From c6ea193eb12eea9617365db9513db962ebb44863 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 22 Mar 2018 00:00:21 +0100
Subject: [PATCH] Move voting_active_ to ProcessorBase
---
src/processor_IMU.cpp | 4 +++-
src/processor_IMU.h | 2 --
src/processor_base.cpp | 5 +++--
src/processor_base.h | 16 ++++++++++++++++
4 files changed, 22 insertions(+), 5 deletions(-)
diff --git a/src/processor_IMU.cpp b/src/processor_IMU.cpp
index bb0ae86bf..1010aa8ba 100644
--- a/src/processor_IMU.cpp
+++ b/src/processor_IMU.cpp
@@ -15,6 +15,8 @@ ProcessorIMU::ProcessorIMU(const ProcessorParamsIMU& _params) :
jacobian_delta_preint_.setIdentity(9,9); // dDp'/dDp, dDv'/dDv, all zeros
jacobian_delta_.setIdentity(9,9); //
jacobian_calib_.setZero(9,6);
+
+ setVotingActive(_params.voting_active );
}
ProcessorIMU::~ProcessorIMU()
@@ -44,7 +46,7 @@ ProcessorBasePtr ProcessorIMU::create(const std::string& _unique_name, const Pro
bool ProcessorIMU::voteForKeyFrame()
{
- if(!voting_active_)
+ if(!isVotingActive())
return false;
// time span
if (getBuffer().get().back().ts_ - getBuffer().get().front().ts_ > max_time_span_)
diff --git a/src/processor_IMU.h b/src/processor_IMU.h
index 911d50f8c..3954d5ac1 100644
--- a/src/processor_IMU.h
+++ b/src/processor_IMU.h
@@ -16,7 +16,6 @@ struct ProcessorParamsIMU : public ProcessorParamsBase
Size max_buff_length = 10;
Scalar dist_traveled = 5;
Scalar angle_turned = 0.5;
- bool voting_active = false; //IMU will not vote for key Frames to be created
};
WOLF_PTR_TYPEDEFS(ProcessorIMU);
@@ -70,7 +69,6 @@ class ProcessorIMU : public ProcessorMotion{
Size max_buff_length_;// maximum buffer size before keyframe
Scalar dist_traveled_; // maximum linear motion between keyframes
Scalar angle_turned_; // maximum rotation between keyframes
- bool voting_active_; // IMU will be voting for KeyFrame only if this is true
public:
diff --git a/src/processor_base.cpp b/src/processor_base.cpp
index 2cc289cdd..c6a1e4529 100644
--- a/src/processor_base.cpp
+++ b/src/processor_base.cpp
@@ -12,7 +12,8 @@ ProcessorBase::ProcessorBase(const std::string& _type, const Scalar& _time_toler
processor_id_(++processor_id_count_),
time_tolerance_(_time_tolerance),
sensor_ptr_(),
- is_removing_(false)
+ is_removing_(false),
+ voting_active_(true)
{
// WOLF_DEBUG("constructed +p" , id());
}
@@ -24,7 +25,7 @@ ProcessorBase::~ProcessorBase()
bool ProcessorBase::permittedKeyFrame()
{
- return getProblem()->permitKeyFrame(shared_from_this());
+ return isVotingActive() && getProblem()->permitKeyFrame(shared_from_this());
}
FrameBasePtr ProcessorBase::emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr)
diff --git a/src/processor_base.h b/src/processor_base.h
index 7d7fe4226..de6ecd94b 100644
--- a/src/processor_base.h
+++ b/src/processor_base.h
@@ -111,6 +111,7 @@ struct ProcessorParamsBase
std::string type;
std::string name;
Scalar time_tolerance; ///< maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe.
+ bool voting_active;
};
//class ProcessorBase
@@ -125,6 +126,8 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
SensorBaseWPtr sensor_ptr_;
bool is_removing_; ///< A flag for safely removing nodes from the Wolf tree. See remove().
+ bool voting_active_; ///< A flag for allowing the processor to vote for KF or not.
+
static unsigned int processor_id_count_;
public:
@@ -176,8 +179,21 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
void setTimeTolerance(Scalar _time_tolerance);
+ bool isVotingActive() const;
+
+ void setVotingActive(bool _voting_active = true);
};
+inline bool ProcessorBase::isVotingActive() const
+{
+ return voting_active_;
+}
+
+inline void ProcessorBase::setVotingActive(bool _voting_active)
+{
+ voting_active_ = _voting_active;
+}
+
}
#include "sensor_base.h"
--
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