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Commit 8434102c authored by Mederic Fourmy's avatar Mederic Fourmy
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Merge branch 'devel' into 451-refactoring-wolf-installation-system

parents 8a386df3 dd1674a9
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2 merge requests!451After cmake and const refactor,!445Resolve "Refactoring WOLF installation system"
Pipeline #15084 failed
Stage: license
    Stage: build_and_test
      Stage: deploy_plugins
        Stage: final_plugins
          Stage: deploy_ros
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            .clang-format
            + 27
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            View file @ 8434102c
            --- ---
            Language: Cpp Language: Cpp
            BasedOnStyle: Google BasedOnStyle: Google
            AccessModifierOffset: 0 IndentAccessModifiers: false
            AccessModifierOffset: -2
            AlignAfterOpenBracket: Align AlignAfterOpenBracket: Align
            AlignConsecutiveAssignments: true AlignConsecutiveAssignments: true
            AlignConsecutiveDeclarations: true AlignConsecutiveDeclarations: true
            ...@@ -11,7 +12,7 @@ AlignTrailingComments: true ...@@ -11,7 +12,7 @@ AlignTrailingComments: true
            AllowAllParametersOfDeclarationOnNextLine: false AllowAllParametersOfDeclarationOnNextLine: false
            AllowShortBlocksOnASingleLine: false AllowShortBlocksOnASingleLine: false
            AllowShortCaseLabelsOnASingleLine: false AllowShortCaseLabelsOnASingleLine: false
            AllowShortFunctionsOnASingleLine: All AllowShortFunctionsOnASingleLine: Empty
            AllowShortIfStatementsOnASingleLine: true AllowShortIfStatementsOnASingleLine: true
            AllowShortLoopsOnASingleLine: true AllowShortLoopsOnASingleLine: true
            AlwaysBreakAfterDefinitionReturnType: None AlwaysBreakAfterDefinitionReturnType: None
            ...@@ -20,24 +21,24 @@ AlwaysBreakBeforeMultilineStrings: true ...@@ -20,24 +21,24 @@ AlwaysBreakBeforeMultilineStrings: true
            AlwaysBreakTemplateDeclarations: true AlwaysBreakTemplateDeclarations: true
            BinPackArguments: true BinPackArguments: true
            BinPackParameters: false BinPackParameters: false
            BreakBeforeBraces: Custom
            BraceWrapping: BraceWrapping:
            AfterClass: false AfterClass: true
            AfterControlStatement: false AfterControlStatement: Always
            AfterEnum: false AfterEnum: true
            AfterFunction: false AfterFunction: true
            AfterNamespace: false AfterNamespace: true
            AfterObjCDeclaration: false AfterObjCDeclaration: true
            AfterStruct: false AfterStruct: true
            AfterUnion: false AfterUnion: true
            AfterExternBlock: false AfterExternBlock: false
            BeforeCatch: false BeforeCatch: true
            BeforeElse: false BeforeElse: true
            IndentBraces: false IndentBraces: false
            SplitEmptyFunction: true SplitEmptyFunction: true
            SplitEmptyRecord: true SplitEmptyRecord: true
            SplitEmptyNamespace: true SplitEmptyNamespace: true
            BreakBeforeBinaryOperators: None BreakBeforeBinaryOperators: None
            BreakBeforeBraces: Linux
            BreakBeforeInheritanceComma: false BreakBeforeInheritanceComma: false
            BreakBeforeTernaryOperators: true BreakBeforeTernaryOperators: true
            BreakConstructorInitializersBeforeComma: false BreakConstructorInitializersBeforeComma: false
            ...@@ -45,7 +46,8 @@ BreakConstructorInitializers: BeforeColon ...@@ -45,7 +46,8 @@ BreakConstructorInitializers: BeforeColon
            BreakAfterJavaFieldAnnotations: false BreakAfterJavaFieldAnnotations: false
            BreakStringLiterals: true BreakStringLiterals: true
            ColumnLimit: 119 ColumnLimit: 119
            CommentPragmas: "^ IWYU pragma:" # CommentPragmas: "^ IWYU pragma: ^\\.+"
            CommentPragmas: '^\\.+'
            CompactNamespaces: false CompactNamespaces: false
            ConstructorInitializerAllOnOneLineOrOnePerLine: true ConstructorInitializerAllOnOneLineOrOnePerLine: true
            ConstructorInitializerIndentWidth: 4 ConstructorInitializerIndentWidth: 4
            ...@@ -60,17 +62,17 @@ ForEachMacros: ...@@ -60,17 +62,17 @@ ForEachMacros:
            - Q_FOREACH - Q_FOREACH
            - BOOST_FOREACH - BOOST_FOREACH
            IncludeBlocks: Preserve IncludeBlocks: Preserve
            IncludeCategories: # IncludeCategories:
            - Regex: '^<pinocchio/fwd\.hpp>' # - Regex: '^<pinocchio/fwd\.hpp>'
            Priority: 1 # Priority: 1
            - Regex: '^<ext/.*\.h>' # - Regex: '^<ext/.*\.h>'
            Priority: 3 # Priority: 3
            - Regex: '^<.*\.h>' # - Regex: '^<.*\.h>'
            Priority: 2 # Priority: 2
            - Regex: "^<.*" # - Regex: "^<.*"
            Priority: 3 # Priority: 3
            - Regex: ".*" # - Regex: ".*"
            Priority: 4 # Priority: 4
            IncludeIsMainRegex: "([-_](test|unittest))?$" IncludeIsMainRegex: "([-_](test|unittest))?$"
            IndentCaseLabels: true IndentCaseLabels: true
            IndentPPDirectives: None IndentPPDirectives: None
            ......
            include/core/processor/track_matrix.h
            + 33
            − 34
            View file @ 8434102c
            ...@@ -45,8 +45,8 @@ using std::list; ...@@ -45,8 +45,8 @@ using std::list;
            using std::pair; using std::pair;
            using std::shared_ptr; using std::shared_ptr;
            typedef map<TimeStamp, FeatureBasePtr> Track; typedef map<TimeStamp, FeatureBasePtr> Track;
            typedef map<TimeStamp, FeatureBaseConstPtr> TrackConst; typedef map<TimeStamp, FeatureBaseConstPtr> TrackConst;
            typedef map<SizeStd, FeatureBasePtr > Snapshot; typedef map<SizeStd, FeatureBasePtr > Snapshot;
            typedef map<SizeStd, FeatureBaseConstPtr > SnapshotConst; typedef map<SizeStd, FeatureBaseConstPtr > SnapshotConst;
            typedef map<SizeStd, pair<FeatureBasePtr, FeatureBasePtr> > TrackMatches; // matched feature pairs indexed by track_id typedef map<SizeStd, pair<FeatureBasePtr, FeatureBasePtr> > TrackMatches; // matched feature pairs indexed by track_id
            ...@@ -102,41 +102,40 @@ class TrackMatrix ...@@ -102,41 +102,40 @@ class TrackMatrix
            TrackMatrix(); TrackMatrix();
            virtual ~TrackMatrix(); virtual ~TrackMatrix();
            void newTrack (FeatureBasePtr _ftr); void newTrack (FeatureBasePtr _ftr);
            void add (const SizeStd& _track_id, const FeatureBasePtr& _ftr); void add (const SizeStd& _track_id, const FeatureBasePtr& _ftr);
            void add (const FeatureBasePtr& _ftr_existing, const FeatureBasePtr& _ftr_new); void add (const FeatureBasePtr& _ftr_existing, const FeatureBasePtr& _ftr_new);
            void remove (FeatureBasePtr _ftr); void remove (FeatureBasePtr _ftr);
            void remove (const SizeStd& _track_id); void remove (const SizeStd& _track_id);
            void remove (CaptureBasePtr _cap); void remove (CaptureBasePtr _cap);
            SizeStd numTracks () const;
            SizeStd trackSize (const SizeStd& _track_id) const; SizeStd numTracks () const;
            TrackConst track (const SizeStd& _track_id) const; SizeStd trackSize (const SizeStd& _track_id) const;
            Track track (const SizeStd& _track_id); TrackConst track (const SizeStd& _track_id) const;
            SnapshotConst snapshot (CaptureBaseConstPtr _capture) const; Track track (const SizeStd& _track_id);
            Snapshot snapshot (CaptureBasePtr _capture); SnapshotConst snapshot (CaptureBaseConstPtr _capture) const;
            Snapshot snapshot (CaptureBasePtr _capture);
            vector<FeatureBaseConstPtr> trackAsVector(const SizeStd& _track_id) const; vector<FeatureBaseConstPtr> trackAsVector(const SizeStd& _track_id) const;
            vector<FeatureBasePtr> trackAsVector(const SizeStd& _track_id); vector<FeatureBasePtr> trackAsVector(const SizeStd& _track_id);
            FeatureBaseConstPtrList snapshotAsList(CaptureBaseConstPtr _cap) const; FeatureBaseConstPtrList snapshotAsList(CaptureBaseConstPtr _cap) const;
            FeatureBasePtrList snapshotAsList(CaptureBasePtr _cap); FeatureBasePtrList snapshotAsList(CaptureBasePtr _cap);
            TrackMatchesConst matches (CaptureBaseConstPtr _cap_1, CaptureBaseConstPtr _cap_2) const; TrackMatchesConst matches (CaptureBaseConstPtr _cap_1, CaptureBaseConstPtr _cap_2) const;
            TrackMatches matches (CaptureBasePtr _cap_1, CaptureBasePtr _cap_2); TrackMatches matches (CaptureBasePtr _cap_1, CaptureBasePtr _cap_2);
            FeatureBaseConstPtr firstFeature(const SizeStd& _track_id) const;
            FeatureBasePtr firstFeature(const SizeStd& _track_id); FeatureBaseConstPtr firstFeature(const SizeStd& _track_id) const;
            FeatureBaseConstPtr lastFeature (const SizeStd& _track_id) const; FeatureBasePtr firstFeature(const SizeStd& _track_id);
            FeatureBasePtr lastFeature (const SizeStd& _track_id); FeatureBaseConstPtr lastFeature (const SizeStd& _track_id) const;
            FeatureBaseConstPtr feature (const SizeStd& _track_id, CaptureBaseConstPtr _cap) const; FeatureBasePtr lastFeature (const SizeStd& _track_id);
            FeatureBasePtr feature (const SizeStd& _track_id, CaptureBasePtr _cap); FeatureBaseConstPtr feature (const SizeStd& _track_id, CaptureBaseConstPtr _cap) const;
            CaptureBaseConstPtr firstCapture(const SizeStd& _track_id) const; FeatureBasePtr feature (const SizeStd& _track_id, CaptureBasePtr _cap);
            CaptureBasePtr firstCapture(const SizeStd& _track_id); CaptureBaseConstPtr firstCapture(const SizeStd& _track_id) const;
            CaptureBasePtr firstCapture(const SizeStd& _track_id);
            list<SizeStd> trackIds() const;
            list<SizeStd> trackIds(CaptureBaseConstPtr _capture = nullptr) const;
            // tracks across captures that belong to keyframe // tracks across captures that belong to keyframe
            TrackConst trackAtKeyframes(const SizeStd& _track_id) const; TrackConst trackAtKeyframes(const SizeStd& _track_id) const;
            Track trackAtKeyframes(const SizeStd& _track_id); Track trackAtKeyframes(const SizeStd& _track_id);
            const map<SizeStd, Track>& getTracks() {return tracks_;}
            const map<CaptureBasePtr, Snapshot >& getSnapshots() {return snapshots_;}
            private: private:
            ......
            src/processor/processor_tracker.cpp
            + 26
            − 17
            View file @ 8434102c
            ...@@ -112,15 +112,15 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr) ...@@ -112,15 +112,15 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
            incoming_ptr_->link(keyframe); incoming_ptr_->link(keyframe);
            // Process info // 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 been given a map, all landmarks in the map are known. Process them.
            processKnown(); processKnown();
            // We only process new features in Last, here last = nullptr, so we do not have anything to do.
            // Issue KF callback with new KF // Issue KF callback with new KF
            getProblem()->keyFrameCallback(keyframe, shared_from_this()); getProblem()->keyFrameCallback(keyframe, shared_from_this());
            resetDerived();
            // Update pointers // Update pointers
            resetDerived();
            origin_ptr_ = incoming_ptr_; origin_ptr_ = incoming_ptr_;
            last_ptr_ = incoming_ptr_; last_ptr_ = incoming_ptr_;
            incoming_ptr_ = nullptr; incoming_ptr_ = nullptr;
            ...@@ -130,9 +130,17 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr) ...@@ -130,9 +130,17 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
            case SECOND_TIME_WITH_KEYFRAME : case SECOND_TIME_WITH_KEYFRAME :
            { {
            // No-break case only for debug. Next case will be executed too. // No-break case only for debug. Next case will be executed too.
            FrameBasePtr keyframe_from_callback = buffer_frame_.select( incoming_ptr_->getTimeStamp(), FrameBasePtr keyframe_from_callback = buffer_frame_.select( last_ptr_->getTimeStamp(),
            params_tracker_->time_tolerance); params_tracker_->time_tolerance);
            // This received KF is discarded since it is most likely the same KF we createed in FIRST_TIME, ...
            // ... only that in FIRST_TIME we checked for incominig, and now we checked for last.
            // Such KF however should have been removed from the buffer of keyframes with the call to buffer_frame_.removeUpTo()
            // The debug line is here to check if this is really the same KF
            // or it is rather a new KF created by some other processor,
            // which happens to be within tolerance of timestamps.
            // In this case we discard it anyway because we already have a KF in last
            // and we can't link a capture to two KFs.
            WOLF_DEBUG( "PT ", getName(), " SECOND_TIME_WITH_KEYFRAME: KF" , keyframe_from_callback->id() , " callback unpacked with ts= " , keyframe_from_callback->getTimeStamp() ); WOLF_DEBUG( "PT ", getName(), " SECOND_TIME_WITH_KEYFRAME: KF" , keyframe_from_callback->id() , " callback unpacked with ts= " , keyframe_from_callback->getTimeStamp() );
            } }
            // Fall through // Fall through
            ...@@ -140,14 +148,16 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr) ...@@ -140,14 +148,16 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
            { {
            WOLF_DEBUG( "PT ", getName(), " SECOND_TIME_WITHOUT_KEYFRAME" ); WOLF_DEBUG( "PT ", getName(), " SECOND_TIME_WITHOUT_KEYFRAME" );
            // Make a NON KEY Frame to hold incoming capture
            FrameBasePtr keyframe = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(), FrameBasePtr keyframe = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(),
            getProblem()->getFrameStructure(), getProblem()->getFrameStructure(),
            getProblem()->getState()); getProblem()->getState());
            incoming_ptr_->link(keyframe); incoming_ptr_->link(keyframe);
            // We have a last_ Capture with no features, so we do not process known features, and we do not vote for KF.
            // Process info // Process info
            // TrackerLandmark: If we have been given a map, all landmarks in the map are known. Process them.
            processKnown(); processKnown();
            // Both Trackers: We have a last_ Capture with not enough features, so populate it.
            processNew(params_tracker_->max_new_features); processNew(params_tracker_->max_new_features);
            // Establish factors // Establish factors
            ...@@ -177,13 +187,13 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr) ...@@ -177,13 +187,13 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
            last_ptr_->move(keyframe_from_callback); last_ptr_->move(keyframe_from_callback);
            last_old_frame->remove(); last_old_frame->remove();
            // Create new frame for incoming // Create new NON KEY frame for incoming
            FrameBasePtr frame = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(), FrameBasePtr frame = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(),
            getProblem()->getFrameStructure(), getProblem()->getFrameStructure(),
            getProblem()->getState()); getProblem()->getState());
            incoming_ptr_->link(frame); incoming_ptr_->link(frame);
            // Detect new Features, initialize Landmarks, create Factors, ... // Detect new Features, initialize Landmarks, ...
            processNew(params_tracker_->max_new_features); processNew(params_tracker_->max_new_features);
            // Establish factors // Establish factors
            ...@@ -209,8 +219,6 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr) ...@@ -209,8 +219,6 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
            // process // process
            processNew(params_tracker_->max_new_features); processNew(params_tracker_->max_new_features);
            //TODO abort KF if known_features_last_.size() < params_tracker_->min_features_for_keyframe
            // We create a KF // We create a KF
            // set KF on last // set KF on last
            last_ptr_->getFrame()->setState(getProblem()->getState(last_ptr_->getTimeStamp())); last_ptr_->getFrame()->setState(getProblem()->getState(last_ptr_->getTimeStamp()));
            ...@@ -222,14 +230,15 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr) ...@@ -222,14 +230,15 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
            // Call the new keyframe callback in order to let the other processors to establish their factors // Call the new keyframe callback in order to let the other processors to establish their factors
            getProblem()->keyFrameCallback(last_ptr_->getFrame(), shared_from_this()); getProblem()->keyFrameCallback(last_ptr_->getFrame(), shared_from_this());
            // Update pointers
            resetDerived();
            // make F; append incoming to new F // make NON KEY frame; append incoming to new frame
            FrameBasePtr frame = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(), FrameBasePtr frame = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(),
            getProblem()->getFrameStructure(), getProblem()->getFrameStructure(),
            getProblem()->getState(incoming_ptr_->getTimeStamp())); getProblem()->getState(incoming_ptr_->getTimeStamp()));
            incoming_ptr_ ->link(frame); incoming_ptr_ ->link(frame);
            // Update pointers
            resetDerived();
            origin_ptr_ = last_ptr_; origin_ptr_ = last_ptr_;
            last_ptr_ = incoming_ptr_; last_ptr_ = incoming_ptr_;
            last_frame_ptr_ = frame; last_frame_ptr_ = frame;
            ...@@ -243,7 +252,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr) ...@@ -243,7 +252,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
            // Advance this // Advance this
            advanceDerived(); advanceDerived();
            // Replace last frame for a new one in incoming // Replace last frame for a new NON KEY frame in incoming
            FrameBasePtr frame = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(), FrameBasePtr frame = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(),
            getProblem()->getFrameStructure(), getProblem()->getFrameStructure(),
            getProblem()->getState(incoming_ptr_->getTimeStamp())); getProblem()->getState(incoming_ptr_->getTimeStamp()));
            ...@@ -278,7 +287,7 @@ void ProcessorTracker::computeProcessingStep() ...@@ -278,7 +287,7 @@ void ProcessorTracker::computeProcessingStep()
            // Then combine with the existence (or not) of a keyframe callback pack // Then combine with the existence (or not) of a keyframe callback pack
            switch (step) switch (step)
            { {
            case FIRST_TIME : case FIRST_TIME : // We check for KF in incoming
            if (buffer_frame_.select(incoming_ptr_->getTimeStamp(), params_tracker_->time_tolerance)) if (buffer_frame_.select(incoming_ptr_->getTimeStamp(), params_tracker_->time_tolerance))
            processing_step_ = FIRST_TIME_WITH_KEYFRAME; processing_step_ = FIRST_TIME_WITH_KEYFRAME;
            ...@@ -286,7 +295,7 @@ void ProcessorTracker::computeProcessingStep() ...@@ -286,7 +295,7 @@ void ProcessorTracker::computeProcessingStep()
            processing_step_ = FIRST_TIME_WITHOUT_KEYFRAME; processing_step_ = FIRST_TIME_WITHOUT_KEYFRAME;
            break; break;
            case SECOND_TIME : case SECOND_TIME : // We check for KF in last
            if (buffer_frame_.select(last_ptr_->getTimeStamp(), params_tracker_->time_tolerance)) if (buffer_frame_.select(last_ptr_->getTimeStamp(), params_tracker_->time_tolerance))
            processing_step_ = SECOND_TIME_WITH_KEYFRAME; processing_step_ = SECOND_TIME_WITH_KEYFRAME;
            ...@@ -294,7 +303,7 @@ void ProcessorTracker::computeProcessingStep() ...@@ -294,7 +303,7 @@ void ProcessorTracker::computeProcessingStep()
            processing_step_ = SECOND_TIME_WITHOUT_KEYFRAME; processing_step_ = SECOND_TIME_WITHOUT_KEYFRAME;
            break; break;
            case RUNNING : case RUNNING : // We check for KF in last
            default : default :
            if (buffer_frame_.select(last_ptr_->getTimeStamp(), params_tracker_->time_tolerance)) if (buffer_frame_.select(last_ptr_->getTimeStamp(), params_tracker_->time_tolerance))
            ......
            src/processor/track_matrix.cpp
            + 17
            − 3
            View file @ 8434102c
            ...@@ -369,12 +369,26 @@ Track TrackMatrix::trackAtKeyframes(const SizeStd& _track_id) ...@@ -369,12 +369,26 @@ Track TrackMatrix::trackAtKeyframes(const SizeStd& _track_id)
            return Track(); return Track();
            } }
            list<SizeStd> TrackMatrix::trackIds() const list<SizeStd> TrackMatrix::trackIds(CaptureBaseConstPtr _capture) const
            { {
            list<SizeStd> track_ids; list<SizeStd> track_ids;
            for (auto track : tracks_)
            if (not _capture)
            for (auto track_pair : tracks_)
            track_ids.push_back(track_pair.first);
            else
            { {
            track_ids.push_back(track.first); auto it = std::find_if(snapshots_.begin(),
            snapshots_.end(),
            [_capture](const std::pair<CaptureBasePtr, Snapshot>& pair)
            {
            return pair.first == _capture;
            }
            );
            if (it != snapshots_.end())
            for (auto track_pair : it->second)
            track_ids.push_back(track_pair.first);
            } }
            return track_ids; return track_ids;
            } }
            ......
            test/gtest_track_matrix.cpp
            + 33
            − 1
            View file @ 8434102c
            ...@@ -42,7 +42,7 @@ class TrackMatrixTest : public testing::Test ...@@ -42,7 +42,7 @@ class TrackMatrixTest : public testing::Test
            FrameBasePtr F0, F1, F2, F3, F4; FrameBasePtr F0, F1, F2, F3, F4;
            CaptureBasePtr C0, C1, C2, C3, C4; CaptureBasePtr C0, C1, C2, C3, C4;
            FeatureBasePtr f0, f1, f2, f3, f4; FeatureBasePtr f0, f1, f2, f3, f4, f5;
            ProblemPtr problem; ProblemPtr problem;
            void SetUp() override void SetUp() override
            ...@@ -71,6 +71,7 @@ class TrackMatrixTest : public testing::Test ...@@ -71,6 +71,7 @@ class TrackMatrixTest : public testing::Test
            f2 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov); f2 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov);
            f3 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov); f3 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov);
            f4 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov); f4 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov);
            f5 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov);
            // F0 and F4 are keyframes // F0 and F4 are keyframes
            F0->link(problem); F0->link(problem);
            ...@@ -507,6 +508,37 @@ TEST_F(TrackMatrixTest, trackAtKeyframes) ...@@ -507,6 +508,37 @@ TEST_F(TrackMatrixTest, trackAtKeyframes)
            ASSERT_EQ(trk_kf_1.size(), 0); ASSERT_EQ(trk_kf_1.size(), 0);
            } }
            TEST_F(TrackMatrixTest, trackIds)
            {
            f0->link(C0);
            f1->link(C1);
            f2->link(C1);
            f3->link(C1);
            f4->link(C2);
            f5->link(C2);
            track_matrix.newTrack(f0);
            track_matrix.add(f0->trackId(), f1);
            track_matrix.newTrack(f2);
            track_matrix.newTrack(f3);
            track_matrix.add(f0->trackId(), f4);
            track_matrix.add(f2->trackId(), f5);
            /* KC0 C1 C2
            *
            * f0---f1---f4 trk 0
            * | |
            * f2---f5 trk 1
            * |
            * f3 trk 2
            */
            ASSERT_EQ(track_matrix.trackIds().size(), 3);
            ASSERT_EQ(track_matrix.trackIds(C0).size(), 1);
            ASSERT_EQ(track_matrix.trackIds(C1).size(), 3);
            ASSERT_EQ(track_matrix.trackIds(C2).size(), 2);
            }
            int main(int argc, char **argv) int main(int argc, char **argv)
            { {
            ......
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