Merge branch 'feature/capture_process' into 'devel'

Feature/capture process

See merge request mobile_robotics/wolf!238

src/capture_base.h

@@ -50,6 +50,8 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
         // Type
         virtual bool isMotion() const { return false; }
 
+        bool process();
+
         unsigned int id();
         TimeStamp getTimeStamp() const;
         void setTimeStamp(const TimeStamp& _ts);
@@ -220,6 +222,14 @@ inline void CaptureBase::setTimeStampToNow()
     time_stamp_.setToNow();
 }
 
+inline bool CaptureBase::process()
+{
+    assert (getSensorPtr() != nullptr && "Attempting to process a capture with no associated sensor. Either set the capture's sensor or call sensor->process(capture) instead.");
+
+    return getSensorPtr()->process(shared_from_this());
+}
+
+
 } // namespace wolf
 
 #endif

src/processor_tracker.cpp

@@ -61,8 +61,9 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
             pack->key_frame->addCapture(incoming_ptr_);
 
             // Process info
+            // TrackerFeature:  We only process new features in Last, here last = nullptr, so we do not have anything to do.
+            // TrackerLandmark: If we have given a map, all landmarks in the map are know. Process them.
             processKnown();
-            // We only process new features in Last, here last = nullptr, so we do not have anything to do.
 
             // Update pointers
             resetDerived();

src/test/gtest_capture_base.cpp

@@ -103,6 +103,15 @@ TEST(CaptureBase, addFeatureList)
     ASSERT_EQ(C->getFeatureList().back(), f_last);
 }
 
+TEST(CaptureBase, process)
+{
+    SensorBasePtr S(std::make_shared<SensorBase>("DUMMY", nullptr, nullptr, nullptr, 2));
+    CaptureBasePtr C(std::make_shared<CaptureBase>("DUMMY", 1.5, nullptr));
+    ASSERT_DEATH({C->process();},""); // No sensor in the capture should fail
+    C->setSensorPtr(S);
+    ASSERT_TRUE(C->process()); // This should not fail (although it does nothing)
+}
+
 int main(int argc, char **argv)
 {
   testing::InitGoogleTest(&argc, argv);