v1

src/FullSystem/ImmaturePoint.h

@@ -0,0 +1,111 @@
+/**
+* This file is part of DSO.
+* 
+* Copyright 2016 Technical University of Munich and Intel.
+* Developed by Jakob Engel <engelj at in dot tum dot de>,
+* for more information see <http://vision.in.tum.de/dso>.
+* If you use this code, please cite the respective publications as
+* listed on the above website.
+*
+* DSO is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* DSO is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with DSO. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#pragma once
+
+ 
+#include "util/NumType.h"
+ 
+#include "FullSystem/HessianBlocks.h"
+namespace dso
+{
+
+
+struct ImmaturePointTemporaryResidual
+{
+public:
+	ResState state_state;
+	double state_energy;
+	ResState state_NewState;
+	double state_NewEnergy;
+	FrameHessian* target;
+};
+
+
+enum ImmaturePointStatus {
+	IPS_GOOD=0,					// traced well and good
+	IPS_OOB,					// OOB: end tracking & marginalize!
+	IPS_OUTLIER,				// energy too high: if happens again: outlier!
+	IPS_SKIPPED,				// traced well and good (but not actually traced).
+	IPS_BADCONDITION,			// not traced because of bad condition.
+	IPS_UNINITIALIZED};			// not even traced once.
+
+
+class ImmaturePoint
+{
+public:
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+	// static values
+	float color[MAX_RES_PER_POINT];
+	float weights[MAX_RES_PER_POINT];
+
+
+
+
+
+	Mat22f gradH;
+	Vec2f gradH_ev;
+	Mat22f gradH_eig;
+	float energyTH;
+	float u,v;
+	FrameHessian* host;
+	int idxInImmaturePoints;
+
+	float quality;
+
+	float my_type;
+
+	float idepth_min;
+	float idepth_max;
+	ImmaturePoint(int u_, int v_, FrameHessian* host_, float type, CalibHessian* HCalib);
+	~ImmaturePoint();
+
+	ImmaturePointStatus traceOn(FrameHessian* frame, const Mat33f &hostToFrame_KRKi, const Vec3f &hostToFrame_Kt, const Vec2f &hostToFrame_affine, CalibHessian* HCalib, bool debugPrint=false);
+
+	ImmaturePointStatus lastTraceStatus;
+	Vec2f lastTraceUV;
+	float lastTracePixelInterval;
+
+	float idepth_GT;
+
+	double linearizeResidual(
+			CalibHessian *  HCalib, const float outlierTHSlack,
+			ImmaturePointTemporaryResidual* tmpRes,
+			float &Hdd, float &bd,
+			float idepth);
+	float getdPixdd(
+			CalibHessian *  HCalib,
+			ImmaturePointTemporaryResidual* tmpRes,
+			float idepth);
+
+	float calcResidual(
+			CalibHessian *  HCalib, const float outlierTHSlack,
+			ImmaturePointTemporaryResidual* tmpRes,
+			float idepth);
+
+private:
+};
+
+}
+