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refactoring Point, added point normal as member

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This commit is contained in:
Christian Forster
2014-04-03 10:08:18 +02:00
parent 0b0a9a51b0
commit a1e014c77c
8 changed files with 27 additions and 24 deletions
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svo/src/reprojection.cpp
+5 -5
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@@ -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);