debugger_interface.cpp

#include <debugger_interface.hpp>

const std::string SlamInterface::id_string()
{
 return "slam algorithm";
}

SlamInterface::SlamInterface (arstudio::Config::ptr c) : IAbstractAlgorithm (c)
{
 frames_counter = 0;
 frames_step = atoi(config->get<std::string> ("coreslam.frames_step").c_str());
}

bool SlamInterface::create()
{
	slam = new CoreSlam ();
	return true;
}

bool SlamInterface::run(const cv::Mat &image, const cv::Mat &dmap)
{
	LuxFrame * f = new LuxFrame;
	f->image = image;
	f->depth_map = dmap;

 if (frames_counter%frames_step == 0)
 slam->run(f);

 frames_counter++;

	return true;
}