divbyzero
diff --git a/‎include/Tracking.h‎
Lines changed: 1 addition & 1 deletion b/‎include/Tracking.h‎
Lines changed: 1 addition & 1 deletion
diff --git a/‎src/System.cc‎
Lines changed: 1 addition & 1 deletion b/‎src/System.cc‎
Lines changed: 1 addition & 1 deletion
diff --git a/‎src/Tracking.cc‎
Lines changed: 3 additions & 3 deletions b/‎src/Tracking.cc‎
Lines changed: 3 additions & 3 deletions
@@ -54,7 +54,7 @@ class Tracking
 {  
 
 public:
-    Tracking(ORBVocabulary* pVoc, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Map* pMap,
+    Tracking(System* pSys, ORBVocabulary* pVoc, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Map* pMap,
              KeyFrameDatabase* pKFDB, const string &strSettingPath, const int sensor);
 
     // Preprocess the input and call Track(). Extract features and performs stereo matching.
 
@@ -82,7 +82,7 @@ System::System(const string &strVocFile, const string &strSettingsFile, const eS
 
     //Initialize the Tracking thread
     //(it will live in the main thread of execution, the one that called this constructor)
-    mpTracker = new Tracking(mpVocabulary, mpFrameDrawer, mpMapDrawer,
+    mpTracker = new Tracking(this, mpVocabulary, mpFrameDrawer, mpMapDrawer,
                              mpMap, mpKeyFrameDatabase, strSettingsFile, mSensor);
 
     //Initialize the Local Mapping thread and launch
 
@@ -43,9 +43,9 @@ using namespace std;
 namespace ORB_SLAM2
 {
 
-Tracking::Tracking(ORBVocabulary* pVoc, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Map *pMap, KeyFrameDatabase* pKFDB, const string &strSettingPath, const int sensor):
+Tracking::Tracking(System *pSys, ORBVocabulary* pVoc, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Map *pMap, KeyFrameDatabase* pKFDB, const string &strSettingPath, const int sensor):
     mState(NO_IMAGES_YET), mSensor(sensor), mbOnlyTracking(false), mbVO(false), mpORBVocabulary(pVoc),
-    mpKeyFrameDB(pKFDB), mpInitializer(static_cast<Initializer*>(NULL)),
+    mpKeyFrameDB(pKFDB), mpInitializer(static_cast<Initializer*>(NULL)), mpSystem(pSys),
     mpFrameDrawer(pFrameDrawer), mpMapDrawer(pMapDrawer), mpMap(pMap), mnLastRelocFrameId(0)
 {
     // Load camera parameters from settings file
@@ -474,7 +474,7 @@ void Tracking::Track()
             if(mpMap->KeyFramesInMap()<=5)
             {
                 cout << "Track lost soon after initialisation, reseting..." << endl;
-                Reset();
+                mpSystem->Reset();
                 return;
             }
         }
Original file line number	Diff line number	Diff line change
`@@ -54,7 +54,7 @@ class Tracking`
`54`	`54`	`{`
`55`	`55`
`56`	`56`	`public:`
`57`		`- Tracking(ORBVocabulary* pVoc, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Map* pMap,`
	`57`	`+ Tracking(System* pSys, ORBVocabulary* pVoc, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Map* pMap,`
`58`	`58`	`KeyFrameDatabase* pKFDB, const string &strSettingPath, const int sensor);`
`59`	`59`
`60`	`60`	`// Preprocess the input and call Track(). Extract features and performs stereo matching.`
Original file line number	Diff line number	Diff line change
`@@ -43,9 +43,9 @@ using namespace std;`
`43`	`43`	`namespace ORB_SLAM2`
`44`	`44`	`{`
`45`	`45`
`46`		`-Tracking::Tracking(ORBVocabulary* pVoc, FrameDrawer pFrameDrawer, MapDrawer pMapDrawer, Map pMap, KeyFrameDatabase pKFDB, const string &strSettingPath, const int sensor):`
	`46`	`+Tracking::Tracking(System pSys, ORBVocabulary pVoc, FrameDrawer pFrameDrawer, MapDrawer pMapDrawer, Map pMap, KeyFrameDatabase pKFDB, const string &strSettingPath, const int sensor):`
`47`	`47`	`mState(NO_IMAGES_YET), mSensor(sensor), mbOnlyTracking(false), mbVO(false), mpORBVocabulary(pVoc),`
`48`		`- mpKeyFrameDB(pKFDB), mpInitializer(static_cast<Initializer*>(NULL)),`
	`48`	`+ mpKeyFrameDB(pKFDB), mpInitializer(static_cast<Initializer*>(NULL)), mpSystem(pSys),`
`49`	`49`	`mpFrameDrawer(pFrameDrawer), mpMapDrawer(pMapDrawer), mpMap(pMap), mnLastRelocFrameId(0)`
`50`	`50`	`{`
`51`	`51`	`// Load camera parameters from settings file`
`@@ -474,7 +474,7 @@ void Tracking::Track()`
`474`	`474`	`if(mpMap->KeyFramesInMap()<=5)`
`475`	`475`	`{`
`476`	`476`	`cout << "Track lost soon after initialisation, reseting..." << endl;`
`477`		`- Reset();`
	`477`	`+ mpSystem->Reset();`
`478`	`478`	`return;`
`479`	`479`	`}`
`480`	`480`	`}`