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konanrobot · Mar 21, 2016 · ce46264 · ce46264
2 parents f671bc9 + 6056fc3
commit ce46264
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Showing 2 changed files with 113 additions and 108 deletions.
diff --git a/include/ProbabilityMapping.h b/include/ProbabilityMapping.h
@@ -52,8 +52,8 @@ class ProbabilityMapping {
 	struct depthHo {
 		float depth;
 		float sigma;
-
-                depthHo():depth(0),sigma(0) {}
+                bool supported;
+                depthHo():depth(0),sigma(0),supported(false) {}
         };
 
         ProbabilityMapping();
@@ -62,7 +62,7 @@ class ProbabilityMapping {
         /* * \brief void stereo_search_constraints(): return min, max inverse depth */
         void StereoSearchConstraints(ORB_SLAM::KeyFrame* kf, float* min_depth, float* max_depth);
 	/* * \brief void epipolar_search(): return distribution of inverse depths/sigmas for each pixel */
-        void EpipolarSearch(ORB_SLAM::KeyFrame *kf1, ORB_SLAM::KeyFrame *kf2, int x, int y, cv::Mat gradx, cv::Mat grady, cv::Mat grad, float min_depth, float max_depth, depthHo &dh);
+        void EpipolarSearch(ORB_SLAM::KeyFrame *kf1, ORB_SLAM::KeyFrame *kf2, int x, int y, float pixel, cv::Mat gradx, cv::Mat grady, cv::Mat grad, float min_depth, float max_depth, depthHo *dh);
 	/* * \brief void inverse_depth_hypothesis_fusion(const vector<depthHo> H, depthHo* dist): 
 	 * *         get the parameters of depth hypothesis distrubution from list of depth hypotheses */
         void InverseDepthHypothesisFusion(const std::vector<depthHo>& h, depthHo* dist);
@@ -77,10 +77,9 @@ class ProbabilityMapping {
         void GetTR(ORB_SLAM::KeyFrame* kf, cv::Mat* t, cv::Mat* r);
         void GetXp(const cv::Mat& K, int x, int y, cv::Mat* Xp);
         void GetParameterization(const cv::Mat& F12, const int x, const int y, float* a, float* b, float* c);
-        void ComputeInvDepthHypothesis(ORB_SLAM::KeyFrame* kf, int pixel, float ustar, float ustar_var, float a, float b, float c, depthHo &dh);
+        void ComputeInvDepthHypothesis(ORB_SLAM::KeyFrame* kf, int pixel, float ustar, float ustar_var, float a, float b, float c, depthHo *dh);
         void GetImageGradient(const cv::Mat& image, cv::Mat* gradx, cv::Mat* grady, cv::Mat* grad);
         void GetInPlaneRotation(ORB_SLAM::KeyFrame* k1, ORB_SLAM::KeyFrame* k2, float* th);
-        void GetIntensityGradient(cv::Mat im, float* g);
         void PixelNeighborSupport(std::vector<std::vector<depthHo> > H, int x, int y, std::vector<depthHo>& support);
         void PixelNeighborNeighborSupport(std::vector<std::vector<depthHo> > H, int px, int py, std::vector<std::vector<depthHo> >& support);
         void GetIntensityGradient_D(const cv::Mat& ImGrad, float a, float b, float c, int px, float* q);