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();

svo/src/frame_handler_base.cpp

@@ -25,8 +25,7 @@
 #include <svo/matcher.h>
 #include <svo/map.h>
 #include <svo/point.h>
-#include <svo/depth_filter.h>
- 
+
 namespace svo
 {
 
@@ -42,8 +41,7 @@ FrameHandlerBase::FrameHandlerBase() :
   acc_frame_timings_(10),
   acc_num_obs_(10),
   num_obs_last_(0),
-  tracking_quality_(TRACKING_BAD),
-  depth_filter_(NULL)
+  tracking_quality_(TRACKING_BAD)
 {
 #ifdef SVO_TRACE
   // Initialize Performance Monitor
@@ -75,20 +73,12 @@ FrameHandlerBase::FrameHandlerBase() :
   g_permon->init(Config::traceName(), Config::traceDir());
 #endif
 
-  // create depth filter and set callback
-  feature_detection::DetectorPtr feature_detector(new feature_detection::FastDetector());
-  DepthFilter::callback_t depth_filter_cb = boost::bind(&MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2);
-  depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb);
-  depth_filter_->startThread();
-
   SVO_INFO_STREAM("NanoSlam initialized");
 }
 
 FrameHandlerBase::~FrameHandlerBase()
 {
   SVO_INFO_STREAM("SVO destructor invoked.");
-  delete depth_filter_;
-  SVO_INFO_STREAM("SVO destructed.");
 }
 
 bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp)
@@ -149,7 +139,6 @@ void FrameHandlerBase::resetCommon()
   set_reset_ = false;
   set_start_ = false;
   tracking_quality_ = TRACKING_BAD;
-  depth_filter_->reset();
   num_obs_last_ = 0;
   SVO_INFO_STREAM("RESET");
 }

svo/src/frame_handler_mono.cpp

@@ -33,11 +33,20 @@ namespace svo {
 FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) :
   FrameHandlerBase(),
   cam_(cam),
-  reprojector_(cam_, map_)
-{}
+  reprojector_(cam_, map_),
+  depth_filter_(NULL)
+{
+  // create depth filter and set callback
+  feature_detection::DetectorPtr feature_detector(new feature_detection::FastDetector());
+  DepthFilter::callback_t depth_filter_cb = boost::bind(&MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2);
+  depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb);
+  depth_filter_->startThread();
+}
 
 FrameHandlerMono::~FrameHandlerMono()
-{}
+{
+  delete depth_filter_;
+}
 
 void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp)
 {
@@ -225,6 +234,7 @@ void FrameHandlerMono::resetAll()
   new_frame_.reset();
   core_kfs_.clear();
   overlap_kfs_.clear();
+  depth_filter_->reset();
 }
 
 bool FrameHandlerMono::needNewKf(double scene_depth_mean)