changed documentation and added WOLF_DEBUGs

include/core/processor/processor_tracker_feature.h

@@ -121,8 +121,8 @@ class ProcessorTrackerFeature : public ProcessorTracker
          *
          * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
          * Then, they will be already linked to the _capture.
-         * If you detect all the features at once in preprocess(), you should either emplace them (`FeatureBase::emplace()`) and remove the not returned features in _features_out (`FeatureBase::remove()`),
-         * or create them (`make_shared()`) and link all the returned features in _features_out (`FeatureBase::link(_capture)`).
+         * If you detect all the features at once in preprocess(), you should create them (`make_shared()`) and only link the
+         * features that are returned in _features_out (`FeatureBase::link(_capture)`).
          *
          * \return the number of features tracked
          */
@@ -168,8 +168,8 @@ class ProcessorTrackerFeature : public ProcessorTracker
          *
          * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
          * Then, they will be already linked to the _capture.
-         * If you detect all the features at once in preprocess(), you should either emplace them (`FeatureBase::emplace()`) and remove the not returned features in _features_out (`FeatureBase::remove()`),
-         * or create them (`make_shared()`) and link all the returned features in _features_out (`FeatureBase::link(_capture)`).
+         * If you detect all the features at once in preprocess(), you should create them (`make_shared()`) and only link the
+         * features that are returned in _features_out (`FeatureBase::link(_capture)`).
          *
          * The function is called in ProcessorTrackerFeature::processNew() to set the member new_features_last_,
          * the list of newly detected features of the capture last_ptr_.

include/core/processor/processor_tracker_landmark.h

@@ -112,8 +112,8 @@ class ProcessorTrackerLandmark : public ProcessorTracker
          *
          * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
          * Then, they will be already linked to the _capture.
-         * If you detect all the features at once in `preprocess()`, you should either emplace them (`FeatureBase::emplace()`) and remove the not returned features in _features_out (`FeatureBase::remove()`),
-         * or create them (`make_shared()`) and link all the returned features in _features_out (`FeatureBase::link(_capture)`).
+         * If you detect all the features at once in preprocess(), you should create them (`make_shared()`) and only link the
+         * features that are returned in _features_out (`FeatureBase::link(_capture)`).
          *
          * \return the number of landmarks found
          */
@@ -150,8 +150,8 @@ class ProcessorTrackerLandmark : public ProcessorTracker
          *
          * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
          * Then, they will be already linked to the _capture.
-         * If you detect all the features at once in `preprocess()`, you should either emplace them (`FeatureBase::emplace()`) and remove the not returned features in _features_out (`FeatureBase::remove()`),
-         * or create them (`make_shared()`) and link all the returned features in _features_out (`FeatureBase::link(_capture)`).
+         * If you detect all the features at once in preprocess(), you should create them (`make_shared()`) and only link the
+         * features that are returned in _features_out (`FeatureBase::link(_capture)`).
          *
          * The function is called in ProcessorTrackerLandmark::processNew() to set the member new_features_last_,
          * the list of newly detected features of the capture last_ptr_.

src/processor/processor_tracker.cpp

@@ -54,7 +54,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
             PackKeyFramePtr pack = buffer_pack_kf_.selectPack( incoming_ptr_, params_tracker_->time_tolerance);
             buffer_pack_kf_.removeUpTo( pack->key_frame->getTimeStamp() );
 
-            WOLF_DEBUG( "PT ", getName(), ": KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp().get() );
+            WOLF_DEBUG( "PT ", getName(), " FIRST_TIME_WITH_PACK: KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp() );
 
             // Append incoming to KF
             // pack->key_frame->addCapture(incoming_ptr_);
@@ -75,6 +75,8 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
         }
         case FIRST_TIME_WITHOUT_PACK :
         {
+            WOLF_DEBUG( "PT ", getName(), " FIRST_TIME_WITHOUT_PACK" );
+
             FrameBasePtr kfrm = getProblem()->emplaceFrame(KEY, incoming_ptr_->getTimeStamp());
             incoming_ptr_->link(kfrm);
 
@@ -97,10 +99,12 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
         {
         	// No-break case only for debug. Next case will be executed too.
             PackKeyFramePtr pack = buffer_pack_kf_.selectPack( incoming_ptr_, params_tracker_->time_tolerance);
-            WOLF_DEBUG( "PT ", getName(), ": KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp().get() );
+            WOLF_DEBUG( "PT ", getName(), " SECOND_TIME_WITH_PACK: KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp() );
         } // @suppress("No break at end of case")
         case SECOND_TIME_WITHOUT_PACK :
         {
+            WOLF_DEBUG( "PT ", getName(), " SECOND_TIME_WITHOUT_PACK" );
+
             FrameBasePtr frm = getProblem()->emplaceFrame(NON_ESTIMATED, incoming_ptr_->getTimeStamp());
             incoming_ptr_->link(frm);
 
@@ -126,7 +130,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
             PackKeyFramePtr pack = buffer_pack_kf_.selectPack( last_ptr_ , params_tracker_->time_tolerance);
             buffer_pack_kf_.removeUpTo( pack->key_frame->getTimeStamp() );
 
-            WOLF_DEBUG( "PT ", getName(), ": KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp().get() );
+            WOLF_DEBUG( "PT ", getName(), " RUNNING_WITH_PACK: KF" , pack->key_frame->id() , " callback unpacked with ts= " , pack->key_frame->getTimeStamp() );
 
             processKnown();
 
@@ -155,6 +159,8 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
         }
         case RUNNING_WITHOUT_PACK :
         {
+            WOLF_DEBUG( "PT ", getName(), " RUNNING_WITHOUT_PACK" );
+
             processKnown();
 
             if (voteForKeyFrame() && permittedKeyFrame())