@Override public void draw() { byte[] frame = _vs.getFrame(); if (frame != null) { // fd = new FeatureDetection(frame); // new Thread(fd).start(); /* if(_viewer.getState()==3){ Log.v("STATE", "ended"); if(flag==10){ fd = new FeatureDetection(frame); new Thread(fd).start(); } detecter = new FeatureDetecter(frame); detecter.Detecting(); flag++; } */ PTAM.update(frame); // _viewer.update(); } else { } // Log.d("ptam has no draw", "ptam has no draw"); }