFrame(void);
+ ~BufferPackKeyFrame(void);
/**\brief Select a Pack from the buffer
*
@@ -142,11 +142,10 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
protected:
unsigned int processor_id_;
ProcessorParamsBasePtr params_;
- PackKeyFrameBuffer kf_pack_buffer_;
+ BufferPackKeyFrame buffer_pack_kf_;
private:
SensorBaseWPtr sensor_ptr_;
-
static unsigned int processor_id_count_;
public:
@@ -282,27 +281,27 @@ inline void ProcessorBase::setTimeTolerance(Scalar _time_tolerance)
params_->time_tolerance = _time_tolerance;
}
-inline PackKeyFrameBuffer::PackKeyFrameBuffer(void)
+inline BufferPackKeyFrame::BufferPackKeyFrame(void)
{
}
-inline PackKeyFrameBuffer::~PackKeyFrameBuffer(void)
+inline BufferPackKeyFrame::~BufferPackKeyFrame(void)
{
}
-inline void PackKeyFrameBuffer::clear()
+inline void BufferPackKeyFrame::clear()
{
container_.clear();
}
-inline bool PackKeyFrameBuffer::empty()
+inline bool BufferPackKeyFrame::empty()
{
return container_.empty();
}
-inline SizeStd PackKeyFrameBuffer::size(void)
+inline SizeStd BufferPackKeyFrame::size(void)
{
return container_.size();
}
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 07da090c9b6e789f3d942a8aef226665927972cf..5c2dd85aeb423f4879ac12c135cd18e08233c3a1 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -54,7 +54,7 @@ void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _
{
WOLF_DEBUG("P", isMotion() ? "M " : "T ", getName(), ": KF", _keyframe_ptr->id(), " callback received with ts = ", _keyframe_ptr->getTimeStamp());
if (_keyframe_ptr != nullptr)
- kf_pack_buffer_.add(_keyframe_ptr,_time_tol_other);
+ buffer_pack_kf_.add(_keyframe_ptr,_time_tol_other);
}
void ProcessorBase::remove()
@@ -93,25 +93,25 @@ void ProcessorBase::remove()
}
/////////////////////////////////////////////////////////////////////////////////////////
-void PackKeyFrameBuffer::removeUpTo(const TimeStamp& _time_stamp)
+void BufferPackKeyFrame::removeUpTo(const TimeStamp& _time_stamp)
{
- PackKeyFrameBuffer::Iterator post = container_.upper_bound(_time_stamp);
+ BufferPackKeyFrame::Iterator post = container_.upper_bound(_time_stamp);
container_.erase(container_.begin(), post); // erasing by range
}
-void PackKeyFrameBuffer::add(const FrameBasePtr& _key_frame, const Scalar& _time_tolerance)
+void BufferPackKeyFrame::add(const FrameBasePtr& _key_frame, const Scalar& _time_tolerance)
{
TimeStamp time_stamp = _key_frame->getTimeStamp();
PackKeyFramePtr kfpack = std::make_shared<PackKeyFrame>(_key_frame, _time_tolerance);
container_.emplace(time_stamp, kfpack);
}
-PackKeyFramePtr PackKeyFrameBuffer::selectPack(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
+PackKeyFramePtr BufferPackKeyFrame::selectPack(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
{
if (container_.empty())
return nullptr;
- PackKeyFrameBuffer::Iterator post = container_.upper_bound(_time_stamp);
+ BufferPackKeyFrame::Iterator post = container_.upper_bound(_time_stamp);
// remove packs corresponding to removed KFs (keeping the next iterator in post)
while (post != container_.end() && post->second->key_frame->isRemoving())
@@ -126,7 +126,7 @@ PackKeyFramePtr PackKeyFrameBuffer::selectPack(const TimeStamp& _time_stamp, con
if (prev_exists)
{
- PackKeyFrameBuffer::Iterator prev = std::prev(post);
+ BufferPackKeyFrame::Iterator prev = std::prev(post);
bool prev_ok = checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance);
@@ -149,12 +149,12 @@ PackKeyFramePtr PackKeyFrameBuffer::selectPack(const TimeStamp& _time_stamp, con
return nullptr;
}
-PackKeyFramePtr PackKeyFrameBuffer::selectPack(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
+PackKeyFramePtr BufferPackKeyFrame::selectPack(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
{
return selectPack(_capture->getTimeStamp(), _time_tolerance);
}
-PackKeyFramePtr PackKeyFrameBuffer::selectFirstPackBefore(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
+PackKeyFramePtr BufferPackKeyFrame::selectFirstPackBefore(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
{
// remove packs corresponding to removed KFs
while (!container_.empty() && container_.begin()->second->key_frame->isRemoving())
@@ -178,12 +178,12 @@ PackKeyFramePtr PackKeyFrameBuffer::selectFirstPackBefore(const TimeStamp& _time
}
-PackKeyFramePtr PackKeyFrameBuffer::selectFirstPackBefore(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
+PackKeyFramePtr BufferPackKeyFrame::selectFirstPackBefore(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
{
return selectFirstPackBefore(_capture->getTimeStamp(), _time_tolerance);
}
-void PackKeyFrameBuffer::print(void)
+void BufferPackKeyFrame::print(void)
{
std::cout << "[ ";
for (auto iter : container_)
@@ -193,7 +193,7 @@ void PackKeyFrameBuffer::print(void)
std::cout << "]" << std::endl;
}
-bool PackKeyFrameBuffer::checkTimeTolerance(const TimeStamp& _time_stamp1, const Scalar& _time_tolerance1,
+bool BufferPackKeyFrame::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/processor_motion.cpp b/src/processor/processor_motion.cpp
index bb2812f75847545fde2813640d9f8413fa9fa413..02b975499940b2e01d0e477f843d8d2b496a1fda 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -92,7 +92,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
PackKeyFramePtr pack = computeProcessingStep();
if (pack)
- kf_pack_buffer_.removeUpTo( pack->key_frame->getTimeStamp() );
+ buffer_pack_kf_.removeUpTo( pack->key_frame->getTimeStamp() );
switch(processing_step_)
{
@@ -656,11 +656,11 @@ PackKeyFramePtr ProcessorMotion::computeProcessingStep()
throw std::runtime_error("ProcessorMotion received data before being initialized.");
}
- PackKeyFramePtr pack = kf_pack_buffer_.selectFirstPackBefore(last_ptr_, params_motion_->time_tolerance);
+ PackKeyFramePtr pack = buffer_pack_kf_.selectFirstPackBefore(last_ptr_, params_motion_->time_tolerance);
if (pack)
{
- if (kf_pack_buffer_.checkTimeTolerance(pack->key_frame->getTimeStamp(), pack->time_tolerance, origin_ptr_->getTimeStamp(), params_motion_->time_tolerance))
+ if (buffer_pack_kf_.checkTimeTolerance(pack->key_frame->getTimeStamp(), pack->time_tolerance, origin_ptr_->getTimeStamp(), params_motion_->time_tolerance))
{
WOLF_WARN("||*||");
WOLF_INFO(" ... It seems you missed something!");
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index d081ef2d074fc068f4ded38e8c3495d4c12e0131..ad2c73b62f0c5a91601f59272aae2355b9b313d6 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -52,8 +52,8 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
{
case FIRST_TIME_WITH_PACK :
{
- PackKeyFramePtr pack = kf_pack_buffer_.selectPack( incoming_ptr_, params_tracker_->time_tolerance);
- kf_pack_buffer_.removeUpTo( pack->key_frame->getTimeStamp() );
+ PackKeyFramePtr pack = buffer_pack_kf_.selectPack( incoming_ptr_, params_tracker_->time_tolerance);
+ buffer_pack_kf_.removeUpTo( pack->key_frame->getTimeStamp() );
WOLF_DEBUG( "PT ", getName(), ": KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp().get() );
@@ -97,7 +97,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
case SECOND_TIME_WITH_PACK :
{
// No-break case only for debug. Next case will be executed too.
- PackKeyFramePtr pack = kf_pack_buffer_.selectPack( incoming_ptr_, params_tracker_->time_tolerance);
+ PackKeyFramePtr pack = buffer_pack_kf_.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() );
} // @suppress("No break at end of case")
case SECOND_TIME_WITHOUT_PACK :
@@ -124,8 +124,8 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
}
case RUNNING_WITH_PACK :
{
- PackKeyFramePtr pack = kf_pack_buffer_.selectPack( last_ptr_ , params_tracker_->time_tolerance);
- kf_pack_buffer_.removeUpTo( pack->key_frame->getTimeStamp() );
+ PackKeyFramePtr pack = buffer_pack_kf_.selectPack( last_ptr_ , params_tracker_->time_tolerance);
+ buffer_pack_kf_.removeUpTo( pack->key_frame->getTimeStamp() );
WOLF_DEBUG( "PT ", getName(), ": KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp().get() );
@@ -265,7 +265,7 @@ void ProcessorTracker::computeProcessingStep()
{
case FIRST_TIME :
- if (kf_pack_buffer_.selectPack(incoming_ptr_, params_tracker_->time_tolerance))
+ if (buffer_pack_kf_.selectPack(incoming_ptr_, params_tracker_->time_tolerance))
processing_step_ = FIRST_TIME_WITH_PACK;
else // ! last && ! pack(incoming)
processing_step_ = FIRST_TIME_WITHOUT_PACK;
@@ -273,7 +273,7 @@ void ProcessorTracker::computeProcessingStep()
case SECOND_TIME :
- if (kf_pack_buffer_.selectPack(last_ptr_, params_tracker_->time_tolerance))
+ if (buffer_pack_kf_.selectPack(last_ptr_, params_tracker_->time_tolerance))
processing_step_ = SECOND_TIME_WITH_PACK;
else
processing_step_ = SECOND_TIME_WITHOUT_PACK;
@@ -282,7 +282,7 @@ void ProcessorTracker::computeProcessingStep()
case RUNNING :
default :
- if (kf_pack_buffer_.selectPack(last_ptr_, params_tracker_->time_tolerance))
+ if (buffer_pack_kf_.selectPack(last_ptr_, params_tracker_->time_tolerance))
{
if (last_ptr_->getFrame()->isKey())
{
diff --git a/test/gtest_pack_KF_buffer.cpp b/test/gtest_pack_KF_buffer.cpp
index 6597f0f53207c98759e882a96221a2ac0fcb00d0..1b1f1ffb61ded8028dfbe7814f6f813f76793334 100644
--- a/test/gtest_pack_KF_buffer.cpp
+++ b/test/gtest_pack_KF_buffer.cpp
@@ -26,7 +26,7 @@ class BufferPackKeyFrameTest : public testing::Test
{
public:
- PackKeyFrameBuffer pack_kf_buffer;
+ BufferPackKeyFrame pack_kf_buffer;
FrameBasePtr f10, f20, f21, f28;
Scalar tt10, tt20, tt21, tt28;
TimeStamp timestamp;