Merge branch 'devel' into motion-cleanup

include/core/common/factory.h

@@ -267,9 +267,9 @@ inline bool Factory<TypeBase, TypeInput...>::registerCreator(const std::string&
 {
     bool reg = callbacks_.insert(typename CallbackMap::value_type(_type, createFn)).second;
     if (reg)
-        std::cout << std::setw(22) << std::left << getClass() << " <--  registered  " << _type << std::endl;
+        std::cout << std::setw(26) << std::left << getClass() << " <--  registered  " << _type << std::endl;
     else
-        std::cout << std::setw(22) << std::left << getClass() << " X--  skipping  " << _type << ": already registered." << std::endl;
+        std::cout << std::setw(26) << std::left << getClass() << " X--   skipping   " << _type << ": already registered." << std::endl;
 
     return reg;
 }

include/core/solver/solver_factory.h

@@ -219,9 +219,9 @@ inline std::string SolverFactory::getClass()
   return "SolverFactory";
 }
 
-#define WOLF_REGISTER_SOLVER(SolverName) \
+#define WOLF_REGISTER_SOLVER(SolverType, SolverName) \
   namespace{ const bool WOLF_UNUSED SolverName##Registered = \
-     wolf::SolverFactory::get().registerCreator("Solver", SolverName::create); } \
+     wolf::SolverFactory::get().registerCreator(SolverType, SolverName::create); } \
 
 } /* namespace wolf */
 

src/ceres_wrapper/ceres_manager.cpp

@@ -444,6 +444,6 @@ void CeresManager::check()
 } // namespace wolf
 #include "core/solver/solver_factory.h"
 namespace wolf {
-    WOLF_REGISTER_SOLVER(CeresManager)
+    WOLF_REGISTER_SOLVER("CERES", CeresManager)
 } // namespace wolf
 

src/processor/processor_base.cpp

@@ -33,8 +33,8 @@ bool ProcessorBase::permittedAuxFrame()
 
 void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
 {
-    WOLF_DEBUG("P", isMotion() ? "M " : "T ", getName(), ": KF", _keyframe_ptr->id(), " callback received with ts = ", _keyframe_ptr->getTimeStamp());
     assert(_keyframe_ptr != nullptr && "keyFrameCallback with a nullptr frame");
+    WOLF_DEBUG("P", isMotion() ? "M " : "T ", getName(), ": KF", _keyframe_ptr->id(), " callback received with ts = ", _keyframe_ptr->getTimeStamp());
 
     // buffering anyway
     buffer_pack_kf_.add(_keyframe_ptr, _time_tol_other);
@@ -47,8 +47,8 @@ void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _
 
 void ProcessorBase::captureCallback(CaptureBasePtr _capture_ptr)
 {
-    WOLF_DEBUG("P", isMotion() ? "M " : "T ", getName(), ": Capture ", _capture_ptr->id(), " callback received with ts = ", _capture_ptr->getTimeStamp());
     assert(_capture_ptr != nullptr && "captureCallback with a nullptr capture");
+    WOLF_DEBUG("P", isMotion() ? "M " : "T ", getName(), ": Capture ", _capture_ptr->id(), " callback received with ts = ", _capture_ptr->getTimeStamp());
 
     // if trigger, process directly without buffering
     if (triggerInCapture(_capture_ptr))