diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index fa636c272c531d07c79a646e2b589e4e3c546636..68429f566e0a6ac6f7d5f48385f2170df42bbdef 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -100,8 +100,6 @@ license_header:
build_and_test:bionic:
stage: build_and_test
image: labrobotica/wolf_deps:18.04
- except:
- - master
script:
#- *cmake316_definition
- *build_and_test_definition
@@ -110,8 +108,6 @@ build_and_test:bionic:
build_and_test:focal:
stage: build_and_test
image: labrobotica/wolf_deps:20.04
- except:
- - master
script:
- *build_and_test_definition
diff --git a/demos/hello_wolf/hello_wolf_autoconf.cpp b/demos/hello_wolf/hello_wolf_autoconf.cpp
index db934ca13174443de5053e3a427206de41799c18..27214245096f91fefad1351f611613516010f40a 100644
--- a/demos/hello_wolf/hello_wolf_autoconf.cpp
+++ b/demos/hello_wolf/hello_wolf_autoconf.cpp
@@ -138,8 +138,8 @@ int main()
SolverManagerPtr ceres = FactorySolver::create("SolverCeres", problem, server);
// recover sensor pointers and other stuff for later use (access by sensor name)
- SensorBasePtr sensor_odo = problem->getSensor("sen odom");
- SensorBasePtr sensor_rb = problem->getSensor("sen rb");
+ SensorBasePtr sensor_odo = problem->findSensor("sen odom");
+ SensorBasePtr sensor_rb = problem->findSensor("sen rb");
// APPLY PRIOR and SET PROCESSOR ODOM ORIGIN ===================================================
TimeStamp t(0.0);
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 7405ae8320deb339ed6efdfe7319b4df8ec14cff..08a7ab52fd0598315adf2b9150ad80efd77043d0 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -151,7 +151,11 @@ class Problem : public std::enable_shared_from_this<Problem>
/** \brief get a sensor pointer by its name
* \param _sensor_name The sensor name, as it was installed with installSensor()
*/
- SensorBasePtr getSensor(const std::string& _sensor_name) const;
+ SensorBasePtr findSensor(const std::string& _sensor_name) const;
+ /** \brief get a processor pointer by its name
+ * \param _processor_name The processor name, as it was installed with installProcessor()
+ */
+ ProcessorBasePtr findProcessor(const std::string& _processor_name) const;
/** \brief Factory method to install (create, and add to sensor) processors only from its properties
*
diff --git a/include/core/processor/track_matrix.h b/include/core/processor/track_matrix.h
index fa18d8313c591905b2b093e15261c18a5a69e8f2..e60a59f8233abb7fade714f20cbabc417a76e091 100644
--- a/include/core/processor/track_matrix.h
+++ b/include/core/processor/track_matrix.h
@@ -119,6 +119,8 @@ class TrackMatrix
FeatureBasePtr feature (const SizeStd& _track_id, CaptureBasePtr _cap) const;
CaptureBasePtr firstCapture(const SizeStd& _track_id) const;
+ list<size_t> trackIds() const;
+
// tracks across captures that belong to keyframe
Track trackAtKeyframes(size_t _track_id) const;
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index d2078f8ac2cc8dad9cef2a835dd2c174f664d6e0..bdc8b8c70e15e01b969f515250ee11ec218bed04 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -300,7 +300,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
const std::string& _corresponding_sensor_name, //
const std::string& _params_filename)
{
- SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
+ SensorBasePtr sen_ptr = findSensor(_corresponding_sensor_name);
if (sen_ptr == nullptr)
throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, it must match in sensor and processor!");
if (_params_filename == "")
@@ -318,7 +318,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
const std::string& _corresponding_sensor_name, //
const ParamsServer& _server)
{
- SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
+ SensorBasePtr sen_ptr = findSensor(_corresponding_sensor_name);
if (sen_ptr == nullptr)
throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, it must match in sensor and processor!");
@@ -335,7 +335,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
return prc_ptr;
}
-SensorBasePtr Problem::getSensor(const std::string& _sensor_name) const
+SensorBasePtr Problem::findSensor(const std::string& _sensor_name) const
{
auto sen_it = std::find_if(getHardware()->getSensorList().begin(),
getHardware()->getSensorList().end(),
@@ -350,6 +350,16 @@ SensorBasePtr Problem::getSensor(const std::string& _sensor_name) const
return (*sen_it);
}
+ProcessorBasePtr Problem::findProcessor(const std::string& _processor_name) const
+{
+ for (const auto& sensor : getHardware()->getSensorList())
+ for (const auto& processor : sensor->getProcessorList())
+ if (processor->getName() == _processor_name)
+ return processor;
+ return nullptr;
+}
+
+
FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp, //
const StateStructure& _frame_structure, //
const SizeEigen _dim, //
diff --git a/src/processor/track_matrix.cpp b/src/processor/track_matrix.cpp
index 1830270b13d7fea4d6462f2c97c7977b0879308f..d7154a788b5727b6e2f8cd201b382643110d5bf1 100644
--- a/src/processor/track_matrix.cpp
+++ b/src/processor/track_matrix.cpp
@@ -244,4 +244,14 @@ Track TrackMatrix::trackAtKeyframes(size_t _track_id) const
return Track();
}
+list<size_t> TrackMatrix::trackIds() const
+{
+ list<size_t> track_ids;
+ for (auto track : tracks_)
+ {
+ track_ids.push_back(track.first);
+ }
+ return track_ids;
+}
+
}
diff --git a/test/gtest_tree_manager_sliding_window_dual_rate.cpp b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
index e394a7c59279bb4d0e52c94b7eef479406ce5797..448fc0d93d27e1db1ee76c6ae46223be81a3c505 100644
--- a/test/gtest_tree_manager_sliding_window_dual_rate.cpp
+++ b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
@@ -1050,11 +1050,11 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowWithProcessor)
TimeStamp t(0.0);
double dt = 1;
CaptureMotionPtr capture = std::make_shared<CaptureOdom3d>(t,
- problem->getSensor("odom"),
+ problem->findSensor("odom"),
data,
data_cov);
CaptureMotionPtr capture_bl = std::make_shared<CaptureOdom3d>(t,
- problem_bl->getSensor("odom"),
+ problem_bl->findSensor("odom"),
data,
data_cov);