.gitlab-ci.yml

@@ -88,8 +88,6 @@ license_header:
 build_and_test:bionic:
   stage: build_and_test
   image: labrobotica/wolf_deps:18.04
-  except:
-    - master
   script:
     - *build_and_test_definition
 
@@ -97,8 +95,6 @@ build_and_test:bionic:
 build_and_test:focal:
   stage: build_and_test
   image: labrobotica/wolf_deps:20.04
-  except:
-    - master
   script:
     - *build_and_test_definition
 

demos/hello_wolf/hello_wolf_autoconf.cpp

@@ -138,8 +138,8 @@ int main()
     SolverManagerPtr ceres = FactorySolver::create("SolverCeres", problem, server);
 
     // recover sensor pointers and other stuff for later use (access by sensor name)
-    SensorBasePtr sensor_odo    = problem->getSensor("sen odom");
-    SensorBasePtr sensor_rb     = problem->getSensor("sen rb");
+    SensorBasePtr sensor_odo    = problem->findSensor("sen odom");
+    SensorBasePtr sensor_rb     = problem->findSensor("sen rb");
 
     // APPLY PRIOR and SET PROCESSOR ODOM ORIGIN ===================================================
     TimeStamp     t(0.0);

include/core/problem/problem.h

@@ -151,7 +151,11 @@ class Problem : public std::enable_shared_from_this<Problem>
         /** \brief get a sensor pointer by its name
          * \param _sensor_name The sensor name, as it was installed with installSensor()
          */
-        SensorBasePtr getSensor(const std::string& _sensor_name) const;
+        SensorBasePtr findSensor(const std::string& _sensor_name) const;
+        /** \brief get a processor pointer by its name
+         * \param _processor_name The processor name, as it was installed with installProcessor()
+         */
+        ProcessorBasePtr findProcessor(const std::string& _processor_name) const;
 
         /** \brief Factory method to install (create, and add to sensor) processors only from its properties
          *

include/core/processor/track_matrix.h

@@ -119,6 +119,8 @@ class TrackMatrix
         FeatureBasePtr  feature     (const SizeStd& _track_id, CaptureBasePtr _cap) const;
         CaptureBasePtr  firstCapture(const SizeStd& _track_id) const;
 
+        list<size_t>    trackIds() const;
+
         // tracks across captures that belong to keyframe
         Track           trackAtKeyframes(size_t _track_id) const;
 

src/problem/problem.cpp

@@ -300,7 +300,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
                                            const std::string& _corresponding_sensor_name, //
                                            const std::string& _params_filename)
 {
-    SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
+    SensorBasePtr sen_ptr = findSensor(_corresponding_sensor_name);
     if (sen_ptr == nullptr)
         throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, it must match in sensor and processor!");
     if (_params_filename == "")
@@ -318,7 +318,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
                                            const std::string& _corresponding_sensor_name, //
                                            const ParamsServer& _server)
 {
-    SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
+    SensorBasePtr sen_ptr = findSensor(_corresponding_sensor_name);
     if (sen_ptr == nullptr)
         throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, it must match in sensor and processor!");
 
@@ -335,7 +335,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
     return prc_ptr;
 }
 
-SensorBasePtr Problem::getSensor(const std::string& _sensor_name) const
+SensorBasePtr Problem::findSensor(const std::string& _sensor_name) const
 {
     auto sen_it = std::find_if(getHardware()->getSensorList().begin(),
                                getHardware()->getSensorList().end(),
@@ -350,6 +350,16 @@ SensorBasePtr Problem::getSensor(const std::string& _sensor_name) const
     return (*sen_it);
 }
 
+ProcessorBasePtr Problem::findProcessor(const std::string& _processor_name) const
+{
+    for (const auto& sensor : getHardware()->getSensorList())
+        for (const auto& processor : sensor->getProcessorList())
+            if (processor->getName() == _processor_name)
+                return processor;
+    return nullptr;
+}
+
+
 FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp, //
                                       const StateStructure& _frame_structure, //
                                       const SizeEigen _dim, //

src/processor/track_matrix.cpp

@@ -244,4 +244,14 @@ Track TrackMatrix::trackAtKeyframes(size_t _track_id) const
         return Track();
 }
 
+list<size_t> TrackMatrix::trackIds() const
+{
+    list<size_t> track_ids;
+    for (auto track : tracks_)
+    {
+        track_ids.push_back(track.first);
+    }
+    return track_ids;
+}
+
 }

test/gtest_tree_manager_sliding_window_dual_rate.cpp

@@ -1050,11 +1050,11 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowWithProcessor)
     TimeStamp t(0.0);
     double dt = 1;
     CaptureMotionPtr capture = std::make_shared<CaptureOdom3d>(t,
-                                                               problem->getSensor("odom"),
+                                                               problem->findSensor("odom"),
                                                                data,
                                                                data_cov);
     CaptureMotionPtr capture_bl = std::make_shared<CaptureOdom3d>(t,
-                                                                  problem_bl->getSensor("odom"),
+                                                                  problem_bl->findSensor("odom"),
                                                                   data,
                                                                   data_cov);