From 52f297678688a718e71ef20e5f261b4cab2cd012 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 27 Jun 2022 00:25:44 +0200
Subject: [PATCH] Advance this just before pointers
---
src/processor/processor_tracker.cpp | 20 ++++++++++++--------
1 file changed, 12 insertions(+), 8 deletions(-)
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index b0e08b4b5..623066614 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -90,8 +90,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// TrackerLandmark: If we have been given a map, all landmarks in the map are known. Process them.
processKnown();
- // Update pointers
+ // Reset this
resetDerived();
+ // Update pointers
origin_ptr_ = incoming_ptr_;
last_ptr_ = incoming_ptr_;
incoming_ptr_ = nullptr;
@@ -119,8 +120,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// Issue KF callback with new KF
getProblem()->keyFrameCallback(keyframe, shared_from_this());
- // Update pointers
+ // Reset this
resetDerived();
+ // Update pointers
origin_ptr_ = incoming_ptr_;
last_ptr_ = incoming_ptr_;
incoming_ptr_ = nullptr;
@@ -163,8 +165,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// Establish factors
establishFactors();
- // Update pointers
+ // Reset this
resetDerived();
+ // Update pointers
origin_ptr_ = last_ptr_;
last_ptr_ = incoming_ptr_;
last_frame_ptr_ = keyframe;
@@ -199,8 +202,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// Establish factors
establishFactors();
- // Update pointers
+ // Reset this
resetDerived();
+ // Update pointers
origin_ptr_ = last_ptr_;
last_ptr_ = incoming_ptr_;
last_frame_ptr_ = frame;
@@ -237,8 +241,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
getProblem()->getState(incoming_ptr_->getTimeStamp()));
incoming_ptr_ ->link(frame);
- // Update pointers
+ // Reset this
resetDerived();
+ // Update pointers
origin_ptr_ = last_ptr_;
last_ptr_ = incoming_ptr_;
last_frame_ptr_ = frame;
@@ -249,9 +254,6 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
{
// We do not create a KF
- // Advance this
- advanceDerived();
-
// Replace last frame for a new NON KEY frame in incoming
FrameBasePtr frame = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(),
getProblem()->getFrameStructure(),
@@ -259,6 +261,8 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
incoming_ptr_->link(frame);
last_ptr_->unlink(); // unlink last (destroying the frame) instead of frame destruction that would implicitly destroy last
+ // Advance this
+ advanceDerived();
// Update pointers
last_ptr_ = incoming_ptr_;
last_frame_ptr_ = frame;
--
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