[WIP] Debug weak_ptr segfault

include/core/capture/capture_base.h

@@ -176,8 +176,8 @@ inline unsigned int CaptureBase::id() const
 
 inline FrameBasePtr CaptureBase::getFrame() const
 {
-    frame_ptr_.expired();
-    return frame_ptr_.lock();
+    if(frame_ptr_.expired()) return nullptr;
+    else return frame_ptr_.lock();
 }
 
 inline void CaptureBase::setFrame(const FrameBasePtr _frm_ptr)

include/core/processor/processor_motion.h

@@ -466,7 +466,7 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
                          bool state_blocks,
                          std::ostream& stream ,
                          std::string _tabs = "") const override;
-
+CaptureMotionPtr last_ptr_;
     protected:
         // Attributes
         SizeEigen x_size_;           ///< The size of the state vector
@@ -475,7 +475,7 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
         SizeEigen delta_cov_size_;   ///< the size of the delta covariances matrix
         SizeEigen calib_size_;       ///< the size of the calibration parameters (TBD in derived classes)
         CaptureMotionPtr origin_ptr_;
-        CaptureMotionPtr last_ptr_;
+        
         CaptureMotionPtr incoming_ptr_;
 
     protected:

test/gtest_processor_base.cpp

@@ -116,6 +116,9 @@ TEST(ProcessorBase, KeyFrameCallback)
         capt_odo->setTimeStamp(t);
         std::cout << "2\n";
         problem->check(1);
+        auto proc_odo_motion = std::static_pointer_cast<ProcessorMotion>(proc_odo);
+        auto last_ptr = proc_odo_motion->last_ptr_;
+        auto last_ptr_frame = last_ptr->getFrame();
         proc_odo->captureCallback(capt_odo);
         std::cout << "3\n";