From 0a14c092d7b9d5d1b673afa77bd99a446e7b620f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 18 Dec 2020 17:46:47 +0100
Subject: [PATCH] Remove FrameBase::createNonKeyFrame
---
src/processor/processor_tracker.cpp | 18 +++++++++---------
1 file changed, 9 insertions(+), 9 deletions(-)
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 9dca45d7d..e1d2e1c26 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -151,9 +151,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
last_old_frame->remove();
// Create new frame
- FrameBasePtr frm = FrameBase::createNonKeyFrame<FrameBase>(incoming_ptr_->getTimeStamp(),
- getProblem()->getFrameStructure(),
- getProblem()->getState());
+ FrameBasePtr frm = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(),
+ getProblem()->getFrameStructure(),
+ getProblem()->getState());
incoming_ptr_->link(frm);
// Detect new Features, initialize Landmarks, create Factors, ...
@@ -203,9 +203,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
resetDerived();
// make F; append incoming to new F
- FrameBasePtr frm = FrameBase::createNonKeyFrame<FrameBase>(incoming_ptr_->getTimeStamp(),
- getProblem()->getFrameStructure(),
- last_ptr_->getFrame()->getState());
+ FrameBasePtr frm = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(),
+ getProblem()->getFrameStructure(),
+ last_ptr_->getFrame()->getState());
incoming_ptr_->link(frm);
origin_ptr_ = last_ptr_;
last_ptr_ = incoming_ptr_;
@@ -221,9 +221,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
advanceDerived();
// Replace last frame for a new one in incoming
- FrameBasePtr frm = FrameBase::createNonKeyFrame<FrameBase>(incoming_ptr_->getTimeStamp(),
- getProblem()->getFrameStructure(),
- last_ptr_->getFrame()->getState());
+ FrameBasePtr frm = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(),
+ getProblem()->getFrameStructure(),
+ last_ptr_->getFrame()->getState());
incoming_ptr_->link(frm);
last_ptr_->getFrame()->remove(); // implicitly calling last_ptr_->remove();
--
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