added edglet feature type

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)
+  Feature(Frame* _frame, const Vector2d& _px, int _level) :
-   : frame(_frame),
+    type(CORNER),
-     px(_px),
+    frame(_frame),
-     f(frame->cam_->cam2world(px)),
+    px(_px),
-     level(_level),
+    f(frame->cam_->cam2world(px)),
-     point(NULL)
+    level(_level),
+    point(NULL),
+    grad(0.0,0.0)
   {}
 
-  Feature(Frame* _frame, const Vector2d& _px, const Vector3d& _f, int _level)
+  Feature(Frame* _frame, const Vector2d& _px, const Vector3d& _f, int _level) :
-  : frame(_frame),
+    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)
+  Feature(Frame* _frame, Point* _point, const Vector2d& _px, const Vector3d& _f, int _level) :
-    : frame(_frame),
+    type(CORNER),
-      px(_px),
+    frame(_frame),
-      f(_f),
+    px(_px),
-      level(_level),
+    f(_f),
-      point(_point)
+    level(_level),
+    point(_point),
+    grad(0.0,0.0)
   {}
 };