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Commit d9e6a131 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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fix 222

parent ef448ad6
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1 merge request!283Resolve "Rename PackKeyFrameBuffer"
Pipeline #3648 passed
Stage: build
    This commit is part of merge request !283. Comments created here will be created in the context of that merge request.
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    hello_wolf/processor_range_bearing.cpp
    + 3
    − 3
    View file @ d9e6a131
    ......@@ -25,15 +25,15 @@ void ProcessorRangeBearing::process(CaptureBasePtr _capture)
    // 1. get KF
    FrameBasePtr kf(nullptr);
    if ( !kf_pack_buffer_.empty() )
    if ( !buffer_pack_kf_.empty() )
    {
    // KeyFrame Callback received
    PackKeyFramePtr pack = kf_pack_buffer_.selectPack( _capture->getTimeStamp(), params_->time_tolerance );
    PackKeyFramePtr pack = buffer_pack_kf_.selectPack( _capture->getTimeStamp(), params_->time_tolerance );
    if (pack!=nullptr)
    kf = pack->key_frame;
    kf_pack_buffer_.removeUpTo( _capture->getTimeStamp() );
    buffer_pack_kf_.removeUpTo( _capture->getTimeStamp() );
    assert( kf && "Callback KF is not close enough to _capture!");
    }
    ......
    include/core/processor/processor_base.h
    + 9
    − 9
    View file @ d9e6a131
    ......@@ -40,14 +40,14 @@ WOLF_PTR_TYPEDEFS(PackKeyFrame);
    *
    * Object and functions to manage a buffer of KFPack objects.
    */
    class PackKeyFrameBuffer
    class BufferPackKeyFrame
    {
    public:
    typedef std::map<TimeStamp,PackKeyFramePtr>::iterator Iterator; // buffer iterator
    PackKeyFrameBuffer(void);
    ~PackKeyFrameBuffer(void);
    BufferPackKeyFrame(void);
    ~BufferPackKeyFrame(void);
    /**\brief Select a Pack from the buffer
    *
    ......@@ -142,7 +142,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
    protected:
    unsigned int processor_id_;
    ProcessorParamsBasePtr params_;
    PackKeyFrameBuffer kf_pack_buffer_;
    BufferPackKeyFrame buffer_pack_kf_;
    private:
    SensorBaseWPtr sensor_ptr_;
    ......@@ -282,27 +282,27 @@ inline void ProcessorBase::setTimeTolerance(Scalar _time_tolerance)
    params_->time_tolerance = _time_tolerance;
    }
    inline PackKeyFrameBuffer::PackKeyFrameBuffer(void)
    inline BufferPackKeyFrame::BufferPackKeyFrame(void)
    {
    }
    inline PackKeyFrameBuffer::~PackKeyFrameBuffer(void)
    inline BufferPackKeyFrame::~BufferPackKeyFrame(void)
    {
    }
    inline void PackKeyFrameBuffer::clear()
    inline void BufferPackKeyFrame::clear()
    {
    container_.clear();
    }
    inline bool PackKeyFrameBuffer::empty()
    inline bool BufferPackKeyFrame::empty()
    {
    return container_.empty();
    }
    inline SizeStd PackKeyFrameBuffer::size(void)
    inline SizeStd BufferPackKeyFrame::size(void)
    {
    return container_.size();
    }
    ......
    src/processor/processor_base.cpp
    + 12
    − 12
    View file @ d9e6a131
    ......@@ -54,7 +54,7 @@ void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _
    {
    WOLF_DEBUG("P", isMotion() ? "M " : "T ", getName(), ": KF", _keyframe_ptr->id(), " callback received with ts = ", _keyframe_ptr->getTimeStamp());
    if (_keyframe_ptr != nullptr)
    kf_pack_buffer_.add(_keyframe_ptr,_time_tol_other);
    buffer_pack_kf_.add(_keyframe_ptr,_time_tol_other);
    }
    void ProcessorBase::remove()
    ......@@ -93,25 +93,25 @@ void ProcessorBase::remove()
    }
    /////////////////////////////////////////////////////////////////////////////////////////
    void PackKeyFrameBuffer::removeUpTo(const TimeStamp& _time_stamp)
    void BufferPackKeyFrame::removeUpTo(const TimeStamp& _time_stamp)
    {
    PackKeyFrameBuffer::Iterator post = container_.upper_bound(_time_stamp);
    BufferPackKeyFrame::Iterator post = container_.upper_bound(_time_stamp);
    container_.erase(container_.begin(), post); // erasing by range
    }
    void PackKeyFrameBuffer::add(const FrameBasePtr& _key_frame, const Scalar& _time_tolerance)
    void BufferPackKeyFrame::add(const FrameBasePtr& _key_frame, const Scalar& _time_tolerance)
    {
    TimeStamp time_stamp = _key_frame->getTimeStamp();
    PackKeyFramePtr kfpack = std::make_shared<PackKeyFrame>(_key_frame, _time_tolerance);
    container_.emplace(time_stamp, kfpack);
    }
    PackKeyFramePtr PackKeyFrameBuffer::selectPack(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
    PackKeyFramePtr BufferPackKeyFrame::selectPack(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
    {
    if (container_.empty())
    return nullptr;
    PackKeyFrameBuffer::Iterator post = container_.upper_bound(_time_stamp);
    BufferPackKeyFrame::Iterator post = container_.upper_bound(_time_stamp);
    // remove packs corresponding to removed KFs (keeping the next iterator in post)
    while (post != container_.end() && post->second->key_frame->isRemoving())
    ......@@ -126,7 +126,7 @@ PackKeyFramePtr PackKeyFrameBuffer::selectPack(const TimeStamp& _time_stamp, con
    if (prev_exists)
    {
    PackKeyFrameBuffer::Iterator prev = std::prev(post);
    BufferPackKeyFrame::Iterator prev = std::prev(post);
    bool prev_ok = checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance);
    ......@@ -149,12 +149,12 @@ PackKeyFramePtr PackKeyFrameBuffer::selectPack(const TimeStamp& _time_stamp, con
    return nullptr;
    }
    PackKeyFramePtr PackKeyFrameBuffer::selectPack(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
    PackKeyFramePtr BufferPackKeyFrame::selectPack(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
    {
    return selectPack(_capture->getTimeStamp(), _time_tolerance);
    }
    PackKeyFramePtr PackKeyFrameBuffer::selectFirstPackBefore(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
    PackKeyFramePtr BufferPackKeyFrame::selectFirstPackBefore(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
    {
    // remove packs corresponding to removed KFs
    while (!container_.empty() && container_.begin()->second->key_frame->isRemoving())
    ......@@ -178,12 +178,12 @@ PackKeyFramePtr PackKeyFrameBuffer::selectFirstPackBefore(const TimeStamp& _time
    }
    PackKeyFramePtr PackKeyFrameBuffer::selectFirstPackBefore(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
    PackKeyFramePtr BufferPackKeyFrame::selectFirstPackBefore(const CaptureBasePtr _capture, const Scalar& _time_tolerance)
    {
    return selectFirstPackBefore(_capture->getTimeStamp(), _time_tolerance);
    }
    void PackKeyFrameBuffer::print(void)
    void BufferPackKeyFrame::print(void)
    {
    std::cout << "[ ";
    for (auto iter : container_)
    ......@@ -193,7 +193,7 @@ void PackKeyFrameBuffer::print(void)
    std::cout << "]" << std::endl;
    }
    bool PackKeyFrameBuffer::checkTimeTolerance(const TimeStamp& _time_stamp1, const Scalar& _time_tolerance1,
    bool BufferPackKeyFrame::checkTimeTolerance(const TimeStamp& _time_stamp1, const Scalar& _time_tolerance1,
    const TimeStamp& _time_stamp2, const Scalar& _time_tolerance2)
    {
    Scalar time_diff = std::fabs(_time_stamp1 - _time_stamp2);
    ......
    src/processor/processor_motion.cpp
    + 3
    − 3
    View file @ d9e6a131
    ......@@ -92,7 +92,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
    PackKeyFramePtr pack = computeProcessingStep();
    if (pack)
    kf_pack_buffer_.removeUpTo( pack->key_frame->getTimeStamp() );
    buffer_pack_kf_.removeUpTo( pack->key_frame->getTimeStamp() );
    switch(processing_step_)
    {
    ......@@ -656,11 +656,11 @@ PackKeyFramePtr ProcessorMotion::computeProcessingStep()
    throw std::runtime_error("ProcessorMotion received data before being initialized.");
    }
    PackKeyFramePtr pack = kf_pack_buffer_.selectFirstPackBefore(last_ptr_, params_motion_->time_tolerance);
    PackKeyFramePtr pack = buffer_pack_kf_.selectFirstPackBefore(last_ptr_, params_motion_->time_tolerance);
    if (pack)
    {
    if (kf_pack_buffer_.checkTimeTolerance(pack->key_frame->getTimeStamp(), pack->time_tolerance, origin_ptr_->getTimeStamp(), params_motion_->time_tolerance))
    if (buffer_pack_kf_.checkTimeTolerance(pack->key_frame->getTimeStamp(), pack->time_tolerance, origin_ptr_->getTimeStamp(), params_motion_->time_tolerance))
    {
    WOLF_WARN("||*||");
    WOLF_INFO(" ... It seems you missed something!");
    ......
    src/processor/processor_tracker.cpp
    + 8
    − 8
    View file @ d9e6a131
    ......@@ -52,8 +52,8 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
    {
    case FIRST_TIME_WITH_PACK :
    {
    PackKeyFramePtr pack = kf_pack_buffer_.selectPack( incoming_ptr_, params_tracker_->time_tolerance);
    kf_pack_buffer_.removeUpTo( pack->key_frame->getTimeStamp() );
    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() );
    ......@@ -97,7 +97,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
    case SECOND_TIME_WITH_PACK :
    {
    // No-break case only for debug. Next case will be executed too.
    PackKeyFramePtr pack = kf_pack_buffer_.selectPack( incoming_ptr_, params_tracker_->time_tolerance);
    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() );
    } // @suppress("No break at end of case")
    case SECOND_TIME_WITHOUT_PACK :
    ......@@ -124,8 +124,8 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
    }
    case RUNNING_WITH_PACK :
    {
    PackKeyFramePtr pack = kf_pack_buffer_.selectPack( last_ptr_ , params_tracker_->time_tolerance);
    kf_pack_buffer_.removeUpTo( pack->key_frame->getTimeStamp() );
    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() );
    ......@@ -271,7 +271,7 @@ void ProcessorTracker::computeProcessingStep()
    {
    case FIRST_TIME :
    if (kf_pack_buffer_.selectPack(incoming_ptr_, params_tracker_->time_tolerance))
    if (buffer_pack_kf_.selectPack(incoming_ptr_, params_tracker_->time_tolerance))
    processing_step_ = FIRST_TIME_WITH_PACK;
    else // ! last && ! pack(incoming)
    processing_step_ = FIRST_TIME_WITHOUT_PACK;
    ......@@ -279,7 +279,7 @@ void ProcessorTracker::computeProcessingStep()
    case SECOND_TIME :
    if (kf_pack_buffer_.selectPack(last_ptr_, params_tracker_->time_tolerance))
    if (buffer_pack_kf_.selectPack(last_ptr_, params_tracker_->time_tolerance))
    processing_step_ = SECOND_TIME_WITH_PACK;
    else
    processing_step_ = SECOND_TIME_WITHOUT_PACK;
    ......@@ -288,7 +288,7 @@ void ProcessorTracker::computeProcessingStep()
    case RUNNING :
    default :
    if (kf_pack_buffer_.selectPack(last_ptr_, params_tracker_->time_tolerance))
    if (buffer_pack_kf_.selectPack(last_ptr_, params_tracker_->time_tolerance))
    {
    if (last_ptr_->getFrame()->isKey())
    {
    ......
    test/gtest_pack_KF_buffer.cpp
    + 1
    − 1
    View file @ d9e6a131
    ......@@ -26,7 +26,7 @@ class BufferPackKeyFrameTest : public testing::Test
    {
    public:
    PackKeyFrameBuffer pack_kf_buffer;
    BufferPackKeyFrame pack_kf_buffer;
    FrameBasePtr f10, f20, f21, f28;
    Scalar tt10, tt20, tt21, tt28;
    TimeStamp timestamp;
    ......
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