public boolean process ( T left , T right ) { // System.out.println("----------- Process --------------"); this . inputLeft = left ; this . inputRight = right ; tick ++ ; trackerLeft . process ( left ) ; trackerRight . process ( right ) ; if ( first ) { addNewTracks ( ) ; first = false ; } else { mutualTrackDrop ( ) ; selectCandidateTracks ( ) ; boolean failed = ! estimateMotion ( ) ; dropUnusedTracks ( ) ; if ( failed ) return false ; int N = matcher . getMatchSet ( ) . size ( ) ; if ( modelRefiner != null ) refineMotionEstimate ( ) ; if ( thresholdAdd <= 0 || N < thresholdAdd ) { changePoseToReference ( ) ; addNewTracks ( ) ; } } return true ; }
Updates motion estimate using the stereo pair .