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Commit 86f86485 authored by Angel Santamaria-Navarro's avatar Angel Santamaria-Navarro
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Rename FeatureIdxGrid -> OccupancyGrid to TrackingGrid

parent 82c22137
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......@@ -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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