From 8c21f47296deaab3635c8e4f72a9235cbfa87f22 Mon Sep 17 00:00:00 2001
From: PierreGtch <pierre.guetschel@gmail.com>
Date: Thu, 6 Jun 2019 14:48:28 +0200
Subject: [PATCH] Rename addCapture() to computeFeatures() in
ProcessLoopClosureBase2
---
include/core/processor/processor_loopclosure_base2.h | 9 ++++++---
src/processor/processor_loopclosure_base2.cpp | 2 +-
2 files changed, 7 insertions(+), 4 deletions(-)
diff --git a/include/core/processor/processor_loopclosure_base2.h b/include/core/processor/processor_loopclosure_base2.h
index d3bb452d5..e8557edeb 100644
--- a/include/core/processor/processor_loopclosure_base2.h
+++ b/include/core/processor/processor_loopclosure_base2.h
@@ -22,7 +22,7 @@ struct ProcessorParamsLoopClosure2 : public ProcessorParamsBase
* This is an abstract class.
* + You must define the following classes :
* - voteProcessLoopClosure()
- * - addCapture()
+ * - computeFeatures()
* - findLoopCandidate()
* - createFactors()
* + You can override the following classes :
@@ -72,7 +72,7 @@ protected:
* this method is called in process() if voteProcessLoopClosure retruns true
* this method uses :
* - selectPairKC()
- * - addCapture()
+ * - computeFeatures()
* - findLoopCandidate()
* - validateLoop()
* - createFactors()
@@ -91,8 +91,11 @@ protected:
*
* If the loop closure process requires features associated to each capture,
* the computations to create thies featrues must be done here
+ *
+ * In this method you should add the capture to the keyframe if necessary
+ * and add the features to the capture
*/
- virtual void addCapture(std::pair<FrameBasePtr,CaptureBasePtr>) = 0;
+ virtual void computeFeatures(std::pair<FrameBasePtr,CaptureBasePtr>) = 0;
/** \brief Find a KF that would be a good candidate to close a loop
* if validateLoop is not overwritten, a loop will be closed with the returned candidate
diff --git a/src/processor/processor_loopclosure_base2.cpp b/src/processor/processor_loopclosure_base2.cpp
index f6f0848ad..100a55ccb 100644
--- a/src/processor/processor_loopclosure_base2.cpp
+++ b/src/processor/processor_loopclosure_base2.cpp
@@ -38,7 +38,7 @@ void ProcessorLoopClosureBase2::processLoopClosure()
std::pair<FrameBasePtr,CaptureBasePtr> pairKC = selectPairKC();
if (pairKC.first==nullptr || pairKC.second==nullptr)
return;
- addCapture(pairKC);
+ computeFeatures(pairKC);
FrameBasePtr key_frame_1 = pairKC.first;
FrameBasePtr key_frame_2 = findLoopCandidate(key_frame_1);
if (key_frame_2==nullptr)
--
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