adapted tests

test/gtest_odom_2D.cpp

@@ -408,8 +408,8 @@ TEST(Odom2D, KF_callback)
     processor_odom2d->keyFrameCallback(keyframe_2, dt/2);
     ASSERT_TRUE(problem->check(0));
     t += dt;
-    capture->setTimeStamp(t);
-    processor_odom2d->process(capture);
+    capture = std::make_shared<CaptureMotion>("ODOM 2D", t, sensor_odom2d, data, data_cov, 3, 3, nullptr);
+    sensor_odom2d->process(capture);
     ASSERT_TRUE(problem->check(0));
 
     CaptureMotionPtr key_capture_n = std::static_pointer_cast<CaptureMotion>(keyframe_2->getCaptureList().front());
@@ -440,8 +440,8 @@ TEST(Odom2D, KF_callback)
     processor_odom2d->keyFrameCallback(keyframe_1, dt/2);
     ASSERT_TRUE(problem->check(0));
     t += dt;
-    capture->setTimeStamp(t);
-    processor_odom2d->process(capture);
+    capture = std::make_shared<CaptureMotion>("ODOM 2D", t, sensor_odom2d, data, data_cov, 3, 3, nullptr);
+    sensor_odom2d->process(capture);
     ASSERT_TRUE(problem->check(0));
 
     CaptureMotionPtr key_capture_m = std::static_pointer_cast<CaptureMotion>(keyframe_1->getCaptureList().front());

test/gtest_processor_base.cpp

@@ -65,7 +65,7 @@ TEST(ProcessorBase, KeyFrameCallback)
 
     // Track
     CaptureVoidPtr capt_trk(make_shared<CaptureVoid>(t, sens_trk));
-    proc_trk->process(capt_trk);
+    proc_trk->captureCallback(capt_trk);
 
     for (size_t ii=0; ii<10; ii++ )
     {
@@ -74,11 +74,11 @@ TEST(ProcessorBase, KeyFrameCallback)
         WOLF_INFO("----------------------- ts: ", t , " --------------------------");
 
         capt_odo->setTimeStamp(t);
-        proc_odo->process(capt_odo);
+        proc_odo->captureCallback(capt_odo);
 
         // Track
         capt_trk = make_shared<CaptureVoid>(t, sens_trk);
-        proc_trk->process(capt_trk);
+        proc_trk->captureCallback(capt_trk);
 
 //        problem->print(4,1,1,0);
 

test/gtest_processor_loopclosure.cpp

@@ -29,17 +29,19 @@ public:
     std::pair<FrameBasePtr,CaptureBasePtr> public_selectPairKC(){ return selectPairKC();};
 
 protected:
-    bool voteComputeFeatures()                  { return true;};
-    bool voteSearchLoopClosure()                { return true;};
-    bool detectFeatures(CaptureBasePtr cap)     { return true;};
-    CaptureBasePtr findLoopCandidate(CaptureBasePtr _capture)   {
-        for (FrameBasePtr kf : getProblem()->getTrajectory()->getFrameList()) {
-            if (kf->isKey()) {
-                for (CaptureBasePtr cap : kf->getCaptureList()) {
-                    return cap; }
-        };} return nullptr;
+    virtual bool voteComputeFeatures()                  { return true;};
+    virtual bool voteSearchLoopClosure()                { return true;};
+    virtual bool detectFeatures(CaptureBasePtr cap)     { return true;};
+    virtual CaptureBasePtr findLoopCandidate(CaptureBasePtr _capture)
+    {
+        for (FrameBasePtr kf : getProblem()->getTrajectory()->getFrameList())
+            if (kf->isKey())
+                for (CaptureBasePtr cap : kf->getCaptureList())
+                    if (cap != _capture)
+                        return cap;
+        return nullptr;
     };
-    void emplaceFactors(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) {
+    virtual void emplaceFactors(CaptureBasePtr _capture_1, CaptureBasePtr _capture_2) {
         std::cout << "factor created\n";
         *factor_created = true;
     };
@@ -79,16 +81,16 @@ TEST(ProcessorLoopClosure, installProcessor)
     Matrix3s    P = Matrix3s::Identity() * 0.1;
     problem->setPrior(x, P, t, dt/2);             // KF1
 
+
     // new KF
     t += dt;
-    FrameBasePtr kf = problem->emplaceFrame(KEY, x, t); //KF2
-    proc_lc->keyFrameCallback(kf, dt/2);
-
-    // new capture
-    CaptureVoidPtr capt_lc(make_shared<CaptureVoid>(t, sens_lc));
+    auto kf = problem->emplaceFrame(KEY, x, t); //KF2
+    // emplace a capture in KF
+    auto capt_lc = CaptureBase::emplace<CaptureVoid>(kf, t, sens_lc);
     proc_lc->captureCallback(capt_lc);
 
-    proc_lc->process(capt_lc);
+    // callback KF
+    proc_lc->keyFrameCallback(kf, dt/2);
 
     ASSERT_TRUE(factor_created);
 }

test/gtest_processor_motion.cpp

@@ -80,7 +80,7 @@ TEST_F(ProcessorMotion_test, IntegrateStraight)
         capture->setTimeStamp(t);
         capture->setData(data);
         capture->setDataCovariance(data_cov);
-        processor->process(capture);
+        processor->captureCallback(capture);
         WOLF_DEBUG("t: ", t, "  x: ", problem->getCurrentState().transpose());
     }
 
@@ -99,7 +99,7 @@ TEST_F(ProcessorMotion_test, IntegrateCircle)
         capture->setTimeStamp(t);
         capture->setData(data);
         capture->setDataCovariance(data_cov);
-        processor->process(capture);
+        processor->captureCallback(capture);
         WOLF_DEBUG("t: ", t, "  x: ", problem->getCurrentState().transpose());
     }
 
@@ -120,7 +120,7 @@ TEST_F(ProcessorMotion_test, Interpolate)
         capture->setTimeStamp(t);
         capture->setData(data);
         capture->setDataCovariance(data_cov);
-        processor->process(capture);
+        processor->captureCallback(capture);
         motions.push_back(processor->getMotion(t));
         WOLF_DEBUG("t: ", t, "  x: ", problem->getCurrentState().transpose());
     }