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Commit 96659059 authored by Andreu Corominas-Murtra's avatar Andreu Corominas-Murtra
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Old commented lines removed

parent 758a86dc
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...@@ -64,7 +64,6 @@ unsigned int ProcessorTrackerFeatureCorner::trackFeatures(const FeatureBaseList& ...@@ -64,7 +64,6 @@ unsigned int ProcessorTrackerFeatureCorner::trackFeatures(const FeatureBaseList&
if (((*feat_out_it)->getMeasurement().head<3>() - expected_feature_pose).squaredNorm() > position_error_th_*position_error_th_) if (((*feat_out_it)->getMeasurement().head<3>() - expected_feature_pose).squaredNorm() > position_error_th_*position_error_th_)
{ {
// match // match
//_feature_correspondences[*feat_out_it] = FeatureMatch({feat_in_ptr,0});
_feature_correspondences[*feat_out_it] = std::make_shared<FeatureMatch>(FeatureMatch({feat_in_ptr,0})); _feature_correspondences[*feat_out_it] = std::make_shared<FeatureMatch>(FeatureMatch({feat_in_ptr,0}));
// move matched feature to list // move matched feature to list
......
...@@ -29,8 +29,6 @@ unsigned int ProcessorTrackerFeatureDummy::trackFeatures(const FeatureBaseList& ...@@ -29,8 +29,6 @@ unsigned int ProcessorTrackerFeatureDummy::trackFeatures(const FeatureBaseList&
else else
{ {
_feature_list_out.push_back(std::make_shared<FeatureBase>(FEATURE_POINT_IMAGE, "POINT IMAGE", feat_in_ptr->getMeasurement(), feat_in_ptr->getMeasurementCovariance())); _feature_list_out.push_back(std::make_shared<FeatureBase>(FEATURE_POINT_IMAGE, "POINT IMAGE", feat_in_ptr->getMeasurement(), feat_in_ptr->getMeasurementCovariance()));
//_feature_correspondences[_feature_list_out.back()] = FeatureMatch({feat_in_ptr,0});
//_feature_correspondences[_feature_list_out.back()] = std::make_shared<FeatureMatch>({feat_in_ptr,0});
_feature_correspondences[_feature_list_out.back()] = std::make_shared<FeatureMatch>(FeatureMatch({feat_in_ptr,0})); _feature_correspondences[_feature_list_out.back()] = std::make_shared<FeatureMatch>(FeatureMatch({feat_in_ptr,0}));
std::cout << "feature " << feat_in_ptr->getMeasurement() << " tracked!" << std::endl; std::cout << "feature " << feat_in_ptr->getMeasurement() << " tracked!" << std::endl;
} }
......
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