Merge branch 'master' into hotfix_ConstraintFixBias

src/logging.h

@@ -9,6 +9,8 @@
 #define WOLF_LOGGING_H_
 
 // third_party include
+#include <map>
+
 // spdlog include
 #include "spdlog/spdlog.h"
 // enable the use of ostream operator<<

src/test/CMakeLists.txt

@@ -72,6 +72,10 @@ target_link_libraries(gtest_local_param ${PROJECT_NAME})
 wolf_add_gtest(gtest_motion_buffer gtest_motion_buffer.cpp)
 target_link_libraries(gtest_motion_buffer ${PROJECT_NAME})
 
+# Problem class test
+wolf_add_gtest(gtest_problem gtest_problem.cpp)
+target_link_libraries(gtest_problem ${PROJECT_NAME})
+
 # ProcessorMotion class test
 wolf_add_gtest(gtest_processor_motion gtest_processor_motion.cpp)
 target_link_libraries(gtest_processor_motion ${PROJECT_NAME})
@@ -144,10 +148,6 @@ target_link_libraries(gtest_constraint_autodiff ${PROJECT_NAME})
 
 # ROI test
 IF(OpenCV_FOUND)
-  # Problem class test
-  wolf_add_gtest(gtest_problem gtest_problem.cpp)
-  target_link_libraries(gtest_problem ${PROJECT_NAME})
-
   wolf_add_gtest(gtest_roi_ORB gtest_roi_ORB.cpp)
   target_link_libraries(gtest_roi_ORB ${PROJECT_NAME})
 ENDIF(OpenCV_FOUND)

src/test/gtest_problem.cpp

@@ -12,6 +12,7 @@
 #include "../sensor_base.h"
 #include "../sensor_odom_3D.h"
 #include "../processor_odom_3D.h"
+#include "../processor_tracker_feature_dummy.h"
 
 #include <iostream>
 
@@ -78,7 +79,9 @@ TEST(Problem, Installers)
     SensorBasePtr    S = P->installSensor   ("ODOM 3D", "odometer",        xs,         wolf_root + "/src/examples/sensor_odom_3D.yaml");
 
     // install processor tracker (dummy installation under an Odometry sensor -- it's OK for this test)
-    ProcessorBasePtr pt = P->installProcessor("IMAGE LANDMARK", "ORB landmark tracker", "odometer", wolf_root + "/src/examples/processor_image_ORB.yaml");
+    ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(5, 10));
+    S->addProcessor(pt);
+
 
     // check motion processor IS NOT set
     ASSERT_FALSE(P->getProcessorMotionPtr());
@@ -215,7 +218,8 @@ TEST(Problem, StateBlocks)
     ASSERT_EQ(P->getStateBlockList().size(),                2 + 3);
     ASSERT_EQ(P->getStateBlockNotificationList().size(),    2 + 3);
 
-    ProcessorBasePtr pt = P->installProcessor("IMAGE LANDMARK",     "ORB landmark tracker", "camera",   wolf_root + "/src/examples/processor_image_ORB.yaml");
+    ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(5, 10));
+    St->addProcessor(pt);
     ProcessorBasePtr pm = P->installProcessor("ODOM 3D",            "odom integrator",      "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml");
 
     // 2 state blocks, estimated
@@ -243,7 +247,8 @@ TEST(Problem, Covariances)
 
     SensorBasePtr    Sm = P->installSensor   ("ODOM 3D", "odometer",xs, wolf_root + "/src/examples/sensor_odom_3D.yaml");
     SensorBasePtr    St = P->installSensor   ("CAMERA", "camera",   xs, wolf_root + "/src/examples/camera_params_ueye_sim.yaml");
-    ProcessorBasePtr pt = P->installProcessor("IMAGE LANDMARK",     "ORB landmark tracker", "camera",   wolf_root + "/src/examples/processor_image_ORB.yaml");
+    ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(5, 10));
+    St->addProcessor(pt);
     ProcessorBasePtr pm = P->installProcessor("ODOM 3D",            "odom integrator",      "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml");
 
     // 4 state blocks, estimated