Program Listing for File FrameData_impl.h

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#include "DataStructures/FrameMemory.h"

namespace lsd_slam {

    template< int __LEVELS >
    FrameData<__LEVELS>::FrameData( const Camera &cam, const ImageSize &slamImageSize, const unsigned char *img )
        :   hasIDepthBeenSet( false ),
        validity_reAct( 0 ),
        idepthVar_reAct( 0 ),
        idepth_reAct( 0 ),
        refPixelWasGood( 0 )
    {
        commonInitialization( cam, slamImageSize );

        CHECK( (imgSize[0].width & (PYRAMID_DIVISOR-1)) == 0 ) << "Image width " << imgSize[0].width << " isn't divisible by " << PYRAMID_DIVISOR;
      CHECK( (imgSize[0].height & (PYRAMID_DIVISOR-1)) == 0 ) << "Image height " << imgSize[0].width << " isn't divisible by " << PYRAMID_DIVISOR;

        image[0] = FrameMemory::getInstance().getFloatBuffer(imgSize[0].area());

        float *pt = image[0];
        for(unsigned int i = 0; i < imgSize[0].area(); ++i, ++pt ) {
                     *pt = img[i];
        }
        imageValid[0] = true;
    }


template< int __LEVELS >
FrameData<__LEVELS>::FrameData( const Camera &cam, const ImageSize &slamImageSize, const float *img )
    :   hasIDepthBeenSet( false ),
    validity_reAct( 0 ),
    idepthVar_reAct( 0 ),
    idepth_reAct( 0 ),
    refPixelWasGood( 0 )
{
    commonInitialization( cam, slamImageSize );

  CHECK( (imgSize[0].width & (PYRAMID_DIVISOR-1)) == 0 ) << "Image width " << imgSize[0].width << " isn't divisible by " << PYRAMID_DIVISOR;
  CHECK( (imgSize[0].height & (PYRAMID_DIVISOR-1)) == 0 ) << "Image height " << imgSize[0].width << " isn't divisible by " << PYRAMID_DIVISOR;

    image[0] = FrameMemory::getInstance().getFloatBuffer( imgSize[0].area() );
    memcpy(image[0], img, imgSize[0].area() * sizeof(float));
    imageValid[0] = true;
}

template< int __LEVELS >
void FrameData<__LEVELS>::commonInitialization( const Camera &cam, const ImageSize &slamImageSize )
{
    camera[0] = cam;

    for (int level = 0; level < __LEVELS; ++ level)
    {
        imgSize[level] = ImageSize( slamImageSize.width >> level, slamImageSize.height >> level );

        imageValid[level] = false;
        gradientsValid[level] = false;
        maxGradientsValid[level] = false;
        idepthValid[level] = false;
        idepthVarValid[level] = false;

        image[level] = 0;
        gradients[level] = 0;
        maxGradients[level] = 0;
        idepth[level] = 0;
        idepthVar[level] = 0;
        reActivationDataValid = false;

//      refIDValid[level] = false;

        if (level > 0) camera[level] = camera[0].scale( 1.0f / (int)(1<<level) );
    }
}


template< int __LEVELS >
FrameData<__LEVELS>::~FrameData() {

  for (int level = 0; level < __LEVELS; ++ level)
  {
    FrameMemory::getInstance().returnBuffer(image[level]);
    FrameMemory::getInstance().returnBuffer(reinterpret_cast<float*>(gradients[level]));
    FrameMemory::getInstance().returnBuffer(maxGradients[level]);
    FrameMemory::getInstance().returnBuffer(idepth[level]);
    FrameMemory::getInstance().returnBuffer(idepthVar[level]);
  }

  FrameMemory::getInstance().returnBuffer((float*)validity_reAct);
  FrameMemory::getInstance().returnBuffer(idepth_reAct);
  FrameMemory::getInstance().returnBuffer(idepthVar_reAct);
}

}