Method feed_stereo_frame

src/PLPSLAM/system.cc:372–387

(default) stereo

    // (default) stereo
    Mat44_t system::feed_stereo_frame(const cv::Mat &left_img, const cv::Mat &right_img, const double timestamp, const cv::Mat &mask)
    {
        assert(camera_->setup_type_ == camera::setup_type_t::Stereo);

        check_reset_request();

        const Mat44_t cam_pose_cw = tracker_->track_stereo_image(left_img, right_img, timestamp, mask);

        frame_publisher_->update(tracker_);
        if (tracker_->tracking_state_ == tracker_state_t::Tracking)
        {
            map_publisher_->set_current_cam_pose(cam_pose_cw);
        }

        return cam_pose_cw;
    }

    // FW: stereo + planar segmentation
    Mat44_t system::feed_stereo_frame(const cv::Mat &left_img, const cv::Mat &right_img, const cv::Mat &seg_mask_img, const double timestamp, const cv::Mat &mask)