Fix bug with non-cleared variables at the start of active_search

src/algorithms/activesearch/alg_activesearch.cpp

@@ -34,6 +34,9 @@ void AlgorithmACTIVESEARCH::initAlg(const int& _img_width, const int& _img_heigh
     cell_size_(1) = img_size_(1) / params_ptr_->n_cells_v;
     offset_ = -cell_size_ / 2;
 
+    // set all ready to start clean
+    this->clear();
+
 	if (params_ptr_->draw_results)
 	{
 		cv::startWindowThread();
@@ -84,14 +87,16 @@ bool AlgorithmACTIVESEARCH::pickEmptyCell(Eigen::Vector2i & _cell) {
 /*
  * Get cell origin (exact pixel)
  */
-Eigen::Vector2i AlgorithmACTIVESEARCH::cellOrigin(const Eigen::Vector2i & _cell) {
+Eigen::Vector2i AlgorithmACTIVESEARCH::cellOrigin(const Eigen::Vector2i & _cell)
+{
     Eigen::Vector2i cell0;
     cell0(0) = offset_(0) + cell_size_(0) * _cell(0);
     cell0(1) = offset_(1) + cell_size_(1) * _cell(1);
     return cell0;
 }
 
-void AlgorithmACTIVESEARCH::cell2roi(const Eigen::Vector2i & _cell, cv::Rect & _roi) {
+void AlgorithmACTIVESEARCH::cell2roi(const Eigen::Vector2i & _cell, cv::Rect & _roi)
+{
     roi_coordinates_ = cellOrigin(_cell);
     roi_coordinates_(0) += params_ptr_->separation;
     roi_coordinates_(1) += params_ptr_->separation;
@@ -104,8 +109,8 @@ void AlgorithmACTIVESEARCH::cell2roi(const Eigen::Vector2i & _cell, cv::Rect & _
     _roi.height = roi_size(1);
 }
 
-bool AlgorithmACTIVESEARCH::pickEmptyRoi(cv::Rect & _roi) {
-
+bool AlgorithmACTIVESEARCH::pickEmptyRoi(cv::Rect & _roi)
+{
     Eigen::Vector2i cell;
     if (pickEmptyCell(cell)) {
         cell2roi(cell, _roi);

src/algorithms/activesearch/alg_activesearch.h

@@ -255,6 +255,7 @@ inline AlgorithmBasePtr AlgorithmACTIVESEARCH::create(const std::string& _unique
 inline void AlgorithmACTIVESEARCH::clear()
 {
     projections_count_.setZero();
+    empty_cells_tile_tmp_.setZero();
 }
 
 inline void AlgorithmACTIVESEARCH::renew()