Merge branch 'devel' into 343-problem-getstate-structure-doesn-t-care-about-structure

CMakeLists.txt

@@ -34,7 +34,7 @@ PROJECT(wolf)
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
 SET(CMAKE_INSTALL_PREFIX /usr/local)
-SET(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY TRUE)
+SET(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY FALSE)
 
 IF (NOT CMAKE_BUILD_TYPE)
   SET(CMAKE_BUILD_TYPE "DEBUG")

include/core/common/time_stamp.h

@@ -290,8 +290,6 @@ inline double TimeStamp::operator -(const TimeStamp& ts) const
     return double((long int)(time_stamp_nano_ - ts.time_stamp_nano_))*1e-9; // long int cast fix overflow in case of negative substraction result
 }
 
-//static const TimeStamp TimeStampInvalid() {return TimeStamp(-1.0);}
-
 } // namespace wolf
 
 #endif

src/common/time_stamp.cpp

@@ -37,7 +37,7 @@ TimeStamp::TimeStamp(const TimeStamp& _ts) :
 
 TimeStamp::TimeStamp(const double& _ts) :
         time_stamp_nano_(_ts > 0 ? (unsigned long int)(_ts*1e9) : 0),
-        is_valid_(_ts > 0)
+        is_valid_(_ts >= 0)
 {
     //
 }

src/problem/problem.cpp

@@ -460,10 +460,17 @@ VectorComposite Problem::getState(const StateStructure& _structure) const
         }
     }
 
-    // check for empty blocks and fill them with the last KF, or with zeros in the worst case
+    // check for empty blocks and fill them with the last KF, with the prior, or with zeros in the worst case
+
     VectorComposite state_last;
+
     const auto& last_kf_or_aux = trajectory_ptr_->getLastKeyOrAuxFrame();
-    if (last_kf_or_aux) state_last = last_kf_or_aux->getState(structure);
+
+    if (last_kf_or_aux)
+        state_last = last_kf_or_aux->getState(structure);
+
+    else if (prior_options_ and prior_options_->mode != "nothing")
+        state_last = prior_options_->state;
 
     for (const auto& ckey : structure)
     {
@@ -503,10 +510,17 @@ VectorComposite Problem::getState (const TimeStamp& _ts, const StateStructure& _
         }
     }
 
-    // check for empty blocks and fill them with the closest KF to ts, or with zeros in the worst case
+    // check for empty blocks and fill them with the closest KF to ts, with the prior, or with zeros in the worst case
+
     VectorComposite state_last;
+
     const auto& last_kf_or_aux = trajectory_ptr_->closestKeyOrAuxFrameToTimeStamp(_ts);
-    if (last_kf_or_aux) state_last = last_kf_or_aux->getState(structure);
+
+    if (last_kf_or_aux)
+        state_last = last_kf_or_aux->getState(structure);
+
+    else if (prior_options_ and prior_options_->mode != "nothing")
+        state_last = prior_options_->state;
 
     for (const auto& ckey : structure)
     {

src/processor/processor_motion.cpp

@@ -58,6 +58,24 @@ void ProcessorMotion::splitBuffer(const wolf::CaptureMotionPtr& _capture_source,
                                   const FrameBasePtr& _keyframe_target,
                                   const wolf::CaptureMotionPtr& _capture_target)
 {
+    /** we are doing this:
+     *
+     *  Before split:
+     *
+     *             ts_split
+     *    KF          |          F or KF
+     *    * -----------------------*
+     *  origin                   source
+     *
+     *
+     *  After split:
+     *
+     *    KF          KF         F or KF
+     *    * ----------* -----------*
+     *  origin     target        source
+     *
+     */
+
     // split the buffer
     // and give the part of the buffer before the new keyframe to the capture for the KF callback
     _capture_source->getBuffer().split(_ts_split, _capture_target->getBuffer());