Class DepthMapPixelHypothesis

• Defined in File DepthMapPixelHypothesis.h

Class Documentation

class DepthMapPixelHypothesis

Depth hypothesis used in DepthMap.

Inverse depths need to be scaled with the DepthMap’s internalScaleFactor to get frame scale. (From that, scale with the current keyframe’s scale to get the current best estimate of absolute scale).

Public Functions

DepthMapPixelHypothesis()

DepthMapPixelHypothesis(const float &my_idepth, const float &my_idepth_smoothed, const float &my_idepth_var, const float &my_idepth_var_smoothed, const int &my_validity_counter, int dd)

DepthMapPixelHypothesis(const float &my_idepth, const float &my_idepth_var, const int &my_validity_counter, int dd)

cv::Vec3b getVisualizationColor(int lastFrameID) const

Public Members

int debugDisplay

bool isValid

Flag telling if there is a valid estimate at this point. All other values are only valid if this is set to true.

int blacklisted

Flag that blacklists a point to never be used - set if stereo fails repeatedly on this pixel.

float nextStereoFrameMinID

How many frames to skip ahead in the tracked-frames-queue.

int validity_counter

Counter for validity, basically how many successful observations are incorporated.

float idepth

Actual Gaussian Distribution.

float idepth_var

float idepth_smoothed

Smoothed Gaussian Distribution.

float idepth_var_smoothed