I was reading your code, and noticed that the Bilinear interpolation is not doing what we usually called Bilinear interpolation, (but something that look like a usual mistake).
In Bilinear interpolation (like multi-linear interpolation) interpolated values for the vertices are exact.
There should be some crossed term xweight*yweight ...
I was reading your code, and noticed that the Bilinear interpolation is not doing what we usually called Bilinear interpolation, (but something that look like a usual mistake).
https://github.com/tum-vision/dvo/blob/bd21a70ce76d882a354de7b89d2429f974b8814c/dvo_core/src/core/interpolation.cpp#L36-L53
https://en.wikipedia.org/wiki/Bilinear_interpolation (see on unit square)
In Bilinear interpolation (like multi-linear interpolation) interpolated values for the vertices are exact. There should be some crossed term xweight*yweight ...