From dc1acdd81c84c981355b8617bae2e2dd4ab20c0e Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Thu, 22 Feb 2018 17:22:46 +0100
Subject: [PATCH] Fix warnings and error msgs
---
src/processor_tracker_feature.cpp | 18 ++++--------------
src/processor_tracker_feature.h | 6 ++----
2 files changed, 6 insertions(+), 18 deletions(-)
diff --git a/src/processor_tracker_feature.cpp b/src/processor_tracker_feature.cpp
index 88084407f..21782ed12 100644
--- a/src/processor_tracker_feature.cpp
+++ b/src/processor_tracker_feature.cpp
@@ -112,31 +112,21 @@ void ProcessorTrackerFeature::reset()
unsigned int ProcessorTrackerFeature::processNew(const unsigned int& _max_new_features)
{
- // std::cout << "ProcessorTrackerFeature::processNew()" << std::endl;
-
/* Rationale: A keyFrame will be created using the last Capture.
- * First, we create the constraints from the existing Features in last,
- * because the ones that we want to detect later on will not be constrained by anyone yet.
- * Then, we work on this last Capture to detect new Features,
+ * First, we work on the last Capture to detect new Features,
* When done, we need to track these new Features to the incoming Capture.
* At the end, all new Features are appended to the lists of known Features in
* the last and incoming Captures.
*/
-
// Populate the last Capture with new Features. The result is in new_features_last_.
unsigned int n = detectNewFeatures(_max_new_features);
- // std::cout << "detected " << n << " new features!" << std::endl;
-
// Track new features from last to incoming. This will append new correspondences to matches_last_incoming
- if (incoming_ptr_ != last_ptr_ && incoming_ptr_ != nullptr) // we do not do it the first time.
- {
- trackFeatures(new_features_last_, new_features_incoming_, matches_last_from_incoming_);
+ trackFeatures(new_features_last_, new_features_incoming_, matches_last_from_incoming_);
- // Append all new Features to the incoming Captures' list of Features
- incoming_ptr_->addFeatureList(new_features_incoming_);
- }
+ // Append all new Features to the incoming Captures' list of Features
+ incoming_ptr_->addFeatureList(new_features_incoming_);
// Append all new Features to the last Captures' list of Features
last_ptr_->addFeatureList(new_features_last_);
diff --git a/src/processor_tracker_feature.h b/src/processor_tracker_feature.h
index 7e1d625a5..27f03ee7f 100644
--- a/src/processor_tracker_feature.h
+++ b/src/processor_tracker_feature.h
@@ -137,14 +137,12 @@ class ProcessorTrackerFeature : public ProcessorTracker
virtual unsigned int processNew(const unsigned int& _max_features);
/** \brief Detect new Features
- * \param _capture_ptr Capture for feature detection. Defaults to incoming_ptr_.
- * \param _new_features_list The list of detected Features. Defaults to member new_features_list_.
+ * \param _max_features maximum number of features detected
* \return The number of detected Features.
*
* This function detects Features that do not correspond to known Features/Landmarks in the system.
*
- * The function sets the member new_features_list_, the list of newly detected features,
- * to be used for landmark initialization.
+ * The function sets the member new_features_last_, the list of newly detected features.
*/
virtual unsigned int detectNewFeatures(const unsigned int& _max_features) = 0;
--
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