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move depth filter ownership to frame handler mono

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This commit is contained in:
Christian Forster
2014-03-31 21:44:31 +02:00
parent d0a2406041
commit 4c722969a9
4 changed files with 19 additions and 20 deletions
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svo/src/frame_handler_base.cpp
+2 -13
View File
@@ -25,8 +25,7 @@
#include <svo/matcher.h>
#include <svo/map.h>
#include <svo/point.h>
#include <svo/depth_filter.h>
namespace svo
{
@@ -42,8 +41,7 @@ FrameHandlerBase::FrameHandlerBase() :
acc_frame_timings_(10),
acc_num_obs_(10),
num_obs_last_(0),
tracking_quality_(TRACKING_BAD),
depth_filter_(NULL)
tracking_quality_(TRACKING_BAD)
{
#ifdef SVO_TRACE
// Initialize Performance Monitor
@@ -75,20 +73,12 @@ FrameHandlerBase::FrameHandlerBase() :
g_permon->init(Config::traceName(), Config::traceDir());
#endif
// create depth filter and set callback
feature_detection::DetectorPtr feature_detector(new feature_detection::FastDetector());
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();
SVO_INFO_STREAM("NanoSlam initialized");
}
FrameHandlerBase::~FrameHandlerBase()
{
SVO_INFO_STREAM("SVO destructor invoked.");
delete depth_filter_;
SVO_INFO_STREAM("SVO destructed.");
}
bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp)
@@ -149,7 +139,6 @@ void FrameHandlerBase::resetCommon()
set_reset_ = false;
set_start_ = false;
tracking_quality_ = TRACKING_BAD;
depth_filter_->reset();
num_obs_last_ = 0;
SVO_INFO_STREAM("RESET");
}
svo/src/frame_handler_mono.cpp
+13 -3
View File
@@ -33,11 +33,20 @@ namespace svo {
FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) :
FrameHandlerBase(),
cam_(cam),
reprojector_(cam_, map_)
{}
reprojector_(cam_, map_),
depth_filter_(NULL)
{
// create depth filter and set callback
feature_detection::DetectorPtr feature_detector(new feature_detection::FastDetector());
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();
}
FrameHandlerMono::~FrameHandlerMono()
{}
{
delete depth_filter_;
}
void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp)
{
@@ -225,6 +234,7 @@ void FrameHandlerMono::resetAll()
new_frame_.reset();
core_kfs_.clear();
overlap_kfs_.clear();
depth_filter_->reset();
}
bool FrameHandlerMono::needNewKf(double scene_depth_mean)