75 lines
1.8 KiB
C++
75 lines
1.8 KiB
C++
/**
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* This file is part of DSO.
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*
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* Copyright 2016 Technical University of Munich and Intel.
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* Developed by Jakob Engel <engelj at in dot tum dot de>,
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* for more information see <http://vision.in.tum.de/dso>.
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* If you use this code, please cite the respective publications as
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* listed on the above website.
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*
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* DSO is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* DSO is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with DSO. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "util/NumType.h"
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#include "algorithm"
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namespace dso
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{
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class FrameShell
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
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int id; // INTERNAL ID, starting at zero.
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int incoming_id; // ID passed into DSO
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double timestamp; // timestamp passed into DSO.
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// set once after tracking
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SE3 camToTrackingRef;
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FrameShell* trackingRef;
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// constantly adapted.
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SE3 camToWorld; // Write: TRACKING, while frame is still fresh; MAPPING: only when locked [shellPoseMutex].
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AffLight aff_g2l;
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bool poseValid;
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// statisitcs
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int statistics_outlierResOnThis;
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int statistics_goodResOnThis;
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int marginalizedAt;
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double movedByOpt;
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inline FrameShell()
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{
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id=0;
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poseValid=true;
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camToWorld = SE3();
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timestamp=0;
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marginalizedAt=-1;
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movedByOpt=0;
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statistics_outlierResOnThis=statistics_goodResOnThis=0;
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trackingRef=0;
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camToTrackingRef = SE3();
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}
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};
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}
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