Rename FeatureIdxGrid -> OccupancyGrid to TrackingGrid

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_;
 };