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comment changes that are not thread-safe

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Christian Forster
2014-05-01 12:42:23 +02:00
parent 6d592b3aa4
commit a895a99fd1
1 changed files with 2 additions and 0 deletions
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svo/src/depth_filter.cpp
+2
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@@ -261,6 +261,7 @@ void DepthFilter::updateSeeds(FramePtr frame)
Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu))); Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu)));
Point* point = new Point(xyz_world, it->ftr); Point* point = new Point(xyz_world, it->ftr);
it->ftr->point = point; it->ftr->point = point;
/* FIXME it is not threadsafe to add a feature to the frame here.
if(frame->isKeyframe()) if(frame->isKeyframe())
{ {
Feature* ftr = new Feature(frame.get(), matcher_.px_cur_, matcher_.search_level_); Feature* ftr = new Feature(frame.get(), matcher_.px_cur_, matcher_.search_level_);
@@ -270,6 +271,7 @@ void DepthFilter::updateSeeds(FramePtr frame)
it->ftr->frame->addFeature(it->ftr); it->ftr->frame->addFeature(it->ftr);
} }
else else
*/
{ {
seed_converged_cb_(point, it->sigma2); // put in candidate list seed_converged_cb_(point, it->sigma2); // put in candidate list
} }