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fix bug 238

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This commit is contained in:
gfuse
2021-03-31 14:16:57 +02:00
parent d6161063b4
commit da17901faa
6 changed files with 40 additions and 16 deletions
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svo/include/svo/depth_filter.h
+4 -2
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@@ -119,7 +119,8 @@ public:
void getSeedsCopy(const FramePtr& frame, std::list<Seed>& seeds);
/// Return a reference to the seeds. This is NOT THREAD SAFE!
std::list<Seed>& getSeeds() { return seeds_; }
//std::list<Seed>& getSeeds() { return seeds_; } Bug 238
std::list<Seed, Eigen::aligned_allocator<Seed>>& getSeeds() { return seeds_; }
/// Bayes update of the seed, x is the measurement, tau2 the measurement uncertainty
static void updateSeed(
@@ -137,7 +138,8 @@ public:
protected:
feature_detection::DetectorPtr feature_detector_;
callback_t seed_converged_cb_;
std::list<Seed> seeds_;
//std::list<Seed> seeds_;
std::list<Seed, Eigen::aligned_allocator<Seed>> seeds_;
boost::mutex seeds_mut_;
bool seeds_updating_halt_; //!< Set this value to true when seeds updating should be interrupted.
boost::thread* thread_;