diff --git a/src/processor_base.cpp b/src/processor_base.cpp index fd8c518dd3bf91b18c2c0c1b304fca898781cc0f..c818aca22b7f7bb235474c0c06770ce1d468e169 100644 --- a/src/processor_base.cpp +++ b/src/processor_base.cpp @@ -74,6 +74,16 @@ void ProcessorBase::remove() } } +KFPackPtr ProcessorBase::selectPack(const CaptureBasePtr & _cap) +{ + if (_cap) + return kf_pack_buffer_.selectPack(_cap->getTimeStamp(), time_tolerance_); + + return nullptr; +} + + + ///////////////////////////////////////////////////////////////////////////////////////// void KFPackBuffer::removeUpTo(const TimeStamp& _time_stamp) @@ -147,4 +157,6 @@ bool KFPackBuffer::checkTimeTolerance(const TimeStamp& _time_stamp1, const Scala return (std::fabs(_time_stamp1 - _time_stamp2) <= std::min(_time_tolerance1, _time_tolerance2)); } + + } // namespace wolf diff --git a/src/processor_base.h b/src/processor_base.h index 997db66eb307bce86d5a4f277fed4bc64b19339d..429cdf673b69301593f7cab92bf2b413cdef7f82 100644 --- a/src/processor_base.h +++ b/src/processor_base.h @@ -174,6 +174,10 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce void setTimeTolerance(Scalar _time_tolerance); + protected: + KFPackPtr selectPack(const CaptureBasePtr & _cap); + + }; } diff --git a/src/processor_tracker.cpp b/src/processor_tracker.cpp index 5d6054084c1d4aef2d185072f2e3463aef24edf4..baa0f9c10357261519267f911bf8eb31c00ae1b4 100644 --- a/src/processor_tracker.cpp +++ b/src/processor_tracker.cpp @@ -203,14 +203,6 @@ void ProcessorTracker::setKeyFrame(CaptureBasePtr _capture_ptr) } } -KFPackPtr ProcessorTracker::selectPack(const CaptureBasePtr & _cap) -{ - if (_cap) - return kf_pack_buffer_.selectPack(_cap->getTimeStamp(), time_tolerance_); - - return nullptr; -} - void ProcessorTracker::computeProcessingStep() { // First determine the processing phase by checking the status of the tracker pointers diff --git a/src/processor_tracker.h b/src/processor_tracker.h index 44b4ef841ad5a204b263a2acfdfc34fbdc04fd71..31b83cf508b201813f5190622e55ad96ea5ed54c 100644 --- a/src/processor_tracker.h +++ b/src/processor_tracker.h @@ -209,8 +209,6 @@ class ProcessorTracker : public ProcessorBase void addNewFeatureIncoming(FeatureBasePtr _feature_ptr); - private: - KFPackPtr selectPack(const CaptureBasePtr & _cap); }; inline void ProcessorTracker::setMaxNewFeatures(const unsigned int& _max_new_features)