Program Listing for File DepthMapPixelHypothesis.h

↰ Return to documentation for file (lib/DepthEstimation/DepthMapPixelHypothesis.h)

#pragma once
#include <opencv2/core/core.hpp>
#include "util/settings.h"
#include "util/EigenCoreInclude.h"


namespace lsd_slam
{

class KeyFrameGraph;

class DepthMapPixelHypothesis
{
public:

    int debugDisplay;

    bool isValid;

    int blacklisted;

    float nextStereoFrameMinID;

    int validity_counter;

    float idepth;
    float idepth_var;

    float idepth_smoothed;
    float idepth_var_smoothed;


    DepthMapPixelHypothesis()
        : isValid(false), blacklisted(0)
    {;}

    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 ) :
            debugDisplay( dd ),
            isValid(true),
            blacklisted(0),
            nextStereoFrameMinID(0),
            validity_counter(my_validity_counter),
            idepth(my_idepth),
            idepth_var(my_idepth_var),
            idepth_smoothed(my_idepth_smoothed),
            idepth_var_smoothed(my_idepth_var_smoothed)
        {;}

    DepthMapPixelHypothesis(
            const float &my_idepth,
            const float &my_idepth_var,
            const int &my_validity_counter,
            int dd ) :
            debugDisplay( dd ),
            isValid(true),
            blacklisted(0),
            nextStereoFrameMinID(0),
            validity_counter(my_validity_counter),
            idepth(my_idepth),
            idepth_var(my_idepth_var),
            idepth_smoothed(-1),
            idepth_var_smoothed(-1)
        {;}

    cv::Vec3b getVisualizationColor(int lastFrameID) const;
};

typedef std::vector<DepthMapPixelHypothesis> DepthMapPixelHypothesisVector;

}