From 0a6cb4eb5f6a636881f7de20db22534efd8fd7a1 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sat, 16 Apr 2022 21:40:39 +0200
Subject: [PATCH] Document the code
---
src/processor/processor_visual_odometry.cpp | 14 +++++++++-----
1 file changed, 9 insertions(+), 5 deletions(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index d20ca8a3a..5fd51290f 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -229,27 +229,31 @@ void ProcessorVisualOdometry::preProcess()
// We try a bunch of time to add keypoints to randomly selected empty regions of interest
for (int i=0; i < params_visual_odometry_->max_new_features; i++){
cv::Rect rect_roi;
+
bool is_empty = cell_grid_.pickRoi(rect_roi);
- WOLF_TRACE("rect_roi: ", rect_roi)
- if (!is_empty){
+ if (!is_empty) // no empty cells!
+ {
break;
}
cv::Mat img_roi(img_incoming, rect_roi); // no data copy -> no overhead
std::vector<cv::KeyPoint> kps_roi;
detector_->detect(img_roi, kps_roi);
if (kps_roi.size() > 0){
- // retain only the best image in each region of interest
+ // retain only the best keypoint in each region of interest
retainBest(kps_roi, 1);
+
+ // update grid with this detection
+ cell_grid_.hitCell(kps_roi.at(0));
+
// Keypoints are detected in the local coordinates of the region of interest
// -> translate to the full image corner coordinate system
kps_roi.at(0).pt.x = kps_roi.at(0).pt.x + rect_roi.x;
kps_roi.at(0).pt.y = kps_roi.at(0).pt.y + rect_roi.y;
kps_last_new.push_back(kps_roi.at(0));
- WOLF_TRACE(kps_roi.at(0).pt.x, " ", kps_roi.at(0).pt.y)
- cell_grid_.hitCell(kps_roi.at(0));
}
else
{
+ // block this grid's cell so that it is not reused for detection
cell_grid_.blockCell(rect_roi);
}
}
--
GitLab