Move frame::next_id_ to system::next_frame_id_ (#570)

stella-cv · Feb 25, 2024 · 96238b7 · 96238b7
1 parent c31d065
commit 96238b7
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Showing 5 changed files with 10 additions and 13 deletions.
diff --git a/src/stella_vslam/data/frame.cc b/src/stella_vslam/data/frame.cc
@@ -12,11 +12,9 @@
 namespace stella_vslam {
 namespace data {
 
-std::atomic<unsigned int> frame::next_id_{0};
-
-frame::frame(const double timestamp, camera::base* camera, feature::orb_params* orb_params,
+frame::frame(unsigned int frame_id, const double timestamp, camera::base* camera, feature::orb_params* orb_params,
              const frame_observation frm_obs, const std::unordered_map<unsigned int, marker2d>& markers_2d)
-    : id_(next_id_++), timestamp_(timestamp), camera_(camera), orb_params_(orb_params), frm_obs_(frm_obs),
+    : id_(frame_id), timestamp_(timestamp), camera_(camera), orb_params_(orb_params), frm_obs_(frm_obs),
       markers_2d_(markers_2d),
       // Initialize association with 3D points
       landmarks_(std::vector<std::shared_ptr<landmark>>(frm_obs_.undist_keypts_.size(), nullptr)) {}

diff --git a/src/stella_vslam/data/frame.h b/src/stella_vslam/data/frame.h
@@ -44,13 +44,14 @@ class frame {
 
     /**
      * Constructor for monocular frame
+     * @param frame_id
      * @param timestamp
      * @param camera
      * @param orb_params
      * @param frm_obs
      * @param markers_2d
      */
-    frame(const double timestamp, camera::base* camera, feature::orb_params* orb_params,
+    frame(const unsigned int frame_id, const double timestamp, camera::base* camera, feature::orb_params* orb_params,
           const frame_observation frm_obs, const std::unordered_map<unsigned int, marker2d>& markers_2d);
 
     /**
@@ -162,9 +163,6 @@ class frame {
     //! current frame ID
     unsigned int id_;
 
-    //! next frame ID
-    static std::atomic<unsigned int> next_id_;
-
     //! timestamp
     double timestamp_;
 

diff --git a/src/stella_vslam/system.cc b/src/stella_vslam/system.cc
@@ -310,7 +310,7 @@ data::frame system::create_monocular_frame(const cv::Mat& img, const double time
         marker_detector_->detect(img_gray, markers_2d);
     }
 
-    return data::frame(timestamp, camera_, orb_params_, frm_obs, std::move(markers_2d));
+    return data::frame(next_frame_id_++, timestamp, camera_, orb_params_, frm_obs, std::move(markers_2d));
 }
 
 data::frame system::create_stereo_frame(const cv::Mat& left_img, const cv::Mat& right_img, const double timestamp, const cv::Mat& mask) {
@@ -368,7 +368,7 @@ data::frame system::create_stereo_frame(const cv::Mat& left_img, const cv::Mat&
         marker_detector_->detect(img_gray, markers_2d);
     }
 
-    return data::frame(timestamp, camera_, orb_params_, frm_obs, std::move(markers_2d));
+    return data::frame(next_frame_id_++, timestamp, camera_, orb_params_, frm_obs, std::move(markers_2d));
 }
 
 data::frame system::create_RGBD_frame(const cv::Mat& rgb_img, const cv::Mat& depthmap, const double timestamp, const cv::Mat& mask) {
@@ -430,7 +430,7 @@ data::frame system::create_RGBD_frame(const cv::Mat& rgb_img, const cv::Mat& dep
         marker_detector_->detect(img_gray, markers_2d);
     }
 
-    return data::frame(timestamp, camera_, orb_params_, frm_obs, std::move(markers_2d));
+    return data::frame(next_frame_id_++, timestamp, camera_, orb_params_, frm_obs, std::move(markers_2d));
 }
 
 std::shared_ptr<Mat44_t> system::feed_monocular_frame(const cv::Mat& img, const double timestamp, const cv::Mat& mask) {

diff --git a/src/stella_vslam/system.h b/src/stella_vslam/system.h
@@ -231,6 +231,9 @@ class system {
     //! mapping thread
     std::unique_ptr<std::thread> mapping_thread_ = nullptr;
 
+    //! next frame ID
+    std::atomic<unsigned int> next_frame_id_{0};
+
     //! global optimization module
     global_optimization_module* global_optimizer_ = nullptr;
     //! global optimization thread

diff --git a/src/stella_vslam/tracking_module.cc b/src/stella_vslam/tracking_module.cc
@@ -105,8 +105,6 @@ void tracking_module::reset() {
     bow_db_->clear();
     map_db_->clear();
 
-    data::frame::next_id_ = 0;
-
     last_reloc_frm_id_ = 0;
     last_reloc_frm_timestamp_ = 0.0;