Resolve "multiple processors per sensor"

Closes #489 (closed)

test/gtest_processor_tracker_two_processors_one_sensor.cpp

@@ -134,41 +134,40 @@ TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_once_one_prc_then_other)
 
     // Process by one processor
     processor_1->captureCallback(capture);
-    problem->print(4,1,1,1);
     auto frame_1 = capture->getFrame();
 
     // Process by the other processor
     processor_2->captureCallback(capture);
-    problem->print(4,1,1,1);
     auto frame_2 = capture->getFrame();
 
+    problem->print(4,1,1,1);
+
+    ASSERT_EQ(problem->getTrajectory()->getFrameMap().size(), 1);
+
     ASSERT_EQ(frame_1, frame_2);
 }
 
 TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_once)
 {
-    // Create a capture 
-    CaptureBasePtr capture = std::make_shared<CaptureVoid>(0, sensor);
-
     // Process by both processors automatically in sequence
+    CaptureBasePtr capture = std::make_shared<CaptureVoid>(0, sensor);
     capture->process();
     problem->print(4,1,1,1);
 
+    ASSERT_EQ(problem->getTrajectory()->getFrameMap().size(), 1);
 }
 
 TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_twice)
 {
-    // Create a capture 
-    CaptureBasePtr capture = std::make_shared<CaptureVoid>(0, sensor);
-
     // Process by both processors automatically in sequence
+
+    CaptureBasePtr capture = std::make_shared<CaptureVoid>(0, sensor);
     capture->process();
-    problem->print(4,1,1,1);
 
     capture = std::make_shared<CaptureVoid>(1, sensor);
     capture->process();
-    problem->print(4,1,1,1);
 
+    problem->print(4,1,1,1);
 }
 
 TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_thrice)
@@ -178,16 +177,14 @@ TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_thrice)
 
     // Process by both processors automatically in sequence
     capture->process();
-    problem->print(4,1,1,1);
 
     capture = std::make_shared<CaptureVoid>(1, sensor);
     capture->process();
-    problem->print(4,1,1,1);
 
     capture = std::make_shared<CaptureVoid>(2, sensor);
     capture->process();
-    problem->print(4,1,1,1);
 
+    problem->print(2,1,1,1);
 }
 
 TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_loop)
@@ -196,7 +193,12 @@ TEST_F(ProcessorTrackerFeatureDummyDoubledTest, process_loop)
     {
         auto capture = std::make_shared<CaptureVoid>(t, sensor);
         capture->process();
-        problem->print(2,1,1,1);
     }
+    problem->print(2,1,1,1);
 }
 
+int main(int argc, char **argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}