depth filter now also updates old seeds with new keyframes. previously a keyframe was only used to initialize new seeds.

svo/include/svo/depth_filter.h

@@ -62,7 +62,7 @@ public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   typedef boost::unique_lock<boost::mutex> lock_t;
-  typedef boost::function<void ( const Seed&, const Vector3d& )> callback_t;
+  typedef boost::function<void ( Point*, double )> callback_t;
 
   /// Depth-filter config parameters
   struct Options

svo/include/svo/map.h

@@ -48,7 +48,7 @@ public:
   ~MapPointCandidates();
 
   /// Add a candidate point.
-  void newCandidatePoint(const Seed& seed, const Vector3d& xyz_world);
+  void newCandidatePoint(Point* point, double depth_sigma2);
 
   /// Adds the feature to the frame and deletes candidate from list.
   void addCandidatePointToFrame(FramePtr frame);

svo/include/svo/matcher.h

@@ -92,6 +92,7 @@ public:
   double h_inv_;                //!< hessian of 1d image alignment along epipolar line
   int search_level_;
   Feature* ref_ftr_;
+  Vector2d px_cur_;
 
   Matcher();
   ~Matcher();