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fixed locking problem

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This commit is contained in:
Christian Forster
2014-04-30 22:27:11 +02:00
parent 465f04d1e3
commit 68e1e05048
1 changed files with 2 additions and 4 deletions
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svo/src/depth_filter.cpp
+2 -4
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@@ -127,7 +127,6 @@ void DepthFilter::initializeSeeds(FramePtr frame)
}); });
SVO_DEBUG_STREAM("DepthFilter: Initialized "<<new_features.size()<<" new seeds"); SVO_DEBUG_STREAM("DepthFilter: Initialized "<<new_features.size()<<" new seeds");
seeds_updating_halt_ = false;
} }
void DepthFilter::removeKeyframe(FramePtr frame) void DepthFilter::removeKeyframe(FramePtr frame)
@@ -147,7 +146,6 @@ void DepthFilter::removeKeyframe(FramePtr frame)
++it; ++it;
} }
seeds_updating_halt_ = false; seeds_updating_halt_ = false;
//printf("Vogiatzis: removed %zu seeds belonging to old keyframe\n", n_removed);
} }
void DepthFilter::reset() void DepthFilter::reset()
@@ -177,6 +175,7 @@ void DepthFilter::updateSeedsLoop()
if(new_keyframe_set_) if(new_keyframe_set_)
{ {
new_keyframe_set_ = false; new_keyframe_set_ = false;
seeds_updating_halt_ = false;
clearFrameQueue(); clearFrameQueue();
frame = new_keyframe_; frame = new_keyframe_;
} }
@@ -216,9 +215,8 @@ void DepthFilter::updateSeeds(FramePtr frame)
continue; continue;
} }
SE3 T_ref_cur = it->ftr->frame->T_f_w_ * frame->T_f_w_.inverse();
// check if point is visible in the current image // check if point is visible in the current image
SE3 T_ref_cur = it->ftr->frame->T_f_w_ * frame->T_f_w_.inverse();
const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) ); const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) );
if(xyz_f.z() < 0.0) { if(xyz_f.z() < 0.0) {
++it; // behind the camera ++it; // behind the camera