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FrameHandlerMono member functions are now virtual to allow specialization

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This commit is contained in:
Christian Forster
2014-04-30 12:41:01 +02:00
parent 44f87b860b
commit 8291a6b9c1
2 changed files with 19 additions and 9 deletions
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svo/src/frame_handler_mono.cpp
+9 -3
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@@ -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();
}