Method processVioOutput

python/cli/visualization/visualizer.py:521–532

(output)

            return self.vioOutputQueue.pop(0) if vioOutputTime < mapperOutputTime else self.mapperOutputQueue.pop(0)

        def processVioOutput(output):
            nonlocal vioOutput, prevVioOutput, wasTracking
            vioOutput = output
            if vioOutput['isTracking']:
                wasTracking = True
                cameraPose = vioOutput["cameraPose"]
                self.poseTrail.append(cameraPose.getPosition())
            else:
                vioOutput = None
                if wasTracking:
                    self.__resetAfterLost()
                    wasTracking = False

        def processMapperOutput(output):
            nonlocal vioOutput, prevVioOutput, wasTracking