[Issue #626] - Frame publisher function to get landmarks and keypoints with lock held #628
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…to fetch both while mtx held
…ly match returned pair order
Skwangles
commented
Jan 6, 2025
| @@ -194,6 +200,7 @@ void frame_publisher::update(const std::vector<std::shared_ptr<data::landmark>>& | |||
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| img.copyTo(img_); | |||
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| assert(keypts.size() == curr_lms.size()); | |||
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I haven't seen anywhere in the frame_publisher that asserts this assumption, and it is not clear to me as a reader the relationship between keypts and curr_lms, so I thought i'd add one.
With the issue with iridescence viewer having these two mismatched, it just feels right to assert the assumption here to make clear their relationship and track any issues further up the chain.
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Landmarks are made from the size of undistorted keypoints, so they are exactly the same size.
If frame_publisher::update() is called in between get_keypoints() and get_landmarks() this assertion may not hold.
Add function which returns both in a pair without releasing the mutex lock