move depth filter ownership to frame handler mono

svo/include/svo/frame_handler_base.h

@@ -87,9 +87,6 @@ public:
   /// Get the number of feature observations of the last frame.
   size_t lastNumObservations() const { return num_obs_last_; }
 
-  /// Access the depth filter.
-  DepthFilter* depthFilter() const { return depth_filter_; }
-
 protected:
   Stage stage_;                 //!< Current stage of the algorithm.
   bool set_reset_;              //!< Flag that the user can set. Will reset the system before the next iteration.
@@ -101,7 +98,6 @@ protected:
   vk::RingBuffer<size_t> acc_num_obs_;          //!< Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance.
   size_t num_obs_last_;                         //!< Number of observations in the previous frame.
   TrackingQuality tracking_quality_;            //!< An estimate of the tracking quality based on the number of tracked features.
-  DepthFilter* depth_filter_;                   //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points.
 
   /// Before a frame is processed, this function is called.
   bool startFrameProcessingCommon(const double timestamp);

svo/include/svo/frame_handler_mono.h

@@ -47,6 +47,9 @@ public:
   const vector<cv::Point2f>& initFeatureTrackRefPx() const { return klt_homography_init_.px_ref_; }
   const vector<cv::Point2f>& initFeatureTrackCurPx() const { return klt_homography_init_.px_cur_; }
 
+  /// Access the depth filter.
+  DepthFilter* depthFilter() const { return depth_filter_; }
+
 protected:
   vk::AbstractCamera* cam_;                     //!< Camera model, can be ATAN, Pinhole or Ocam (see vikit).
   Reprojector reprojector_;                     //!< Projects points from other keyframes into the current frame
@@ -55,6 +58,7 @@ protected:
   set<FramePtr> core_kfs_;                      //!< Keyframes in the closer neighbourhood.
   vector< pair<FramePtr,size_t> > overlap_kfs_; //!< All keyframes with overlapping field of view. the paired number specifies how many common mappoints are observed TODO: why vector!?
   initialization::KltHomographyInit klt_homography_init_; //!< Used to estimate pose of the first two keyframes by estimating a homography.
+  DepthFilter* depth_filter_;                   //!< Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points.
 
   /// Processes the first frame and sets it as a keyframe.
   UpdateResult processFirstFrame();