diff --git a/include/base/problem/problem.h b/include/base/problem/problem.h
index 46f20f1b749070869b568ef128758eb2a7320160..b7070994829419d35c20b3e602fd37b1f6390d45 100644
--- a/include/base/problem/problem.h
+++ b/include/base/problem/problem.h
@@ -199,22 +199,38 @@ class Problem : public std::enable_shared_from_this<Problem>
FrameBasePtr closestImportantFrameToTimeStamp(const TimeStamp& _ts) const;
FrameBasePtr closestEstimatedFrameToTimeStamp(const TimeStamp& _ts) const;
- /** \brief Give the permission to a processor to create a new keyFrame
+ /** \brief Give the permission to a processor to create a new important Frame
*
- * This should implement a black list of processors that have forbidden keyframe creation.
+ * This should implement a black list of processors that have forbidden important frame creation.
* - This decision is made at problem level, not at processor configuration level.
- * - Therefore, if you want to permanently configure a processor for not creating keyframes, see Processor::voting_active_ and its accessors.
+ * - Therefore, if you want to permanently configure a processor for not creating important frames, see Processor::voting_active_ and its accessors.
*/
- bool permitKeyFrame(ProcessorBasePtr _processor_ptr);
+ bool permitImportantFrame(ProcessorBasePtr _processor_ptr);
- /** \brief New key frame callback
+ /** \brief New important frame callback
*
- * New key frame callback: It should be called by any processor that creates a new keyframe. It calls the keyFrameCallback of the rest of processors.
+ * New important frame callback: It should be called by any processor that creates a new important frame. It calls the importantFrameCallback of the rest of processors.
*/
- void keyFrameCallback(FrameBasePtr _keyframe_ptr, //
+ void importantFrameCallback(FrameBasePtr _frame_ptr, //
ProcessorBasePtr _processor_ptr, //
const Scalar& _time_tolerance);
+ /** \brief Give the permission to a processor to create a new estimated Frame
+ *
+ * This should implement a black list of processors that have forbidden estimated frame creation.
+ * - This decision is made at problem level, not at processor configuration level.
+ * - Therefore, if you want to permanently configure a processor for not creating estimated frames, see Processor::voting_active_ and its accessors.
+ */
+ bool permitEstimatedFrame(ProcessorBasePtr _processor_ptr);
+
+ /** \brief New estimated frame callback
+ *
+ * New estimated frame callback: It should be called by any processor that creates a new estimated frame. It calls the estimatedFrameCallback of the processor motion.
+ */
+ void estimatedFrameCallback(FrameBasePtr _frame_ptr, //
+ ProcessorBasePtr _processor_ptr, //
+ const Scalar& _time_tolerance);
+
// State getters
Eigen::VectorXs getCurrentState ( );
void getCurrentState (Eigen::VectorXs& state);
@@ -241,7 +257,7 @@ class Problem : public std::enable_shared_from_this<Problem>
bool getCovarianceBlock(std::map<StateBlockPtr, unsigned int> _sb_2_idx, Eigen::MatrixXs& _cov);
bool getCovarianceBlock(StateBlockPtr _state, Eigen::MatrixXs& _cov, const int _row_and_col = 0);
bool getFrameCovariance(FrameBaseConstPtr _frame_ptr, Eigen::MatrixXs& _covariance);
- bool getLastKeyFrameCovariance(Eigen::MatrixXs& _covariance);
+ bool getLastImportantFrameCovariance(Eigen::MatrixXs& _covariance);
bool getLandmarkCovariance(LandmarkBaseConstPtr _landmark_ptr, Eigen::MatrixXs& _covariance);
// Solver management ----------------------------------------
diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index 590f8de1d0ff37e6e9c27d11f79f0f54dc5d4372..a237f5ee029eb3a888329ddf310891e81a1df61c 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -144,7 +144,7 @@ void CeresManager::computeCovariances(const CovarianceBlocksToBeComputed _blocks
case CovarianceBlocksToBeComputed::ROBOT_LANDMARKS:
{
//robot-robot
- auto last_key_frame = wolf_problem_->getLastKeyFrame();
+ auto last_key_frame = wolf_problem_->getLastImportantFrame();
state_block_pairs.emplace_back(last_key_frame->getP(), last_key_frame->getP());
state_block_pairs.emplace_back(last_key_frame->getP(), last_key_frame->getO());
diff --git a/test/gtest_IMU.cpp b/test/gtest_IMU.cpp
index 84b7a0c05c09a8d20e4d2aafc80a3a02fdd0b53b..202f566a6eca49236165a2a2c8a10bb111a4b20d 100644
--- a/test/gtest_IMU.cpp
+++ b/test/gtest_IMU.cpp
@@ -490,7 +490,7 @@ class Process_Factor_IMU : public testing::Test
capture_imu = make_shared<CaptureIMU>(t+dt, sensor_imu, data, sensor_imu->getNoiseCov());
processor_imu->process(capture_imu);
- KF_1 = problem->getLastKeyFrame();
+ KF_1 = problem->getLastEstimatedFrame();
C_1 = KF_1->getCaptureList().front(); // front is IMU
CM_1 = static_pointer_cast<CaptureMotion>(C_1);
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index 904dfd7646f1194892e0845b003cd20d17916c4b..0a3a0ffacb2f58249dfde5d48b14693fc5de19af 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -59,7 +59,7 @@ TEST(ProcessorBase, KeyFrameCallback)
std::cout << "sensor & processor created and added to wolf problem" << std::endl;
- // Sequence to test KeyFrame creations (callback calls)
+ // Sequence to test Important Frame creations (callback calls)
// initialize
TimeStamp t(0.0);
@@ -89,7 +89,7 @@ TEST(ProcessorBase, KeyFrameCallback)
// problem->print(4,1,1,0);
// Only odom creating KFs
- ASSERT_TRUE( problem->getLastKeyFrame()->getType().compare("PO 2D")==0 );
+ ASSERT_TRUE( problem->getLastImportantFrame()->getType().compare("PO 2D")==0 );
}
}
diff --git a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
index 9f47c647b8531a09c51d9c0d12ca5de78542488e..9bb2238ed38ef20e0a9fd51734a3968fdfe81945 100644
--- a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
+++ b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
@@ -147,8 +147,9 @@ TEST(ProcessorFrameNearestNeighborFilter, PointInEllipseRotated)
incomming_dummy = std::make_shared<wolf::CaptureBase>("DUMMY",
1.2,
sensor_ptr);
- // Make 3rd frame last Keyframe
- problem->getTrajectory()->setLastKeyFrame(F3);
+ // Make 3rd frame last Important frame
+ F3->setTimeStamp(wolf::TimeStamp(2.0));
+ problem->getTrajectory()->sortFrame(F3);
// trigger search for loopclosure
processor_ptr_point2d->process(incomming_dummy);
@@ -180,8 +181,9 @@ TEST(ProcessorFrameNearestNeighborFilter, EllipseEllipseRotatedCrosscovariance)
problem->addCovarianceBlock( F4->getP(), F4->getP(),
position_covariance_matrix);
- // Make 3rd frame last Keyframe
- problem->getTrajectory()->setLastKeyFrame(F3);
+ // Make 3rd frame last Important frame
+ F3->setTimeStamp(wolf::TimeStamp(2.0));
+ problem->getTrajectory()->sortFrame(F3);
// trigger search for loopclosure
processor_ptr_ellipse2d->process(incomming_dummy);
@@ -192,8 +194,9 @@ TEST(ProcessorFrameNearestNeighborFilter, EllipseEllipseRotatedCrosscovariance)
ASSERT_EQ(testloops[0]->id(), (unsigned int) 1);
ASSERT_EQ(testloops[1]->id(), (unsigned int) 2);
- // Make 4th frame last Keyframe
- problem->getTrajectory()->setLastKeyFrame(F4);
+ // Make 4th frame last Important frame
+ F4->setTimeStamp(wolf::TimeStamp(3.0));
+ problem->getTrajectory()->sortFrame(F4);
// trigger search for loopclosure again
processor_ptr_ellipse2d->process(incomming_dummy);
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index d2f73a2fb601ae07a0c59700fdf19b4b947e370d..7b2849760750077590692300c3c13823d1ac46ea 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -60,7 +60,7 @@ struct DummyNotificationProcessor
/// Set to true if you want debug info
bool debug = false;
-TEST(TrajectoryBase, ClosestKeyFrame)
+TEST(TrajectoryBase, ClosestEstimatedFrame)
{
ProblemPtr P = Problem::create("PO 2D");
@@ -80,19 +80,19 @@ TEST(TrajectoryBase, ClosestKeyFrame)
FrameBasePtr kf; // closest key-frame queried
- kf = T->closestKeyFrameToTimeStamp(-0.8); // before all keyframes --> return f0
+ kf = T->closestEstimatedFrameToTimeStamp(-0.8); // before all keyframes --> return f0
ASSERT_EQ(kf->id(), f1->id()); // same id!
- kf = T->closestKeyFrameToTimeStamp(1.1); // between keyframes --> return f1
+ kf = T->closestEstimatedFrameToTimeStamp(1.1); // between keyframes --> return f1
ASSERT_EQ(kf->id(), f1->id()); // same id!
- kf = T->closestKeyFrameToTimeStamp(1.9); // between keyframes --> return f2
+ kf = T->closestEstimatedFrameToTimeStamp(1.9); // between keyframes --> return f2
ASSERT_EQ(kf->id(), f2->id()); // same id!
- kf = T->closestKeyFrameToTimeStamp(2.6); // between keyframe and frame, but closer to frame --> return f2
+ kf = T->closestEstimatedFrameToTimeStamp(2.6); // between keyframe and frame, but closer to frame --> return f2
ASSERT_EQ(kf->id(), f2->id()); // same id!
- kf = T->closestKeyFrameToTimeStamp(3.2); // after the last frame --> return f2
+ kf = T->closestEstimatedFrameToTimeStamp(3.2); // after the last frame --> return f2
ASSERT_EQ(kf->id(), f2->id()); // same id!
}