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Commit 0a14c092 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Remove FrameBase::createNonKeyFrame

parent a15510c0
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1 merge request!403Resolve "Merge Aux/KeyFrames into Estimated Frames"
Pipeline #6200 passed
......@@ -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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