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Commit a2ab02a3 authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
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Added default implementations for loopclosure & tracker

parent 1c95d9b5
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1 merge request!329WIP: New processor workflow
...@@ -81,6 +81,18 @@ protected: ...@@ -81,6 +81,18 @@ protected:
*/ */
virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other) override; virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other) override;
/** \brief store key frame
*
* Returns true if the key frame should be stored
*/
virtual bool storeKeyFrame(FrameBasePtr) override;
/** \brief store capture
*
* Returns true if the capture should be stored
*/
virtual bool storeCapture(CaptureBasePtr) override;
/** \brief Called by process(). Tells if computeFeatures() will be called /** \brief Called by process(). Tells if computeFeatures() will be called
*/ */
virtual bool voteComputeFeatures() = 0; virtual bool voteComputeFeatures() = 0;
......
...@@ -144,6 +144,18 @@ class ProcessorTracker : public ProcessorBase ...@@ -144,6 +144,18 @@ class ProcessorTracker : public ProcessorBase
*/ */
virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) override {return false;} virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) override {return false;}
/** \brief store key frame
*
* Returns true if the key frame should be stored
*/
virtual bool storeKeyFrame(FrameBasePtr) override;
/** \brief store capture
*
* Returns true if the capture should be stored
*/
virtual bool storeCapture(CaptureBasePtr) override;
/** Pre-process incoming Capture /** Pre-process incoming Capture
* *
* This is called by process() just after assigning incoming_ptr_ to a valid Capture. * This is called by process() just after assigning incoming_ptr_ to a valid Capture.
......
...@@ -75,6 +75,14 @@ bool ProcessorLoopClosure::triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const S ...@@ -75,6 +75,14 @@ bool ProcessorLoopClosure::triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const S
{ {
return true; return true;
} }
bool ProcessorLoopClosure::storeKeyFrame(FrameBasePtr _frame_ptr)
{
return true;
}
bool ProcessorLoopClosure::storeCapture(CaptureBasePtr _cap_ptr)
{
return true;
}
/** /**
* In the default implementation, we select the KF with the most recent TimeStamp * In the default implementation, we select the KF with the most recent TimeStamp
......
...@@ -296,10 +296,18 @@ void ProcessorTracker::computeProcessingStep() ...@@ -296,10 +296,18 @@ void ProcessorTracker::computeProcessingStep()
} }
} }
bool ProcessorTracker::triggerInCapture(CaptureBasePtr) bool ProcessorTracker::triggerInCapture(CaptureBasePtr _cap_ptr)
{ {
return true; return true;
} }
bool ProcessorTracker::storeKeyFrame(FrameBasePtr _frame_ptr)
{
return true;
}
bool ProcessorTracker::storeCapture(CaptureBasePtr _cap_ptr)
{
return false;
}
} // namespace wolf } // namespace wolf
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