uninportant changes

konanrobot · Mar 21, 2016 · f671bc9 · f671bc9
1 parent f666938
commit f671bc9
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/include/ProbabilityMapping.h b/include/ProbabilityMapping.h
@@ -53,7 +53,7 @@ class ProbabilityMapping {
 		float depth;
 		float sigma;
 
-                depthHo():depth(NULL),sigma(NULL) {}
+                depthHo():depth(0),sigma(0) {}
         };
 
         ProbabilityMapping();
@@ -65,7 +65,7 @@ class ProbabilityMapping {
         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);
 	/* * \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);
+        void InverseDepthHypothesisFusion(const std::vector<depthHo>& h, depthHo* dist);
 	/* * \brief void intraKeyFrameDepthChecking(std::vector<std::vector<depthHo> > h, int imrows, int imcols): intra-keyframe depth-checking, smoothing, and growing. */
         void IntraKeyFrameDepthChecking(std::vector<std::vector<depthHo> >& ho, int imrows, int imcols);
 	/* * \brief void interKeyFrameDepthChecking(ORB_SLAM::KeyFrame* currentKF, std::vector<std::vector<depthHo> > h, int imrows, int imcols): 

diff --git a/src/ProbabilityMapping.cc b/src/ProbabilityMapping.cc
@@ -54,7 +54,7 @@ void ProbabilityMapping::FirstLoop(ORB_SLAM::KeyFrame *kf, std::vector<std::vect
   cout << "Got it!\n";
   cout << "Generating Depth Hypotheses...\n";
 
-  std::vector<depthHo*> depth_ho;
+  std::vector<depthHo> depth_ho;
 
   std::vector<std::vector<depthHo> > temp_ho (image.rows, std::vector<depthHo>(image.cols, depthHo()) );
   for(int x = 0; x < image.rows; x++){
@@ -70,10 +70,10 @@ void ProbabilityMapping::FirstLoop(ORB_SLAM::KeyFrame *kf, std::vector<std::vect
         ORB_SLAM::KeyFrame* kf2 = closestMatches[i];
 
         depthHo* dh = new depthHo();
-        EpipolarSearch(kf, kf2, x, y, gradx, grady, grad, min_depth, max_depth, *dh);
+        EpipolarSearch(kf, kf2, x, y, gradx, grady, grad, min_depth, max_depth, dh);
         cout << "Depth: " << dh->depth << "\n";
         if (dh != NULL)
-            depth_ho.push_back(dh);
+            depth_ho.push_back(*dh);
       }
 
       printf("FirstLoop: found a set of %d hypotheseses for pixel %d,%d\n", (int)(depth_ho.size()), x, y);
@@ -82,9 +82,9 @@ void ProbabilityMapping::FirstLoop(ORB_SLAM::KeyFrame *kf, std::vector<std::vect
         cout << "Calculating Inverse Depth Hypothesis\n";
         InverseDepthHypothesisFusion(depth_ho, dh);
         temp_ho[x][y] = *dh;
-      } else {
-        temp_ho[x][y] = NULL;
-      }
+      }// else {
+       // temp_ho[x][y] = NULL;
+      //}
     }
   }
   ho = temp_ho;
@@ -277,7 +277,7 @@ void ProbabilityMapping::IntraKeyFrameDepthChecking(std::vector<std::vector<dept
     }
 } 
 
-void ProbabilityMapping::InverseDepthHypothesisFusion(const std::vector<depthHo*>& h, depthHo* dist) {
+void ProbabilityMapping::InverseDepthHypothesisFusion(const std::vector<depthHo>& h, depthHo* dist) {
     dist->depth = 0;
     dist->sigma = 0;