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HKUST-Aerial-Robotics / open_quadtree_mapping

This is a monocular dense mapping system corresponding to IROS 2018 "Quadtree-accelerated Real-time Monocular Dense Mapping"

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problem understanding the age_table

ynma-hanvo opened this issue · comments

commented

hi, I have problem understanding the code in device kernel function: image_to_cost
the age_table_devptr is used, but it seems is never updated .
and also what is the purpose of :
const int my_frame_id = (float) this_age / 10.0 * (float) frame_id;
as what i understand,
frame_id is for one of the previous 5 frames used for cost computation

commented

Hi,
It has been a long long time since the project finished.
this_age means how many frames the pixel has been observed, and we evenly divided it into 10 folds and calculate the cost volume. Say the pixel age is 20, and we want to calculate the cost volume of frames 2, 4, 6, 8, 10, 12 .... frame_id is the idx of these used frames.