From 669b65cbebfe628835dbc4424844145cc88c74a8 Mon Sep 17 00:00:00 2001
From: Christian Forster <ch.forster@gmail.com>
Date: Sun, 27 Apr 2014 15:41:11 +0200
Subject: [PATCH] added edglet feature type

---
 svo/include/svo/feature.h | 43 +++++++++++++++++++++++++--------------
 1 file changed, 28 insertions(+), 15 deletions(-)

diff --git a/svo/include/svo/feature.h b/svo/include/svo/feature.h
index a0a30f4..142d232 100644
--- a/svo/include/svo/feature.h
+++ b/svo/include/svo/feature.h
@@ -26,34 +26,47 @@ struct Feature
 {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
+  enum FeatureType {
+    CORNER,
+    EDGELET
+  };
+
+  FeatureType type;     //!< Type can be corner or edgelet.
   Frame*   frame;       //!< Pointer to frame in which the feature was detected.
   Vector2d px;          //!< Coordinates in pixels on pyramid level 0.
   Vector3d f;           //!< Unit-bearing vector of the feature.
   int      level;       //!< Image pyramid level where feature was extracted.
   Point*   point;       //!< Pointer to 3D point which corresponds to the feature.
+  Vector2d grad;        //!< Dominant gradient direction for edglets, normalized.
 
-  Feature(Frame* _frame, const Vector2d& _px, int _level)
-   : frame(_frame),
-     px(_px),
-     f(frame->cam_->cam2world(px)),
-     level(_level),
-     point(NULL)
+  Feature(Frame* _frame, const Vector2d& _px, int _level) :
+    type(CORNER),
+    frame(_frame),
+    px(_px),
+    f(frame->cam_->cam2world(px)),
+    level(_level),
+    point(NULL),
+    grad(0.0,0.0)
   {}
 
-  Feature(Frame* _frame, const Vector2d& _px, const Vector3d& _f, int _level)
-  : frame(_frame),
+  Feature(Frame* _frame, const Vector2d& _px, const Vector3d& _f, int _level) :
+    type(CORNER),
+    frame(_frame),
     px(_px),
     f(_f),
     level(_level),
-    point(NULL)
+    point(NULL),
+    grad(0.0,0.0)
   {}
 
-  Feature(Frame* _frame, Point* _point, const Vector2d& _px, const Vector3d& _f, int _level)
-    : frame(_frame),
-      px(_px),
-      f(_f),
-      level(_level),
-      point(_point)
+  Feature(Frame* _frame, Point* _point, const Vector2d& _px, const Vector3d& _f, int _level) :
+    type(CORNER),
+    frame(_frame),
+    px(_px),
+    f(_f),
+    level(_level),
+    point(_point),
+    grad(0.0,0.0)
   {}
 };