MLPTesting(): c_(&camera_){
static_assert(imgSize_*dx_*dy_<255,"imgSize to large for gradients");
pixel_ = cv::Point2f(patchSize_/2+1,patchSize_/2+1);
bearing_ = V3D(patchSize_/2+1,patchSize_/2+1,1);
bearing_.normalize();
c_.set_c(pixel_);
warp_c_ << 0.1, 0.5, 0.7, -0.2;
c_.set_warp_c(warp_c_);
warp_nor_ = c_.get_warp_nor();
stat_.localQualityRange_ = 3;
stat_.localVisibilityRange_ = 4;
stat_.minGlobalQualityRange_ = 5;
img1_ = cv::Mat::zeros(imgSize_,imgSize_,CV_8UC1);
uint8_t* img_ptr = (uint8_t*) img1_.data;
for(int i=0;i<imgSize_;i++){
for(int j=0;j<imgSize_;j++, ++img_ptr){
*img_ptr = i*dy_+j*dx_;
}
}
img2_ = cv::Mat::zeros(imgSize_,imgSize_,CV_8UC1);
img_ptr = (uint8_t*) img2_.data;
for(int i=0;i<imgSize_;i++){
for(int j=0;j<imgSize_;j++, ++img_ptr){
if(j<imgSize_/2 & i<imgSize_/2){
*img_ptr = 0;
} else {
*img_ptr = 255;
}
}
}
pyr1_.computeFromImage(img1_);
pyr2_.computeFromImage(img2_);
}
/** \brief Transforms pixel coordinates between two pyramid levels.
*
* @Note Invalidates camera and bearing vector, since the camera model is not valid for arbitrary image levels.
* @param cIn - Input coordinates
* @param cOut - Output coordinates
* @param l1 - Input pyramid level.
* @param l2 - Output pyramid level.
* @return the corresponding pixel coordinates on pyramid level l2.
*/
void levelTranformCoordinates(const FeatureCoordinates& cIn,FeatureCoordinates& cOut,const int l1, const int l2) const{
assert(l1<n_levels && l2<n_levels && l1>=0 && l2>=0);
cOut.set_c((centers_[l1]-centers_[l2])*pow(0.5,l2)+cIn.get_c()*pow(0.5,l2-l1));
if(cIn.mpCamera_ != nullptr){
if(cIn.com_warp_c()){
cOut.set_warp_c(cIn.get_warp_c());
}
}
cOut.camID_ = -1;
cOut.mpCamera_ = nullptr;
}