From e500c89d3c369a74b21fb2f8d6ec174644ab7357 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 19 Feb 2018 23:28:21 +0100
Subject: [PATCH] Cleanup code to make more readable
---
src/processor_base.cpp | 41 ++++++++++++++++++++---------------------
1 file changed, 20 insertions(+), 21 deletions(-)
diff --git a/src/processor_base.cpp b/src/processor_base.cpp
index a5c44e2ab..9d92a285f 100644
--- a/src/processor_base.cpp
+++ b/src/processor_base.cpp
@@ -89,40 +89,39 @@ void KFPackBuffer::add(const FrameBasePtr& _key_frame, const Scalar& _time_toler
KFPackPtr KFPackBuffer::selectPack(const TimeStamp& _time_stamp, const Scalar& _time_tolerance)
{
- KFPackBuffer::Iterator post = container_.upper_bound(_time_stamp);
- KFPackBuffer::Iterator prev = container_.end();
-
if (container_.empty())
return nullptr;
- bool check_post = (post != container_.end());
+ KFPackBuffer::Iterator post = container_.upper_bound(_time_stamp);
+
+ bool prev_exists = (post != container_.begin());
+ bool post_exists = (post != container_.end());
- if (post != container_.begin())
+ bool post_ok = post_exists && checkTimeTolerance(post->first, post->second->time_tolerance, _time_stamp, _time_tolerance);
+
+ if (prev_exists)
{
- prev = std::prev(post);
- if (!checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance)
- && (check_post
- && checkTimeTolerance(post->first, post->second->time_tolerance, _time_stamp, _time_tolerance)))
+ KFPackBuffer::Iterator prev = std::prev(post);
+
+ bool prev_ok = checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance);
+
+ if (!prev_ok && post_ok)
return post->second;
- else if (checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance)
- && !(check_post
- && checkTimeTolerance(post->first, post->second->time_tolerance, _time_stamp, _time_tolerance)))
+
+ else if (prev_ok && !post_ok)
return prev->second;
- else if (checkTimeTolerance(prev->first, prev->second->time_tolerance, _time_stamp, _time_tolerance)
- && (check_post
- && checkTimeTolerance(post->first, post->second->time_tolerance, _time_stamp, _time_tolerance)))
+
+ else if (prev_ok && post_ok)
{
- if (std::fabs((*post).first - _time_stamp) < std::fabs((*prev).first - _time_stamp))
+ if (std::fabs(post->first - _time_stamp) < std::fabs(prev->first - _time_stamp))
return post->second;
else
return prev->second;
}
}
- else
- {
- if (checkTimeTolerance(post->first, post->second->time_tolerance, _time_stamp, _time_tolerance))
- return post->second;
- }
+ else if (post_ok)
+ return post->second;
+
return nullptr;
}
--
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