From 89fa4afb4e6dcb0553d68f836cc00975c891a306 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 4 Jun 2019 16:23:53 +0200
Subject: [PATCH] reset and advance clear list of new features and landmarks
---
src/processor/processor_tracker_landmark.cpp | 39 +++++++++-----------
1 file changed, 17 insertions(+), 22 deletions(-)
diff --git a/src/processor/processor_tracker_landmark.cpp b/src/processor/processor_tracker_landmark.cpp
index eaa929669..18d869706 100644
--- a/src/processor/processor_tracker_landmark.cpp
+++ b/src/processor/processor_tracker_landmark.cpp
@@ -28,28 +28,27 @@ ProcessorTrackerLandmark::~ProcessorTrackerLandmark()
void ProcessorTrackerLandmark::advanceDerived()
{
- for (auto match : matches_landmark_from_last_)
- {
- match.second.reset(); // TODO: Should we just remove the entries? What about match.first?
- }
matches_landmark_from_last_ = std::move(matches_landmark_from_incoming_);
new_features_last_ = std::move(new_features_incoming_);
+
+ matches_landmark_from_incoming_.clear();
+ new_features_incoming_.clear();
+ new_landmarks_.clear();
}
void ProcessorTrackerLandmark::resetDerived()
{
- for (auto match : matches_landmark_from_last_)
- {
- match.second.reset(); // TODO: Should we just remove the entries? What about match.first?
- }
matches_landmark_from_last_ = std::move(matches_landmark_from_incoming_);
new_features_last_ = std::move(new_features_incoming_);
+
+ matches_landmark_from_incoming_.clear();
+ new_features_incoming_.clear();
+ new_landmarks_.clear();
}
unsigned int ProcessorTrackerLandmark::processKnown()
{
- // clear matches list
- matches_landmark_from_incoming_.clear();
+ assert(matches_landmark_from_incoming_.empty());
// Find landmarks in incoming_ptr_
FeatureBasePtrList known_features_list_incoming;
@@ -66,18 +65,14 @@ unsigned int ProcessorTrackerLandmark::processNew(const int& _max_features)
/* Rationale: A keyFrame will be created using the last Capture.
*
* First, we work on this Capture to detect new Features,
- * eventually create Landmarks with them,
- * and in such case create the new Factors feature-landmark.
- * When done, we need to track these new Features to the incoming Capture.
- *
- * At the end, all new Features are appended to the lists of known Features in
- * the last and incoming Captures.
+ * eventually create Landmarks with them.
+ * When done, we need to find these new Landmarks in the incoming Capture.
*/
- // clear new lists
- new_features_last_.clear();
- new_features_incoming_.clear();
- new_landmarks_.clear();
+ // assuming cleared new lists
+ assert(new_features_last_.empty());
+ assert(new_features_incoming_.empty());
+ assert(new_landmarks_.empty());
// We first need to populate the \b last Capture with new Features
unsigned int n = detectNewFeatures(_max_features,
@@ -102,8 +97,8 @@ unsigned int ProcessorTrackerLandmark::processNew(const int& _max_features)
void ProcessorTrackerLandmark::emplaceNewLandmarks()
{
- // First, make sure the list is empty and will only contain new lmks
- new_landmarks_.clear();
+ // assuming empty list
+ assert(new_landmarks_.empty());
// Create a landmark for each new feature in last Capture:
for (auto new_feature_ptr : new_features_last_)
--
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