changed interface of feature detector. now it returns directly a list of features instead of only corners

svo/include/svo/depth_filter.h

@@ -46,7 +46,7 @@ struct Seed
   float z_range;               //!< Max range of the possible depth.
   float sigma2;                //!< Variance of normal distribution.
   Matrix2d patch_cov;          //!< Patch covariance in reference image.
-  Seed(Feature* ftr, float angle, float depth_mean, float depth_min);
+  Seed(Feature* ftr, float depth_mean, float depth_min);
 };
 
 /// Depth filter implements the Bayesian Update proposed in:

svo/include/svo/feature_detection.h

@@ -52,15 +52,19 @@ public:
   virtual ~AbstractDetector() {};
 
   virtual void detect(
+      Frame* frame,
       const ImgPyr& img_pyr,
-      const Features& fts,
       const double detection_threshold,
-      Corners* corners) = 0;
+      Features& fts) = 0;
 
-  /// Notify the detector that a cell already has a feature before detection.
+  /// Flag the grid cell as occupied
   void setGridOccpuancy(const Vector2d& px);
 
+  /// Set grid cells of existing features as occupied
+  void setExistingFeatures(const Features& fts);
+
 protected:
+
   static const int border_ = 8; //!< no feature should be within 8px of border.
   const int cell_size_;
   const int n_pyr_levels_;
@@ -70,14 +74,11 @@ protected:
 
   void resetGrid();
 
-  void setExistingFeatures(const Features& fts);
-
   inline int getCellIndex(int x, int y, int level)
   {
     const int scale = (1<<level);
     return (scale*y)/cell_size_*grid_n_cols_ + (scale*x)/cell_size_;
   }
-
 };
 typedef boost::shared_ptr<AbstractDetector> DetectorPtr;
 
@@ -94,10 +95,10 @@ public:
   virtual ~FastDetector() {}
 
   virtual void detect(
+      Frame* frame,
       const ImgPyr& img_pyr,
-      const Features& fts,
       const double detection_threshold,
-      Corners* corners);
+      Features& fts);
 };
 
 } // namespace feature_detection

svo/include/svo/frame.h

@@ -79,7 +79,7 @@ public:
   void removeKeyPoint(Feature* ftr);
 
   /// Return number of point observations.
-  size_t nObs() const;
+  inline size_t nObs() const { return fts_.size(); }
 
   /// Check if a point in (w)orld coordinate frame is visible in the image.
   bool isVisible(const Vector3d& xyz_w) const;

svo/include/svo/point.h

@@ -56,7 +56,8 @@ public:
   int                         n_succeeded_reproj_;      //!< Number of succeeded reprojections. Used to assess the quality of the point.
   int                         last_structure_optim_;    //!< Timestamp of last point optimization
 
-  Point(Vector3d pos);
+  Point(const Vector3d& pos);
+  Point(const Vector3d& pos, Feature* ftr);
   ~Point();
 
   /// Add a reference to a frame.