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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
fde7de68
Commit
fde7de68
authored
5 years ago
by
Joan Solà Ortega
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Add some documentation
parent
58408b26
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1 merge request
!317
Motion cleanup
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1
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src/processor/processor_motion.cpp
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fde7de68
...
...
@@ -92,6 +92,31 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
case
RUNNING_WITH_PACK_BEFORE_ORIGIN
:
{
/*
* Legend:
* * : any frame or keyframe
* x : any capture
* k : arriving keyframe
* o : origin capture
* l : last capture
* e : existing capture -> new KF splits its buffer in two parts
* n : new capture -> part of the split buffer will be given to this
* --- : buffer history
*
* Trajectory before the KF, and arriving KF 'k'
*
* k
* * ========= * === ... === * ========= *
* x ----------e ... ----o ----------l
*
* Trajectory after the KF, and arriving KF 'k'
*
* k
* * === * === * === ... === * ========= *
* x ----n ----e ... ----o ----------l
*/
// extract pack elements
FrameBasePtr
keyframe_from_callback
=
pack
->
key_frame
;
TimeStamp
ts_from_callback
=
keyframe_from_callback
->
getTimeStamp
();
...
...
@@ -147,6 +172,35 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
case
RUNNING_WITH_PACK_AFTER_ORIGIN
:
{
/*
* Legend:
* * : any frame or keyframe
* x : any capture
* k : arriving keyframe
* o : origin capture
* l : last capture -> new KF splits its buffer in two parts
* n : new capture -> part of the split buffer will be given to this
* --- : buffer history
*
* Trajectory before the KF, and arriving KF 'k'
*
* k
* * ========= * ========= *
* x ----------o ----------l
*
* Trajectory after the KF, and arriving KF 'k'
*
* k
* * ========= * === * === *
* x ----------o ----n ----l
*
* Trajectory after the KF, and after reset
*
* k
* * ========= * === * === *
* x ----------x ----o ----l
*/
// extract pack elements
FrameBasePtr
keyframe_from_callback
=
pack
->
key_frame
;
TimeStamp
ts_from_callback
=
keyframe_from_callback
->
getTimeStamp
();
...
...
@@ -200,6 +254,31 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
if
(
permittedKeyFrame
()
&&
voteForKeyFrame
())
{
/*
* Legend:
* * : any keyframe
* + : last frame
* x : any capture
* o : origin capture
* l : last capture
* i : incoming capture
* e : existing capture -> new KF splits its buffer in two parts
* n : new capture -> part of the split buffer will be given to this
* --- : buffer history
*
* Trajectory before the KF
*
* * ========= * ========= +
* x ----------o ----------l i
*
* Trajectory after creating KF at last and reset
*
* * ========= * ========= * = +
* x ----------x ----------o --l
*
*/
// Set the frame of last_ptr as key
auto
key_frame_ptr
=
last_ptr_
->
getFrame
();
key_frame_ptr
->
setKey
();
...
...
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