Remove features after 5 timesteps without measurements

1 files changed, 16 insertions, 0 deletions

diff --git a/src/feature.cpp b/src/feature.cpp
index fbb1376..84575d1 100644
--- a/src/feature.cpp
+++ b/src/feature.cpp
@@ -36,6 +36,7 @@ Feature::Feature ( int id, const Vector3d &xs, const Vector3d &xr,
     xb0w = xbw;
     q0 = q;
     _patch = p;
+    lastseen = 0;
 }  /* -----  end of method Feature::Feature  (constructor)  ----- */
 
 /*
@@ -61,6 +62,7 @@ Feature::Feature ( int id, const Vector3d &xs, const Vector3d &xbw,
     xb0w = xbw;
     q0 = q;
     _patch = p;
+    lastseen = 0;
 }
 
 
@@ -1023,6 +1025,7 @@ Feature::sane ( )
 void
 Feature::dx ( const Vector3d &del )
 {
+    lastseen += 1;
     X += del;
     return ;
 }		/* -----  end of method Feature::dx  ----- */
@@ -1131,3 +1134,16 @@ Feature::reflectedPatch( const Camera &cam, const Quaterniond &q1 )
     return cam.reflectPatch(_patch, q0, q1);
 }
 
+void
+Feature::seen (  )
+{
+    lastseen = 0;
+    return ;
+}		/* -----  end of method Feature::seen  ----- */
+
+bool
+Feature::since ( int N ) const
+{
+    return (lastseen<N) ;
+}		/* -----  end of method Feature::since  ----- */
+