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Commit 7524253a authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Overload blockCell()

parent 445186fa
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2 merge requests!36After cmake and const refactor,!28Resolve "Building a new visual odometry system"
......@@ -236,6 +236,13 @@ class ActiveSearchGrid {
*/
void blockCell(const cv::Rect & _roi);
/**
* \brief Call this after pickRoi if no point was found in the roi
* in order to avoid searching again in it.
* \param _cell the cell where nothing was found
*/
void blockCell(const Vector2i & _cell);
private:
/**
......
......@@ -131,7 +131,12 @@ void ActiveSearchGrid::blockCell(const cv::Rect & _roi)
pix(0) = _roi.x+_roi.width/2;
pix(1) = _roi.y+_roi.height/2;
Eigen::Vector2i cell = coords2cell(pix(0), pix(1));
projections_count_(cell(0), cell(1)) = -1;
blockCell(cell);
}
void ActiveSearchGrid::blockCell(const cv::Rect & _cell)
{
projections_count_(_cell(0), _cell(1)) = -1;
}
......
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