From 10640b9e30b18625409a1810e241c480103abf79 Mon Sep 17 00:00:00 2001
From: PierreGtch <pierre.guetschel@gmail.com>
Date: Fri, 31 May 2019 14:55:53 +0200
Subject: [PATCH] Add captureCallback and a BufferCapture to ProcessorBase
---
include/core/processor/processor_base.h | 2 ++
src/processor/processor_base.cpp | 7 +++++++
2 files changed, 9 insertions(+)
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 8eb84a854..602c5dfc6 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -191,6 +191,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
unsigned int processor_id_;
ProcessorParamsBasePtr params_;
PackKeyFrameBuffer kf_pack_buffer_;
+ BufferCapture buffer_capture_;
private:
SensorBaseWPtr sensor_ptr_;
@@ -249,6 +250,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
FrameBasePtr emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state);
virtual void keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other);
+ virtual void captureCallback(CaptureBasePtr _capture_ptr);
SensorBasePtr getSensor();
const SensorBasePtr getSensor() const;
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index a06dd5e87..d7c7d8d8f 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -57,6 +57,13 @@ void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _
kf_pack_buffer_.add(_keyframe_ptr,_time_tol_other);
}
+void ProcessorBase::captureCallback(CaptureBasePtr _capture_ptr)
+{
+ WOLF_DEBUG("P", isMotion() ? "M " : "T ", getName(), ": Capture", _capture_ptr->id(), " callback received with ts = ", _capture_ptr->getTimeStamp());
+ if (_capture_ptr != nullptr)
+ buffer_capture_.add(_capture_ptr, _capture_ptr->getTimeStamp());
+}
+
void ProcessorBase::remove()
{
if (!is_removing_)
--
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