From 89a5da69acb9b4389f4d53b4b88c5c2f3ade833d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Fri, 9 Mar 2018 12:45:10 +0100 Subject: [PATCH] Make keyFrameCallback return void --- src/hello_wolf/processor_range_bearing.cpp | 4 ++-- src/hello_wolf/processor_range_bearing.h | 2 +- src/processor_base.h | 2 +- src/processor_capture_holder.cpp | 8 ++++---- src/processor_capture_holder.h | 4 ++-- src/processor_loopclosure_base.cpp | 4 ++-- src/processor_loopclosure_base.h | 4 ++-- src/processor_tracker.h | 2 -- 8 files changed, 14 insertions(+), 16 deletions(-) diff --git a/src/hello_wolf/processor_range_bearing.cpp b/src/hello_wolf/processor_range_bearing.cpp index 3991741d5..cb17c8a8a 100644 --- a/src/hello_wolf/processor_range_bearing.cpp +++ b/src/hello_wolf/processor_range_bearing.cpp @@ -149,9 +149,9 @@ Eigen::Vector2s ProcessorRangeBearing::polar(const Eigen::Vector2s& rect) const return polar; } -bool ProcessorRangeBearing::keyFrameCallback(FrameBasePtr _key_frame, const Scalar& _time_tolerance) +void ProcessorRangeBearing::keyFrameCallback(FrameBasePtr _key_frame, const Scalar& _time_tolerance) { - return true; + // } Eigen::Vector2s ProcessorRangeBearing::rect(Scalar range, Scalar bearing) const diff --git a/src/hello_wolf/processor_range_bearing.h b/src/hello_wolf/processor_range_bearing.h index d21f59052..0706bc145 100644 --- a/src/hello_wolf/processor_range_bearing.h +++ b/src/hello_wolf/processor_range_bearing.h @@ -45,7 +45,7 @@ class ProcessorRangeBearing : public ProcessorBase // Implementation of pure virtuals from ProcessorBase virtual void process (CaptureBasePtr _capture) override; virtual bool voteForKeyFrame () override {return false;} - virtual bool keyFrameCallback (FrameBasePtr _key_frame, const Scalar& _time_tolerance) ; + virtual void keyFrameCallback (FrameBasePtr _key_frame, const Scalar& _time_tolerance) override; // landmark observation models -- they would be better off in a separate library e.g. range_bearing_tools.h Eigen::Vector2s observe (const Eigen::Vector2s& lmk_w) const; diff --git a/src/processor_base.h b/src/processor_base.h index 0d10721f9..c8b6f7381 100644 --- a/src/processor_base.h +++ b/src/processor_base.h @@ -164,7 +164,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce */ FrameBasePtr emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state); - void keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other); + virtual void keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other); SensorBasePtr getSensorPtr(); const SensorBasePtr getSensorPtr() const; diff --git a/src/processor_capture_holder.cpp b/src/processor_capture_holder.cpp index 299b14cf8..cc34d1d2f 100644 --- a/src/processor_capture_holder.cpp +++ b/src/processor_capture_holder.cpp @@ -22,7 +22,7 @@ void ProcessorCaptureHolder::process(CaptureBasePtr _capture_ptr) buffer_.push_back(_capture_ptr); } -bool ProcessorCaptureHolder::keyFrameCallback(FrameBasePtr _keyframe_ptr, +void ProcessorCaptureHolder::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) { assert(_keyframe_ptr->getTrajectoryPtr() != nullptr @@ -37,7 +37,7 @@ bool ProcessorCaptureHolder::keyFrameCallback(FrameBasePtr _keyframe_ptr, if (existing_capture == nullptr) { WOLF_WARN("Could not find a capture at ts : ", new_ts.get()); - return false; + return; } WOLF_DEBUG("ProcessorCaptureHolder::keyFrameCallback", _time_tolerance); @@ -63,7 +63,7 @@ bool ProcessorCaptureHolder::keyFrameCallback(FrameBasePtr _keyframe_ptr, // Remove as we don't want duplicates buffer_.remove(existing_capture); - return true; + return; } else { @@ -71,7 +71,7 @@ bool ProcessorCaptureHolder::keyFrameCallback(FrameBasePtr _keyframe_ptr, std::abs(new_ts - existing_capture->getTimeStamp()), " vs ", _time_tolerance); - return false; + return; } } diff --git a/src/processor_capture_holder.h b/src/processor_capture_holder.h index def286719..43eeab833 100644 --- a/src/processor_capture_holder.h +++ b/src/processor_capture_holder.h @@ -47,8 +47,8 @@ public: */ virtual bool voteForKeyFrame() override { return false; } - virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, - const Scalar& _time_tolerance) ; + virtual void keyFrameCallback(FrameBasePtr _keyframe_ptr, + const Scalar& _time_tolerance) override; /** * \brief Finds the capture that contains the closest previous motion of _ts diff --git a/src/processor_loopclosure_base.cpp b/src/processor_loopclosure_base.cpp index 3369b5bc5..ffb3b1c8e 100644 --- a/src/processor_loopclosure_base.cpp +++ b/src/processor_loopclosure_base.cpp @@ -38,10 +38,10 @@ void ProcessorLoopClosureBase::process(CaptureBasePtr _incoming_ptr) } //############################################################################## -bool ProcessorLoopClosureBase::keyFrameCallback(FrameBasePtr /*_keyframe_ptr*/, +void ProcessorLoopClosureBase::keyFrameCallback(FrameBasePtr /*_keyframe_ptr*/, const Scalar& /*_time_tol_other*/) { - return false; + // } }// namespace wolf diff --git a/src/processor_loopclosure_base.h b/src/processor_loopclosure_base.h index 8de42fa59..fa3af48e3 100644 --- a/src/processor_loopclosure_base.h +++ b/src/processor_loopclosure_base.h @@ -56,8 +56,8 @@ public: */ virtual void process(CaptureBasePtr _incoming_ptr) override; - virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, - const Scalar& _time_tol_other) ; + virtual void keyFrameCallback(FrameBasePtr _keyframe_ptr, + const Scalar& _time_tol_other) override ; const std::vector<FrameBasePtr>& getCandidates() const noexcept; diff --git a/src/processor_tracker.h b/src/processor_tracker.h index d8b39bf39..2ed1ae6e4 100644 --- a/src/processor_tracker.h +++ b/src/processor_tracker.h @@ -100,8 +100,6 @@ class ProcessorTracker : public ProcessorBase void setMaxNewFeatures(const unsigned int& _max_new_features); unsigned int getMaxNewFeatures(); -// virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other); - bool checkTimeTolerance(const TimeStamp& _ts1, const TimeStamp& _ts2); bool checkTimeTolerance(const CaptureBasePtr _cap, const TimeStamp& _ts); bool checkTimeTolerance(const FrameBasePtr _frm, const TimeStamp& _ts); -- GitLab