From 60f5743b7a8e6a6f815a121d71e5d28777812b97 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0=20Ortega?= <jsola@iri.upc.edu>
Date: Tue, 22 Jan 2019 19:15:51 +0100
Subject: [PATCH] Feature/capture process
---
src/capture_base.h | 10 ++++++++++
src/processor_tracker.cpp | 3 ++-
src/test/gtest_capture_base.cpp | 9 +++++++++
3 files changed, 21 insertions(+), 1 deletion(-)
diff --git a/src/capture_base.h b/src/capture_base.h
index 06e8541ba..d705be376 100644
--- a/src/capture_base.h
+++ b/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
diff --git a/src/processor_tracker.cpp b/src/processor_tracker.cpp
index 9361d298f..630a856e7 100644
--- a/src/processor_tracker.cpp
+++ b/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();
diff --git a/src/test/gtest_capture_base.cpp b/src/test/gtest_capture_base.cpp
index e888d2d67..00fdf8883 100644
--- a/src/test/gtest_capture_base.cpp
+++ b/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);
--
GitLab