From 112c8ce0038a46a100f935b179b1c14d441fb61b Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sat, 16 Apr 2022 17:45:49 +0200
Subject: [PATCH] Fix usages of hitCell() and blockCell()
---
src/processor/processor_visual_odometry.cpp | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index 6fb0e5fbd..3859bfaa9 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -239,7 +239,6 @@ void ProcessorVisualOdometry::preProcess()
bool is_empty = cell_grid_.pickRoi(rect_roi);
WOLF_TRACE("rect_roi: ", rect_roi)
if (!is_empty){
- cell_grid_.blockCell(rect_roi);
break;
}
cv::Mat img_roi(img_incoming, rect_roi); // no data copy -> no overhead
@@ -254,6 +253,11 @@ void ProcessorVisualOdometry::preProcess()
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
+ {
+ cell_grid_.blockCell(rect_roi);
}
}
--
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