From 627ae03d0df840c4a5ef2704aa027dc5892b47d5 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Tue, 16 Jun 2020 16:26:13 +0200
Subject: [PATCH] Remove frame atributes w/o breaking tests
Remove as many XXX_frame_ptr_ as possible without
breaking the gtests
---
include/core/processor/processor_motion.h | 3 +--
include/core/processor/processor_tracker.h | 2 --
src/processor/processor_motion.cpp | 6 ++----
src/processor/processor_tracker.cpp | 22 ++++------------------
4 files changed, 7 insertions(+), 26 deletions(-)
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 3f9d53f96..12d43a1b5 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -485,9 +485,8 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
CaptureMotionPtr last_ptr_;
CaptureMotionPtr incoming_ptr_;
- FrameBasePtr origin_frame_ptr_;
FrameBasePtr last_frame_ptr_;
- FrameBasePtr incoming_frame_ptr_;
+ FrameBasePtr origin_frame_ptr_;
protected:
// helpers to avoid allocation
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index fdc8da6b8..1a0539731 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -101,9 +101,7 @@ class ProcessorTracker : public ProcessorBase
CaptureBasePtr origin_ptr_; ///< Pointer to the origin of the tracker.
CaptureBasePtr last_ptr_; ///< Pointer to the last tracked capture.
CaptureBasePtr incoming_ptr_; ///< Pointer to the incoming capture being processed.
- FrameBasePtr origin_frame_ptr_;
FrameBasePtr last_frame_ptr_;
- FrameBasePtr incoming_frame_ptr_;
FeatureBasePtrList new_features_last_; ///< List of new features in \b last for landmark initialization and new key-frame creation.
FeatureBasePtrList new_features_incoming_; ///< list of the new features of \b last successfully tracked in \b incoming
FeatureBasePtrList known_features_last_; ///< list of the known features in previous captures successfully tracked in \b last
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index c828ab93f..ed2279577 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -33,10 +33,9 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
origin_ptr_(),
last_ptr_(),
incoming_ptr_(),
- origin_frame_ptr_(),
last_frame_ptr_(),
- incoming_frame_ptr_(),
- dt_(0.0),
+ origin_frame_ptr_(),
+ dt_(0.0),
x_(_state_size),
delta_(_delta_size),
delta_cov_(_delta_cov_size, _delta_cov_size),
@@ -390,7 +389,6 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
// clear incoming just in case
incoming_ptr_ = nullptr; // This line is not really needed, but it makes things clearer.
- incoming_frame_ptr_ = nullptr;
postProcess();
}
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 4e777ec5b..a3b00d916 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -24,9 +24,7 @@ ProcessorTracker::ProcessorTracker(const std::string& _type,
origin_ptr_(nullptr),
last_ptr_(nullptr),
incoming_ptr_(nullptr),
- origin_frame_ptr_(nullptr),
last_frame_ptr_(nullptr),
- incoming_frame_ptr_(nullptr),
state_structure_(_structure)
{
//
@@ -120,7 +118,6 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
getProblem()->getFrameStructure(),
getProblem()->getState());
incoming_ptr_->link(frm);
- incoming_frame_ptr_ = frm;
// We have a last_ Capture with no features, so we do not process known features, and we do not vote for KF.
// Process info
@@ -133,11 +130,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// Update pointers
resetDerived();
origin_ptr_ = last_ptr_;
- origin_frame_ptr_ = last_frame_ptr_;
last_ptr_ = incoming_ptr_;
- last_frame_ptr_ = incoming_frame_ptr_;
+ last_frame_ptr_ = frm;
incoming_ptr_ = nullptr;
- incoming_frame_ptr_ = nullptr;
break;
}
@@ -160,7 +155,6 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
getProblem()->getFrameStructure(),
getProblem()->getState());
incoming_ptr_->link(frm);
- incoming_frame_ptr_ = frm;
// Detect new Features, initialize Landmarks, create Factors, ...
processNew(params_tracker_->max_new_features);
@@ -171,11 +165,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// Update pointers
resetDerived();
origin_ptr_ = last_ptr_;
- origin_frame_ptr_ = last_frame_ptr_;
last_ptr_ = incoming_ptr_;
- last_frame_ptr_ = incoming_frame_ptr_;
+ last_frame_ptr_ = frm;
incoming_ptr_ = nullptr;
- incoming_frame_ptr_ = nullptr;
break;
}
@@ -216,14 +208,10 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
getProblem()->getDim(),
last_ptr_->getFrame()->getStateVector());
incoming_ptr_->link(frm);
- incoming_frame_ptr_ = frm;
-
origin_ptr_ = last_ptr_;
- origin_frame_ptr_ = last_frame_ptr_;
last_ptr_ = incoming_ptr_;
- last_frame_ptr_ = incoming_frame_ptr_;
+ last_frame_ptr_ = frm;
incoming_ptr_ = nullptr;
- incoming_frame_ptr_ = nullptr;
}
/* TODO: create an auxiliary frame
@@ -270,14 +258,12 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
getProblem()->getDim(),
last_ptr_->getFrame()->getStateVector());
incoming_ptr_->link(frm);
- incoming_frame_ptr_ = frm;
last_ptr_->getFrame()->remove(); // implicitly calling last_ptr_->remove();
// Update pointers
last_ptr_ = incoming_ptr_;
- last_frame_ptr_ = incoming_frame_ptr_;
+ last_frame_ptr_ = frm;
incoming_ptr_ = nullptr;
- incoming_frame_ptr_ = nullptr;
}
break;
}
--
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