Merging remote devel with local devel (this should be a rebase actually)

hello_wolf/hello_wolf_autoconf.cpp

@@ -91,7 +91,7 @@ int main()
      *   - Second, using random values
      * Both solutions must produce the same exact values as in the sketches above.
      *
-     * Optionally, the user can opt to self-calibrate the sensor's orientation (see NOTE within the code around Line 151)
+     * Optionally, the user can opt to self-calibrate the sensor's orientation (see NOTE within the code around Line 136)
      *
      * (c) 2017 Joan Sola @ IRI-CSIC
      */
@@ -269,7 +269,7 @@ int main()
      *
      *  - Observe that all other KFs and Lmks are correct.
      *
-     *  - Try self-calibrating the sensor orientation by uncommenting line 151 (well, around 151)
+     *  - Try self-calibrating the sensor orientation by uncommenting line 136 (well, around 136)
      *
      */
 
@@ -373,7 +373,7 @@ int main()
      *              Example: pan and tilt camera extrinsics, known at every time through precise encoders
      *
      *         4 Estimated + Dynamic : Wolf will track those sensor parameters that evolve with time.
-     *              Example: IMU bias
+     *              Example: IMU bias, which drift, must be tracked
      *
      */
 

test/gtest_odom_2D.cpp

@@ -244,7 +244,7 @@ TEST(Odom2D, VoteForKfAndSolve)
         capture->setTimeStamp(t);
 
         // Processor
-        sensor_odom2d->process(capture);
+        capture->process();
         ASSERT_TRUE(problem->check(0));
 //        Matrix3s odom2d_delta_cov = processor_odom2d->integrateBufferCovariance(processor_odom2d->getBuffer());
         Matrix3s odom2d_delta_cov = processor_odom2d->getMotion().delta_integr_cov_;
@@ -365,13 +365,9 @@ TEST(Odom2D, KF_callback)
 
         // re-use capture with updated timestamp
         capture->setTimeStamp(t);
-        std::cout << "capture ts: " << capture->getTimeStamp() << " - " << capture->getTimeStamp().get();
-        std::cout << "nsec:        " << capture->getTimeStamp().getNanoSeconds() << std::endl;
-        std::cout << "filled nsec: " << std::setfill('0') << std::setw(9) << std::right << capture->getTimeStamp().getNanoSeconds() << std::endl;
-        std::cout << std::setfill(' ');
 
         // Processor
-        sensor_odom2d->process(capture);
+        capture->process();
         ASSERT_TRUE(problem->check(0));
 
         // Integrate Delta
@@ -409,7 +405,7 @@ TEST(Odom2D, KF_callback)
     ASSERT_TRUE(problem->check(0));
     t += dt;
     capture = std::make_shared<CaptureMotion>("ODOM 2D", t, sensor_odom2d, data, data_cov, 3, 3, nullptr);
-    sensor_odom2d->process(capture);
+    capture->process();
     ASSERT_TRUE(problem->check(0));
 
     CaptureMotionPtr key_capture_n = std::static_pointer_cast<CaptureMotion>(keyframe_2->getCaptureList().front());
@@ -441,7 +437,7 @@ TEST(Odom2D, KF_callback)
     ASSERT_TRUE(problem->check(0));
     t += dt;
     capture = std::make_shared<CaptureMotion>("ODOM 2D", t, sensor_odom2d, data, data_cov, 3, 3, nullptr);
-    sensor_odom2d->process(capture);
+    capture->process();
     ASSERT_TRUE(problem->check(0));
 
     CaptureMotionPtr key_capture_m = std::static_pointer_cast<CaptureMotion>(keyframe_1->getCaptureList().front());

test/gtest_problem.cpp

@@ -22,6 +22,13 @@ using namespace wolf;
 using namespace Eigen;
 
 
+// Register in the ProcessorFactory
+#include "core/processor/processor_factory.h"
+namespace wolf {
+WOLF_REGISTER_PROCESSOR("TRACKER FEATURE DUMMY", ProcessorTrackerFeatureDummy)
+} // namespace wolf
+
+
 WOLF_PTR_TYPEDEFS(DummySolverManager);
 
 class DummySolverManager : public SolverManager

test/gtest_processor_base.cpp

@@ -23,6 +23,14 @@
 using namespace wolf;
 using namespace Eigen;
 
+
+// Register in the ProcessorFactory
+#include "core/processor/processor_factory.h"
+namespace wolf {
+WOLF_REGISTER_PROCESSOR("TRACKER FEATURE DUMMY", ProcessorTrackerFeatureDummy)
+} // namespace wolf
+
+
 TEST(ProcessorBase, KeyFrameCallback)
 {