From 86f864854f7c0bf01bff7253563eb8ccb6eff018 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Sat, 28 Apr 2018 10:11:36 +0200
Subject: [PATCH] Rename FeatureIdxGrid -> OccupancyGrid to TrackingGrid
---
src/vision_utils.h | 44 ++++++++++++++++++++++----------------------
1 file changed, 22 insertions(+), 22 deletions(-)
diff --git a/src/vision_utils.h b/src/vision_utils.h
index c1db2c8..df9631e 100644
--- a/src/vision_utils.h
+++ b/src/vision_utils.h
@@ -225,7 +225,7 @@ public:
cell_width_(_img_width / _n_cell_cols),
cell_height_(_img_height / _n_cell_rows),
grid_(_n_cell_rows, std::vector<FeatureIdxMap>(_n_cell_cols,FeatureIdxMap())),
- occupancy_grid_(Eigen::MatrixXi::Zero(_n_cell_rows,_n_cell_cols)),
+ tracking_grid_(Eigen::MatrixXi::Zero(_n_cell_rows,_n_cell_cols)),
empty_cells_tile_tmp_(Eigen::MatrixXi::Zero(2,n_cell_rows_ * n_cell_cols_))
{
//
@@ -256,7 +256,7 @@ public:
for (auto ii=0; ii < grid_.size(); ++ii)
for (auto jj=0; jj < grid_.size(); ++jj)
grid_.at(ii).at(jj).clear();
- occupancy_grid_.setZero();
+ tracking_grid_.setZero();
empty_cells_tile_tmp_.setZero();
}
@@ -320,31 +320,31 @@ public:
/**
* \brief Hit occupancy grid by cell.
*/
- inline void hitOccupancyGrid(const Eigen::Vector2i& _cell)
+ inline void hitTrackingCell(const Eigen::Vector2i& _cell)
{
if (_cell(0) < 0 || _cell(1) < 0 || _cell(0) > n_cell_rows_ || _cell(1) > n_cell_cols_)
return;
- occupancy_grid_(_cell(0), _cell(1))++;
+ tracking_grid_(_cell(0), _cell(1))++;
}
+ /**
+ * \brief Hit occupancy grid by cell coordinates (row, col).
+ */
+ template<typename Scalar>
+ inline void hitTrackingCell(const Scalar _row, const Scalar _col)
+ {
+ Eigen::Vector2i cell;
+ cell << _row, _col;
+ hitTrackingCell(cell);
+ }
+
/**
* \brief Hit occupancy grid by keypoint.
*/
- inline void hitOccupancyGrid(const cv::KeyPoint& _pix)
+ inline void hitTrackingCell(const cv::KeyPoint& _pix)
{
Eigen::Vector2i cell = getCell(_pix);
- hitOccupancyGrid(cell);
- }
-
- /**
- * \brief Hit occupancy grid by cell coordinates (row, col).
- */
- template<typename Scalar>
- inline void hitOccupancyGrid(const Scalar _row, const Scalar _col)
- {
- Eigen::Vector2i cell;
- cell << _row, _col;
- hitOccupancyGrid(cell);
+ hitTrackingCell(cell);
}
/**
@@ -352,7 +352,7 @@ public:
* \param _roi the resulting ROI
* \return true if ROI exists.
*/
- bool pickEmptyCell(Eigen::Vector2i & _cell)
+ bool pickEmptyTrackingCell(Eigen::Vector2i & _cell)
{
int kk = 0;
Eigen::Vector2i cell0;
@@ -360,7 +360,7 @@ public:
for (int jj = 1; jj < n_cell_cols_; jj++) {
cell0(0) = ii;
cell0(1) = jj;
- if (occupancy_grid_(ii, jj) == 0)
+ if (tracking_grid_(ii, jj) == 0)
{
empty_cells_tile_tmp_(0,kk) = ii; //may be done in a better way
empty_cells_tile_tmp_(1,kk) = jj;
@@ -384,16 +384,16 @@ public:
* in order to avoid searching again in it.
* \param _roi the ROI where nothing was found
*/
- void blockCell(Eigen::Vector2i& cell)
+ void blockTrackingCell(Eigen::Vector2i& cell)
{
- occupancy_grid_(cell(0), cell(1)) = 0;
+ tracking_grid_(cell(0), cell(1)) = 0;
}
private:
size_t n_cell_rows_, n_cell_cols_;
size_t cell_width_, cell_height_;
Grid grid_;
- Eigen::MatrixXi occupancy_grid_;
+ Eigen::MatrixXi tracking_grid_;
Eigen::MatrixXi empty_cells_tile_tmp_;
};
--
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