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changed interface of feature extractor

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This commit is contained in:
Christian Forster
2014-04-13 22:05:18 +02:00
parent d150ef5615
commit 38b7d0b9bc
12 changed files with 119 additions and 58 deletions
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svo/src/frame_handler_mono.cpp
+3 -2
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@@ -37,7 +37,8 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) :
depth_filter_(NULL)
{
// create depth filter and set callback
feature_detection::DetectorPtr feature_detector(new feature_detection::FastDetector());
feature_detection::DetectorPtr feature_detector(
new feature_detection::FastDetector(cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels()));
DepthFilter::callback_t depth_filter_cb = boost::bind(&MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2);
depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb);
depth_filter_->startThread();
@@ -183,6 +184,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
depth_filter_->addFrame(new_frame_);
return RESULT_NO_KEYFRAME;
}
new_frame_->setKeyframe();
SVO_DEBUG_STREAM("New keyframe selected.");
// new keyframe selected
@@ -222,7 +224,6 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
}
// add keyframe to map
new_frame_->setKeyframe();
map_.addKeyframe(new_frame_);
return RESULT_IS_KEYFRAME;