From 2350ca94431238f6a98bfb333d3cc63d9ce32c83 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Mon, 19 Feb 2018 19:12:02 +0100
Subject: [PATCH] Fix wrong incoming pointer and evaluation logic
---
src/processor_base.cpp | 17 ++++++++++++++---
src/processor_tracker.cpp | 4 ++--
2 files changed, 16 insertions(+), 5 deletions(-)
diff --git a/src/processor_base.cpp b/src/processor_base.cpp
index 18701229d..a7b02955e 100644
--- a/src/processor_base.cpp
+++ b/src/processor_base.cpp
@@ -92,14 +92,25 @@ KFPackPtr KFPackBuffer::selectPack(const TimeStamp& _time_stamp, const Scalar& _
KFPackBuffer::Iterator post = container_.upper_bound(_time_stamp);
KFPackBuffer::Iterator prev = container_.end();
+ if (container_.empty())
+ return nullptr;
+
+ bool check_post = (post != container_.end());
+
if (post != container_.begin())
{
prev = std::prev(post);
- if (!checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance) && checkTimeTolerance(post->first, post->second->time_tolerance, _time_stamp, _time_tolerance))
+ if (!checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance)
+ && check_post
+ && checkTimeTolerance(post->first, post->second->time_tolerance, _time_stamp, _time_tolerance))
return post->second;
- else if (checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance) && !checkTimeTolerance(post->first, post->second->time_tolerance, _time_stamp, _time_tolerance))
+ else if (checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance)
+ && check_post
+ && !checkTimeTolerance(post->first, post->second->time_tolerance, _time_stamp, _time_tolerance))
return prev->second;
- else if (checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance) && checkTimeTolerance(post->first, post->second->time_tolerance, _time_stamp, _time_tolerance))
+ else if (checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance)
+ && check_post
+ && checkTimeTolerance(post->first, post->second->time_tolerance, _time_stamp, _time_tolerance))
{
if (std::fabs((*post).first - _time_stamp) < std::fabs((*prev).first - _time_stamp))
return post->second;
diff --git a/src/processor_tracker.cpp b/src/processor_tracker.cpp
index e1d6c240c..2f1486dab 100644
--- a/src/processor_tracker.cpp
+++ b/src/processor_tracker.cpp
@@ -52,11 +52,11 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
}
// Select using incoming_ptr
- pack = kf_pack_buffer_.selectPack( incoming_ptr_->getTimeStamp(), time_tolerance_ );
+ pack = kf_pack_buffer_.selectPack( _incoming_ptr->getTimeStamp(), time_tolerance_ );
if (pack!=nullptr)
{
keyFrameCallback(pack->key_frame,pack->time_tolerance);
- kf_pack_buffer_.removeUpTo( incoming_ptr_->getTimeStamp() );
+ kf_pack_buffer_.removeUpTo( _incoming_ptr->getTimeStamp() );
}
}
--
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