From c5175fe2160a4c7b6d2f9526dc78d6499e6258b9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 30 Apr 2019 16:07:30 +0200
Subject: [PATCH] commented proposed approach for aux frames in processor
tracker
---
src/processor/processor_tracker.cpp | 32 +++++++++++++++++++++++++++++
1 file changed, 32 insertions(+)
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 5d97526e1..4d58f5238 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -196,6 +196,38 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
incoming_ptr_ = nullptr;
}
+ /* TODO: create an auxiliary frame
+ else if (voteForAuxFrame() && permittedAuxFrame())
+ {
+ // We create an Auxiliary Frame
+
+ // set AuxF on last
+ last_ptr_->getFrame()->setState(getProblem()->getState(last_ptr_->getTimeStamp()));
+ last_ptr_->getFrame()->setAuxiliary();
+
+ // make F; append incoming to new F
+ FrameBasePtr frm = getProblem()->emplaceFrame(NON_ESTIMATED, incoming_ptr_->getTimeStamp());
+ frm->addCapture(incoming_ptr_);
+
+ // Set state to the keyframe
+ last_ptr_->getFrame()->setState(getProblem()->getState(last_ptr_->getTimeStamp()));
+
+ // Establish factors
+ establishFactors();
+
+ // Call the new auxframe callback in order to let the ProcessorMotion to establish their factors
+ getProblem()->auxFrameCallback(last_ptr_->getFrame(), std::static_pointer_cast<ProcessorBase>(shared_from_this()), params_tracker_->time_tolerance);
+
+ // Advance this
+ last_ptr_->getFrame()->addCapture(incoming_ptr_); // Add incoming Capture to the tracker's last Frame
+ // do not remove! last_ptr_->remove();
+ incoming_ptr_->getFrame()->setTimeStamp(incoming_ptr_->getTimeStamp());
+
+ // Update pointers
+ advanceDerived();
+ last_ptr_ = incoming_ptr_;
+ incoming_ptr_ = nullptr;
+ }*/
else
{
// We do not create a KF
--
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