From be9690a01ccf5e66f10ae337e2f6e6e61518002c Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Thu, 10 Jan 2019 15:40:53 +0100
Subject: [PATCH] FIX: cell size as float
---
src/vision_utils.h | 26 ++++++++++++++++++++------
1 file changed, 20 insertions(+), 6 deletions(-)
diff --git a/src/vision_utils.h b/src/vision_utils.h
index d567ea4..23c13e2 100644
--- a/src/vision_utils.h
+++ b/src/vision_utils.h
@@ -222,13 +222,15 @@ public:
FeatureIdxGrid(const size_t& _img_height, const size_t& _img_width, const size_t& _n_cell_rows, const size_t& _n_cell_cols) :
n_cell_rows_(_n_cell_rows),
n_cell_cols_(_n_cell_cols),
- cell_width_(_img_width / _n_cell_cols),
- cell_height_(_img_height / _n_cell_rows),
+ cell_width_((float) _img_width / _n_cell_cols),
+ cell_height_((float)_img_height / _n_cell_rows),
grid_(_n_cell_rows, std::vector<FeatureIdxMap>(_n_cell_cols,FeatureIdxMap())),
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_))
{
- //
+ //VU_DEBUG("CELL SIZE: " << cell_width_ << " x " << cell_height_ );
+ //VU_DEBUG("GRID SIZE: " << rows() << " x " << cols() );
+ //VU_DEBUG("IMAGE SIZE: " << _img_width << " x " << _img_height);
}
size_t numFeatures(const size_t& _row, const size_t& _col)
@@ -260,6 +262,16 @@ public:
empty_cells_tile_tmp_.setZero();
}
+ inline int rows()
+ {
+ return n_cell_rows_;
+ }
+
+ inline int cols()
+ {
+ return n_cell_cols_;
+ }
+
inline Eigen::Vector2i getCell(const cv::KeyPoint& _kp)
{
Eigen::Vector2i cell; // [Row Col]
@@ -270,8 +282,10 @@ public:
void insert(const cv::KeyPoint& _kp, const size_t& _idx)
{
- Eigen::Vector2i cell = getCell(_kp);
- grid_.at(cell(0)).at(cell(1)).emplace(_kp.response, _idx);
+ Eigen::Vector2i cell = getCell(_kp);
+ grid_.at(cell(0)).at(cell(1)).emplace(_kp.response, _idx);
+ //VU_DEBUG("KP at " << _kp.pt.x << "," << _kp.pt.y);
+ //VU_DEBUG("Inserted in CELL: " << cell(0) << "," << cell(1));
}
void insert(const KeyPointVector& _kps)
@@ -391,7 +405,7 @@ public:
private:
size_t n_cell_rows_, n_cell_cols_;
- size_t cell_width_, cell_height_;
+ float cell_width_, cell_height_;
Grid grid_;
Eigen::MatrixXi tracking_grid_;
Eigen::MatrixXi empty_cells_tile_tmp_;
--
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