Merge branch 'hotfix' into 'master'

Make keyFrameCallback return void

See merge request mobile_robotics/wolf!168

src/hello_wolf/processor_range_bearing.cpp

@@ -149,9 +149,9 @@ Eigen::Vector2s ProcessorRangeBearing::polar(const Eigen::Vector2s& rect) const
     return polar;
 }
 
-bool ProcessorRangeBearing::keyFrameCallback(FrameBasePtr _key_frame, const Scalar& _time_tolerance)
+void ProcessorRangeBearing::keyFrameCallback(FrameBasePtr _key_frame, const Scalar& _time_tolerance)
 {
-    return true;
+    //
 }
 
 Eigen::Vector2s ProcessorRangeBearing::rect(Scalar range, Scalar bearing) const

src/hello_wolf/processor_range_bearing.h

@@ -45,7 +45,7 @@ class ProcessorRangeBearing : public ProcessorBase
         // Implementation of pure virtuals from ProcessorBase
         virtual void process            (CaptureBasePtr _capture) override;
         virtual bool voteForKeyFrame    () override {return false;}
-        virtual bool keyFrameCallback   (FrameBasePtr _key_frame, const Scalar& _time_tolerance) ;
+        virtual void keyFrameCallback   (FrameBasePtr _key_frame, const Scalar& _time_tolerance) override;
 
         // landmark observation models -- they would be better off in a separate library e.g. range_bearing_tools.h
         Eigen::Vector2s observe     (const Eigen::Vector2s& lmk_w) const;

src/processor_base.h

@@ -164,7 +164,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
          */
         FrameBasePtr emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state);
 
-        void keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
+        virtual void keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
 
         SensorBasePtr getSensorPtr();
         const SensorBasePtr getSensorPtr() const;

src/processor_capture_holder.cpp

@@ -22,7 +22,7 @@ void ProcessorCaptureHolder::process(CaptureBasePtr _capture_ptr)
   buffer_.push_back(_capture_ptr);
 }
 
-bool ProcessorCaptureHolder::keyFrameCallback(FrameBasePtr _keyframe_ptr,
+void ProcessorCaptureHolder::keyFrameCallback(FrameBasePtr _keyframe_ptr,
                                               const Scalar& _time_tolerance)
 {
   assert(_keyframe_ptr->getTrajectoryPtr() != nullptr
@@ -37,7 +37,7 @@ bool ProcessorCaptureHolder::keyFrameCallback(FrameBasePtr _keyframe_ptr,
   if (existing_capture == nullptr)
   {
     WOLF_WARN("Could not find a capture at ts : ", new_ts.get());
-    return false;
+    return;
   }
 
   WOLF_DEBUG("ProcessorCaptureHolder::keyFrameCallback", _time_tolerance);
@@ -63,7 +63,7 @@ bool ProcessorCaptureHolder::keyFrameCallback(FrameBasePtr _keyframe_ptr,
     // Remove as we don't want duplicates
     buffer_.remove(existing_capture);
 
-    return true;
+    return;
   }
   else
   {
@@ -71,7 +71,7 @@ bool ProcessorCaptureHolder::keyFrameCallback(FrameBasePtr _keyframe_ptr,
                std::abs(new_ts - existing_capture->getTimeStamp()),
                " vs ", _time_tolerance);
 
-    return false;
+    return;
   }
 }
 

src/processor_capture_holder.h

@@ -47,8 +47,8 @@ public:
    */
   virtual bool voteForKeyFrame() override { return false; }
 
-  virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr,
-                                const Scalar& _time_tolerance) ;
+  virtual void keyFrameCallback(FrameBasePtr _keyframe_ptr,
+                                const Scalar& _time_tolerance) override;
 
   /**
    * \brief Finds the capture that contains the closest previous motion of _ts

src/processor_loopclosure_base.cpp

@@ -38,10 +38,10 @@ void ProcessorLoopClosureBase::process(CaptureBasePtr _incoming_ptr)
 }
 
 //##############################################################################
-bool ProcessorLoopClosureBase::keyFrameCallback(FrameBasePtr /*_keyframe_ptr*/,
+void ProcessorLoopClosureBase::keyFrameCallback(FrameBasePtr /*_keyframe_ptr*/,
                                                 const Scalar& /*_time_tol_other*/)
 {
-  return false;
+    //
 }
 
 }// namespace wolf

src/processor_loopclosure_base.h

@@ -56,8 +56,8 @@ public:
      */
   virtual void process(CaptureBasePtr _incoming_ptr) override;
 
-  virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr,
-                                const Scalar& _time_tol_other) ;
+  virtual void keyFrameCallback(FrameBasePtr _keyframe_ptr,
+                                const Scalar& _time_tol_other) override ;
 
   const std::vector<FrameBasePtr>& getCandidates() const noexcept;
 

src/processor_tracker.h

@@ -100,8 +100,6 @@ class ProcessorTracker : public ProcessorBase
         void setMaxNewFeatures(const unsigned int& _max_new_features);
         unsigned int getMaxNewFeatures();
 
-//        virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
-
         bool checkTimeTolerance(const TimeStamp& _ts1, const TimeStamp& _ts2);
         bool checkTimeTolerance(const CaptureBasePtr _cap, const TimeStamp& _ts);
         bool checkTimeTolerance(const FrameBasePtr _frm, const TimeStamp& _ts);