Resolve "using Processor::structure instead of Problem::structure"

Closes #351 (closed)

src/processor/processor_motion.cpp

@@ -8,7 +8,7 @@
 
 
 #include "core/processor/processor_motion.h"
-
+#include "core/state_block/factory_state_block.h"
 
 namespace wolf
 {
@@ -200,7 +200,6 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
             // extract pack elements
             FrameBasePtr keyframe_from_callback = pack->key_frame;
             TimeStamp ts_from_callback          = keyframe_from_callback->getTimeStamp();
-            keyframe_from_callback->setState(getState(ts_from_callback));
 
             // find the capture whose buffer is affected by the new keyframe
             auto capture_existing   = findCaptureContainingTimeStamp(ts_from_callback); // k
@@ -211,6 +210,16 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
                 break;
             }
 
+            // update KF state (adding missing StateBlocks)
+            auto proc_state = getState(ts_from_callback);
+            for (auto pair_ckey_vec : proc_state)
+                if (!keyframe_from_callback->isInStructure(pair_ckey_vec.first))
+                    keyframe_from_callback->addStateBlock(pair_ckey_vec.first,
+                                                          FactoryStateBlock::create(pair_ckey_vec.first,
+                                                                                    pair_ckey_vec.second,
+                                                                                    false));
+            keyframe_from_callback->setState(proc_state);
+
             // Find the capture acting as the buffer's origin
             auto capture_origin     = capture_existing->getOriginCapture();
 
@@ -301,7 +310,16 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
             // extract pack elements
             FrameBasePtr keyframe_from_callback = pack->key_frame;
             TimeStamp ts_from_callback          = keyframe_from_callback->getTimeStamp();
-            keyframe_from_callback->setState(getState(ts_from_callback));
+
+            // update KF state (adding missing StateBlocks)
+            auto proc_state = getState(ts_from_callback);
+            for (auto pair_ckey_vec : proc_state)
+                if (!keyframe_from_callback->isInStructure(pair_ckey_vec.first))
+                    keyframe_from_callback->addStateBlock(pair_ckey_vec.first,
+                                                          FactoryStateBlock::create(pair_ckey_vec.first,
+                                                                                    pair_ckey_vec.second,
+                                                                                    false));
+            keyframe_from_callback->setState(proc_state);
 
             auto & capture_existing = last_ptr_;