Program Listing for File FrameData.h

↰ Return to documentation for file (lib/DataStructures/FrameData.h)

#pragma once

#include "libvideoio/types/Camera.h"
#include "libvideoio/types/ImageSize.h"

#include "util/settings.h"
#include "util/Configuration.h"


namespace lsd_slam {

  using libvideoio::Camera;
  using libvideoio::ImageSize;

  template< int __LEVELS >
    struct FrameData
    {
    const int Levels = __LEVELS;

        // Explicitly delete default and copy constructors
        FrameData() = delete;
        FrameData( const FrameData & ) = delete;

        FrameData( const Camera &camera, const ImageSize &slamImageSize, const unsigned char *data );
    FrameData( const Camera &camera, const ImageSize &slamImageSize, const float *data );

    ~FrameData();

        //int width[__LEVELS], height[__LEVELS];
    ImageSize imgSize[__LEVELS];
        Camera camera[__LEVELS];

        // Eigen::Matrix3f K[__LEVELS], KInv[__LEVELS];
        // float fx[__LEVELS], fy[__LEVELS], cx[__LEVELS], cy[__LEVELS];
        // float fxInv[__LEVELS], fyInv[__LEVELS], cxInv[__LEVELS], cyInv[__LEVELS];

        float* image[__LEVELS];
        bool imageValid[__LEVELS];

        Eigen::Vector4f* gradients[__LEVELS];
        bool gradientsValid[__LEVELS];

        float* maxGradients[__LEVELS];
        bool maxGradientsValid[__LEVELS];


        bool hasIDepthBeenSet;

        // negative depthvalues are actually allowed, so setting this to -1 does NOT invalidate the pixel's depth.
        // a pixel is valid iff idepthVar[i] > 0.
        float* idepth[__LEVELS];
        bool idepthValid[__LEVELS];

        // MUST contain -1 for invalid pixel (that dont have depth)!!
        float* idepthVar[__LEVELS];
        bool idepthVarValid[__LEVELS];

        // data needed for re-activating the frame. theoretically, this is all data the
        // frame contains.
        unsigned char* validity_reAct;
        float* idepth_reAct;
        float* idepthVar_reAct;
        bool reActivationDataValid;


        // data from initial tracking, indicating which pixels in the reference frame ware good or not.
        // deleted as soon as frame is used for mapping.
        bool* refPixelWasGood;


  protected:

    void commonInitialization( const Camera &cam, const ImageSize &slamImageSize );
    };

}

#include "FrameData_impl.h"