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src/util/FrameShell.h

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+/**
+* 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 "algorithm"
+
+namespace dso
+{
+
+
+class FrameShell
+{
+public:
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+	int id; 			// INTERNAL ID, starting at zero.
+	int incoming_id;	// ID passed into DSO
+	double timestamp;		// timestamp passed into DSO.
+
+	// set once after tracking
+	SE3 camToTrackingRef;
+	FrameShell* trackingRef;
+
+	// constantly adapted.
+	SE3 camToWorld;				// Write: TRACKING, while frame is still fresh; MAPPING: only when locked [shellPoseMutex].
+	AffLight aff_g2l;
+	bool poseValid;
+
+	// statisitcs
+	int statistics_outlierResOnThis;
+	int statistics_goodResOnThis;
+	int marginalizedAt;
+	double movedByOpt;
+
+
+	inline FrameShell()
+	{
+		id=0;
+		poseValid=true;
+		camToWorld = SE3();
+		timestamp=0;
+		marginalizedAt=-1;
+		movedByOpt=0;
+		statistics_outlierResOnThis=statistics_goodResOnThis=0;
+		trackingRef=0;
+		camToTrackingRef = SE3();
+	}
+};
+
+
+}
+