MapPoint.h
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00001 // -*- c++ -*-
00002 // Copyright 2008 Isis Innovation Limited
00003 // 
00004 // This file declares the MapPoint class
00005 // 
00006 // The map is made up of a bunch of mappoints.
00007 // Each one is just a 3D point in the world;
00008 // it also includes information on where and in which key-frame the point was
00009 // originally made from, so that pixels from that keyframe can be used
00010 // to search for that point.
00011 // Also stores stuff like inlier/outlier counts, and privat information for 
00012 // both Tracker and MapMaker.
00013 
00014 #ifndef __MAP_POINT_H
00015 #define __MAP_POINT_H
00016 #include <TooN/TooN.h>
00017 using namespace TooN;
00018 #include <cvd/image_ref.h>
00019 #include <cvd/timer.h>
00020 #include <set>
00021 
00022 class KeyFrame;
00023 class TrackerData;
00024 class MapMakerData;
00025 
00026 struct MapPoint
00027 {
00028   // Constructor inserts sensible defaults and zeros pointers.
00029   inline MapPoint()
00030   {
00031     bBad = false;
00032     pTData = NULL;
00033     pMMData = NULL;
00034     nMEstimatorOutlierCount = 0;
00035     nMEstimatorInlierCount = 0;
00036     dCreationTime = CVD::timer.get_time();
00037   };
00038   
00039   // Where in the world is this point? The main bit of information, really.
00040   Vector<3> v3WorldPos;
00041   // Is it a dud? In that case it'll be moved to the trash soon.
00042   bool bBad;
00043   
00044   // What pixels should be used to search for this point?
00045   KeyFrame *pPatchSourceKF; // The KeyFrame the point was originally made in
00046   int nSourceLevel;         // Pyramid level in source KeyFrame
00047   CVD::ImageRef irCenter;   // This is in level-coords in the source pyramid level
00048   
00049   // What follows next is a bunch of intermediate vectors - they all lead up
00050   // to being able to calculate v3Pixel{Down,Right}_W, which the PatchFinder
00051   // needs for patch warping!
00052   
00053   Vector<3> v3Center_NC;             // Unit vector in Source-KF coords pointing at the patch center
00054   Vector<3> v3OneDownFromCenter_NC;  // Unit vector in Source-KF coords pointing towards one pixel down of the patch center
00055   Vector<3> v3OneRightFromCenter_NC; // Unit vector in Source-KF coords pointing towards one pixel right of the patch center
00056   Vector<3> v3Normal_NC;             // Unit vector in Source-KF coords indicating patch normal
00057   
00058   Vector<3> v3PixelDown_W;           // 3-Vector in World coords corresponding to a one-pixel move down the source image
00059   Vector<3> v3PixelRight_W;          // 3-Vector in World coords corresponding to a one-pixel move right the source image
00060   void RefreshPixelVectors();        // Calculates above two vectors
00061   
00062   // Info for the Mapmaker (not to be trashed by the tracker:)
00063   MapMakerData *pMMData;
00064   
00065   // Info for the Tracker (not to be trashed by the MapMaker:)
00066   TrackerData *pTData;
00067   
00068   // Info provided by the tracker for the mapmaker:
00069   int nMEstimatorOutlierCount;
00070   int nMEstimatorInlierCount;
00071   
00072   // Random junk (e.g. for visualisation)
00073   double dCreationTime; //timer.get_time() time of creation
00074 };
00075 
00076 #endif


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autogenerated on Sat Jun 8 2019 20:27:23