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mobile_robotics
wolf_projects
wolf_lib
plugins
vision
Commits
7524253a
Commit
7524253a
authored
3 years ago
by
Joan Solà Ortega
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Overload blockCell()
parent
445186fa
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2 merge requests
!36
After cmake and const refactor
,
!28
Resolve "Building a new visual odometry system"
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include/vision/processor/active_search.h
+7
-0
7 additions, 0 deletions
include/vision/processor/active_search.h
src/processor/active_search.cpp
+6
-1
6 additions, 1 deletion
src/processor/active_search.cpp
with
13 additions
and
1 deletion
include/vision/processor/active_search.h
+
7
−
0
View file @
7524253a
...
...
@@ -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:
/**
...
...
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src/processor/active_search.cpp
+
6
−
1
View file @
7524253a
...
...
@@ -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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