FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) :

  FrameHandlerBase(),

  cam_(cam),

  reprojector_(cam_, map_),

  depth_filter_(NULL)

{

  initialize();

}

  // create a point feature detector instance

  feature_detection::DetectorPtr<PointFeat> pt_feature_detector;

  if(Config::hasPoints())

    pt_feature_detector = feature_detection::DetectorPtr<PointFeat>(

          new feature_detection::FastDetector(

            cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels()));

  else

    // create an abstract (void) detector that detects nothing to deactivate use of points

    pt_feature_detector = feature_detection::DetectorPtr<PointFeat>(

          new feature_detection::AbstractDetector<PointFeat>(

            cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels()));

  // create a segment feature detector instance

  feature_detection::DetectorPtr<LineFeat> seg_feature_detector;

  if(Config::hasLines())

    seg_feature_detector = feature_detection::DetectorPtr<LineFeat>(

          new feature_detection::LsdDetector(

            cam_->width(), cam_->height(), Config::gridSizeSegs(), Config::nPyrLevelsSegs()));

  else

    // create an abstract (void) detector that detects nothing to deactivate use of line segs

    seg_feature_detector = feature_detection::DetectorPtr<LineFeat>(

          new feature_detection::AbstractDetector<LineFeat>(

            cam_->width(), cam_->height(), Config::gridSizeSegs(), Config::nPyrLevelsSegs()));

  // create the callback object for the Depth-Filter

  DepthFilter::callback_t depth_filter_cb = boost::bind(

      &MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2);

  DepthFilter::callback_t_ls depth_filter_cb_ls = boost::bind(

      &MapSegmentCandidates::newCandidateSegment, &map_.segment_candidates_, _1, _2, _3);

  // Setup the Depth-Filter object

  depth_filter_ = new DepthFilter(pt_feature_detector, seg_feature_detector, depth_filter_cb, depth_filter_cb_ls );

  depth_filter_->startThread();

}

  /// Start processing.

  void start() { set_start_ = true; }