From cd85660d0a09344aafd02109c1910a2e78649f3d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Mon, 27 May 2019 12:18:34 +0200
Subject: [PATCH] process without pack debug
---
src/processor/processor_tracker.cpp | 14 ++++----------
1 file changed, 4 insertions(+), 10 deletions(-)
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index d11509a11..7acb2066a 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -157,17 +157,14 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
{
processKnown();
- // eventually add more features
- if (last_ptr_->getFeatureList().size() < params_tracker_->min_features_for_keyframe)
+ if (voteForKeyFrame() && permittedKeyFrame())
{
- //WOLF_TRACE("Adding more features...");
+ // process
processNew(params_tracker_->max_new_features);
- }
- if (voteForKeyFrame() && permittedKeyFrame())
- {
- // We create a KF
+ //TODO abort KF if last_ptr_->getFeatureList().size() < params_tracker_->min_features_for_keyframe
+ // We create a KF
// set KF on last
last_ptr_->getFrame()->setState(getProblem()->getState(last_ptr_->getTimeStamp()));
last_ptr_->getFrame()->setKey();
@@ -176,9 +173,6 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
FrameBasePtr frm = getProblem()->emplaceFrame(NON_ESTIMATED, incoming_ptr_->getTimeStamp());
incoming_ptr_->link(frm);
- // process
- processNew(params_tracker_->max_new_features);
-
// Set state to the keyframe
last_ptr_->getFrame()->setState(getProblem()->getState(last_ptr_->getTimeStamp()));
--
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