From 8291a6b9c170a94de386d9cd3f47c59777bc533d Mon Sep 17 00:00:00 2001
From: Christian Forster <ch.forster@gmail.com>
Date: Wed, 30 Apr 2014 12:41:01 +0200
Subject: [PATCH] FrameHandlerMono member functions are now virtual to allow
 specialization

---
 svo/include/svo/frame_handler_mono.h | 16 ++++++++++------
 svo/src/frame_handler_mono.cpp       | 12 +++++++++---
 2 files changed, 19 insertions(+), 9 deletions(-)

diff --git a/svo/include/svo/frame_handler_mono.h b/svo/include/svo/frame_handler_mono.h
index 9024394..01f7b45 100644
--- a/svo/include/svo/frame_handler_mono.h
+++ b/svo/include/svo/frame_handler_mono.h
@@ -29,7 +29,7 @@ class FrameHandlerMono : public FrameHandlerBase
 {
 public:
   FrameHandlerMono(vk::AbstractCamera* cam);
-  ~FrameHandlerMono();
+  virtual ~FrameHandlerMono();
 
   /// Provide an image.
   void addImage(const cv::Mat& img, double timestamp);
@@ -60,21 +60,25 @@ protected:
   initialization::KltHomographyInit klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography.
   DepthFilter* depth_filter_;                   //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points.
 
+  /// Initialize the visual odometry algorithm.
+  virtual void initialize();
+
   /// Processes the first frame and sets it as a keyframe.
-  UpdateResult processFirstFrame();
+  virtual UpdateResult processFirstFrame();
 
   /// Processes all frames after the first frame until a keyframe is selected.
-  UpdateResult processSecondFrame();
+  virtual UpdateResult processSecondFrame();
 
   /// Processes all frames after the first two keyframes.
-  UpdateResult processFrame();
+  virtual UpdateResult processFrame();
 
   /// Reset the frame handler. Implement in derived class.
   virtual void resetAll();
 
-  void setCoreKfs(size_t n_closest);
+  /// Keyframe selection criterion.
+  virtual bool needNewKf(double scene_depth_mean);
 
-  bool needNewKf(double scene_depth_mean);
+  void setCoreKfs(size_t n_closest);
 };
 
 } // namespace svo
diff --git a/svo/src/frame_handler_mono.cpp b/svo/src/frame_handler_mono.cpp
index e588ce9..1e7bac5 100644
--- a/svo/src/frame_handler_mono.cpp
+++ b/svo/src/frame_handler_mono.cpp
@@ -36,10 +36,16 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) :
   reprojector_(cam_, map_),
   depth_filter_(NULL)
 {
-  // create depth filter and set callback
+  initialize();
+}
+
+void FrameHandlerMono::initialize()
+{
   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);
+      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();
 }