From a1d69962318f8498e7762ab87d809d710a6f73e3 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sun, 17 Apr 2022 22:27:07 +0200
Subject: [PATCH] Fig bug: we were detecting in incoming while we should be
detecting in last
---
src/processor/processor_visual_odometry.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index b3f4b429b..6ddba83bf 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -234,7 +234,7 @@ void ProcessorVisualOdometry::preProcess()
{
break;
}
- cv::Mat img_roi(img_incoming, rect_roi); // no data copy -> no overhead
+ cv::Mat img_roi(img_last, rect_roi); // no data copy -> no overhead
std::vector<cv::KeyPoint> kps_roi;
detector_->detect(img_roi, kps_roi);
if (kps_roi.size() > 0){
--
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