Program Listing for File TrackingReference.h

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#pragma once
#include "util/settings.h"
#include "util/EigenCoreInclude.h"
#include "boost/thread/mutex.hpp"
#include <boost/thread/shared_mutex.hpp>

#include "DataStructures/Frame.h"

namespace lsd_slam
{


class DepthMapPixelHypothesis;
class KeyFrameGraph;

 // TODO.  Oh my gawd.
template< int __LEVELS >
class _TrackingRef
{
public:

    typedef std::shared_ptr<_TrackingRef> SharedPtr;

    _TrackingRef() = delete;
    _TrackingRef( const _TrackingRef & ) = delete;

    _TrackingRef( const Frame::SharedPtr &frame );

    ~_TrackingRef();

    int frameID()    { return ((bool)frame) ? frame->id() : -1; }

    Frame::SharedPtr frame;

    void makePointCloud(int level);
    void clearAll();

    Eigen::Vector3f* posData[__LEVELS]; // (x,y,z)
    Eigen::Vector2f* gradData[__LEVELS];    // (dx, dy)
    Eigen::Vector2f* colorAndVarData[__LEVELS]; // (I, Var)
    int* pointPosInXYGrid[__LEVELS];    // x + y*width
    int numData[__LEVELS];

private:
    int wh_allocated;
    std::mutex _accessMutex;
};

typedef _TrackingRef<PYRAMID_LEVELS> TrackingReference;

}

#include "TrackingReference_impl.h"