refactoring Point, added point normal as member

svo/src/initialization.cpp

@@ -84,7 +84,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
     if(frame_ref_->cam_->isInFrame(px_cur.cast<int>(), 10) && frame_ref_->cam_->isInFrame(px_ref.cast<int>(), 10) && xyz_in_cur_[*it].z() > 0)
     {
       Vector3d pos = T_world_cur * (xyz_in_cur_[*it]*scale);
-      Point* new_point = new Point(pos, Point::TRIANGULATION);
+      Point* new_point = new Point(pos);
 
       Feature* ftr_cur(new Feature(frame_cur.get(), new_point, px_cur, f_cur_[*it], 0));
       frame_cur->addFeature(ftr_cur);

svo/src/map.cpp

@@ -94,7 +94,7 @@ void Map::safeDeletePoint(Point* pt)
 
 void Map::deletePoint(Point* pt)
 {
-  pt->type_ = Point::DELETED;
+  pt->type_ = Point::TYPE_DELETED;
   trash_points_.push_back(pt);
 }
 
@@ -196,9 +196,9 @@ MapPointCandidates::~MapPointCandidates()
 void MapPointCandidates::newCandidatePoint(const Seed& seed, const Vector3d& xyz_world)
 {
   // initalize a new point
-  Point* point = new Point(xyz_world, Point::VOGIATZIS);
+  Point* point = new Point(xyz_world);
   point->addFrameRef(seed.ftr);
-  point->type_ = Point::CANDIDATE;
+  point->type_ = Point::TYPE_CANDIDATE;
   seed.ftr->point = point;
 
   // add candidate to list
@@ -215,7 +215,7 @@ void MapPointCandidates::addCandidatePointToFrame(FramePtr frame)
     if(it->first->obs_.front()->frame == frame.get())
     {
       // insert feature in the frame
-      it->first->type_ = Point::UNKNOWN_QUALITY;
+      it->first->type_ = Point::TYPE_UNKNOWN;
       it->first->n_failed_reproj_ = 0;
       it->second->frame->addFeature(it->second);
       it = candidates_.erase(it);
@@ -271,7 +271,7 @@ void MapPointCandidates::deleteCandidate(PointCandidate& c)
   // camera-rig: another frame might still be pointing to the candidate point
   // therefore, we can't delete it right now.
   delete c.second; c.second=NULL;
-  c.first->type_ = Point::DELETED;
+  c.first->type_ = Point::TYPE_DELETED;
   trash_points_.push_back(c.first);
 }
 
@@ -298,7 +298,7 @@ void frameValidation(Frame* frame, int id)
     if((*it)->point==NULL)
       continue;
 
-    if((*it)->point->type_ == Point::DELETED)
+    if((*it)->point->type_ == Point::TYPE_DELETED)
       printf("ERROR DataValidation %i: Referenced point was deleted.\n", id);
 
     if(!(*it)->point->findFrameRef(frame))

svo/src/point.cpp

@@ -24,15 +24,15 @@ namespace svo {
 
 int Point::point_counter_ = 0;
 
-Point::Point(Vector3d pos, PointOrigin origin) :
+Point::Point(Vector3d pos) :
   id_(point_counter_++),
   pos_(pos),
+  normal_(Vector3d::Zero()),
   n_obs_(0),
   v_pt_(NULL),
   last_published_ts_(0),
   last_projected_kf_id_(-1),
-  type_(UNKNOWN_QUALITY),
-  origin_(origin),
+  type_(TYPE_UNKNOWN),
   n_failed_reproj_(0),
   n_succeeded_reproj_(0),
   last_structure_optim_(0)

svo/src/reprojection.cpp

@@ -158,7 +158,7 @@ bool reprojectCell(
   {
     ++n_trials;
 
-    if(it->pt->type_ == Point::DELETED)
+    if(it->pt->type_ == Point::TYPE_DELETED)
     {
       it = cell.erase(it);
       continue;
@@ -169,16 +169,16 @@ bool reprojectCell(
     if(!found_match)
     {
       it->pt->n_failed_reproj_++;
-      if(it->pt->type_ == Point::UNKNOWN_QUALITY && it->pt->n_failed_reproj_ > 15)
+      if(it->pt->type_ == Point::TYPE_UNKNOWN && it->pt->n_failed_reproj_ > 15)
         map.safeDeletePoint(it->pt);
-      if(it->pt->type_ == Point::CANDIDATE  && it->pt->n_failed_reproj_ > 30)
+      if(it->pt->type_ == Point::TYPE_CANDIDATE  && it->pt->n_failed_reproj_ > 30)
         candidate_points.deleteCandidatePoint(it->pt);
       it = cell.erase(it);
       continue;
     }
     it->pt->n_succeeded_reproj_++;
-    if(it->pt->type_ == Point::UNKNOWN_QUALITY && it->pt->n_succeeded_reproj_ > 10)
-      it->pt->type_ = Point::GOOD_QUALITY;
+    if(it->pt->type_ == Point::TYPE_UNKNOWN && it->pt->n_succeeded_reproj_ > 10)
+      it->pt->type_ = Point::TYPE_GOOD;
 
     Feature* new_feature = new Feature(frame.get(), it->px, feature_level);
     frame->addFeature(new_feature);