dso图像预处理

1. readImageBW_8U

   cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_GRAYSCALE);MinimalImageB* img = new inimalImageB(m.cols, m.rows);memcpy(img->data, m.data, m.rows*m.cols);return img;

2. Undistort::undistort
   主要调用
   photometricUndist->processFrame(image_raw->data, exposure, factor);
   内部：

   float* data = output->image;for(int i=0; i<wh;i++){    data[i] = factor*image_in[i];}output->exposure_time = exposure_time;output->timestamp = 0;

   还有另一个分支
   data[i] = G[image_in[i]];
   反正就是要对 像素值 进行转换， 转为一种 浮点型数据

3.

    photometricUndist->output->copyMetaTo(*result);    other.exposure_time = exposure_time;    else    {        memcpy(result->image, photometricUndist->output->image, sizeof(float)*w*h);    }

至此，得到了ImageAndExposure* ret2