From 494ad174baa5b6d3e670978f2e91824479bccc3c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 9 Aug 2022 10:33:47 +0200
Subject: [PATCH] remove commented code
---
src/processor/processor_motion.cpp | 19 ++-----------------
1 file changed, 2 insertions(+), 17 deletions(-)
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 4a798a037..53f6f7158 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -119,9 +119,6 @@ void ProcessorMotion::mergeCaptures(CaptureMotionPtr cap_prev,
// emplace new feature and factor (if origin has frame)
if (cap_prev->getOriginCapture() and cap_prev->getOriginCapture()->getFrame())
{
- // auto new_feature = emplaceFeature(cap_target);
- // emplaceFactor(new_feature, cap_prev->getOriginCapture());
-
emplaceFeaturesAndFactors(cap_prev->getOriginCapture(), cap_target);
}
}
@@ -315,11 +312,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
splitBuffer(capture_existing, timestamp_from_callback, capture_for_keyframe_callback);
// // create motion feature and add it to the capture
- // auto feature_new = emplaceFeature(capture_for_keyframe_callback);
-
// // create motion factor and add it to the feature, and constrain to the other capture (origin)
- // emplaceFactor(feature_new, capture_origin );
-
emplaceFeaturesAndFactors(capture_origin, capture_for_keyframe_callback);
// modify existing feature and factor (if they exist in the existing capture)
@@ -330,10 +323,6 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
assert(capture_existing->getFeatureList().empty());// there was only one feature!
- // auto new_feature_existing = emplaceFeature(capture_existing);
-
- // emplaceFactor(new_feature_existing, capture_for_keyframe_callback);
-
emplaceFeaturesAndFactors(capture_for_keyframe_callback, capture_existing);
}
@@ -411,12 +400,8 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
// and give the part of the buffer before the new keyframe to the capture for the KF callback
splitBuffer(capture_existing, timestamp_from_callback, capture_for_keyframe_callback);
- // // create motion feature and add it to the capture
- // auto feature_for_keyframe_callback = emplaceFeature(capture_for_keyframe_callback);
-
- // // create motion factor and add it to the feature, and constrain to the other capture (origin)
- // emplaceFactor(feature_for_keyframe_callback, capture_origin );
-
+ // create motion feature and add it to the capture
+ // create motion factor and add it to the feature, and constrain to the other capture (origin)
emplaceFeaturesAndFactors(capture_origin, capture_for_keyframe_callback);
// reset processor origin
--
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