Some strange code, need explanation

[ProstoNekitos]

Can you pls explain me wats going on https://github.com/JakobEngel/dso/blob/ae1d0b3d972367b0a384e587852bedcf5f414e69/src/FullSystem/FullSystem.cpp#L657

[s3r637]

Hi @ProstoNekitos,

before the loop the FullSystem::activatePointsMT_Reductor function is called. This function calls the optimizeImmaturePoint function foreach ImmaturePoint. However, such values ​​are returned in multiple places, e.g.,

https://github.com/JakobEngel/dso/blob/e59db70710ead30d6b47959f886665ddd9cb4f85/src/FullSystem/FullSystemOptPoint.cpp#L153

https://github.com/JakobEngel/dso/blob/e59db70710ead30d6b47959f886665ddd9cb4f85/src/FullSystem/FullSystemOptPoint.cpp#L164

https://github.com/JakobEngel/dso/blob/e59db70710ead30d6b47959f886665ddd9cb4f85/src/FullSystem/FullSystemOptPoint.cpp#L170

This is used to mark invalid points.

cheers