Debug examples for processor params pointers

src/examples/test_kf_callback.cpp

@@ -22,13 +22,17 @@ int main()
 
     SensorBasePtr sen_odo    = problem->installSensor   ("ODOM 2D", "main odometer", (Vector3s()<<0,0,0).finished(),"");
     ProcessorParamsOdom2DPtr params_odo = std::make_shared<ProcessorParamsOdom2D>();
-    params_odo->elapsed_time_th_ = 2;
-    params_odo->theta_traveled_th_ = M_PI; // 180 degrees turn
+    params_odo->max_time_span = 2;
+    params_odo->angle_turned = M_PI; // 180 degrees turn
     ProcessorBasePtr prc_odo = problem->installProcessor("ODOM 2D", "odometry integrator", sen_odo, params_odo);
     prc_odo->setTimeTolerance(0.1);
 
     SensorBasePtr sen_ftr    = problem->installSensor   ("ODOM 2D", "other odometer", (Vector3s()<<0,0,0).finished(),"");
-    shared_ptr<ProcessorTrackerFeatureDummy> prc_ftr = make_shared<ProcessorTrackerFeatureDummy>(0.5, 7, 4);
+    ProcessorParamsTrackerFeaturePtr params_trk = std::make_shared<ProcessorParamsTrackerFeature>();
+    params_trk->max_new_features = 4;
+    params_trk->min_features_for_keyframe = 7;
+    params_trk->time_tolerance = 0.5;
+    shared_ptr<ProcessorTrackerFeatureDummy> prc_ftr = make_shared<ProcessorTrackerFeatureDummy>(params_trk);
     prc_ftr->setName("tracker");
     sen_ftr->addProcessor(prc_ftr);
     prc_ftr->setTimeTolerance(0.1);

src/examples/test_processor_tracker_feature.cpp

@@ -31,7 +31,11 @@ int main()
                                              std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)),
                                              std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
 
-    shared_ptr<ProcessorTrackerFeatureDummy> processor_ptr_ = make_shared<ProcessorTrackerFeatureDummy>(.25, 7, 4);
+    ProcessorParamsTrackerFeaturePtr params_trk = std::make_shared<ProcessorParamsTrackerFeature>();
+    params_trk->max_new_features = 4;
+    params_trk->min_features_for_keyframe = 7;
+    params_trk->time_tolerance = 0.25;
+    shared_ptr<ProcessorTrackerFeatureDummy> processor_ptr_ = make_shared<ProcessorTrackerFeatureDummy>(params_trk);
 
     wolf_problem_ptr_->addSensor(sensor_ptr_);
     sensor_ptr_->addProcessor(processor_ptr_);

src/examples/test_processor_tracker_landmark.cpp

@@ -66,7 +66,11 @@ int main()
                                              std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)),
                                              std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
 
-    std::shared_ptr<ProcessorTrackerLandmarkDummy> processor_ptr_ = std::make_shared< ProcessorTrackerLandmarkDummy>(.25, 5);
+    ProcessorParamsTrackerLandmarkPtr params_trk = std::make_shared<ProcessorParamsTrackerLandmark>();
+    params_trk->max_new_features = 5;
+    params_trk->min_features_for_keyframe = 7;
+    params_trk->time_tolerance = 0.25;
+    std::shared_ptr<ProcessorTrackerLandmarkDummy> processor_ptr_ = std::make_shared< ProcessorTrackerLandmarkDummy>(params_trk);
 
     wolf_problem_ptr_->addSensor(sensor_ptr_);
     sensor_ptr_->addProcessor(processor_ptr_);

src/examples/test_tracker_ORB.cpp

@@ -2,10 +2,13 @@
 #include <iostream>
 
 // Vision utils
-#include <vision_utils.h>
+#include <vision_utils/vision_utils.h>
 #include <vision_utils/sensors.h>
 #include <vision_utils/common_class/buffer.h>
 #include <vision_utils/common_class/frame.h>
+#include <vision_utils/detectors/orb/detector_orb.h>
+#include <vision_utils/descriptors/orb/descriptor_orb.h>
+#include <vision_utils/matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h>
 
 //Wolf
 #include "../processor_tracker_landmark_image.h"