From a8893e2fdcc4258efa639826e0a1197b72936097 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sat, 16 Apr 2022 14:11:35 +0200
Subject: [PATCH] Add FAST pattern -- hardcoded to TYPE_7_12
---
src/processor/processor_visual_odometry.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index 90a914517..6fb0e5fbd 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -36,7 +36,8 @@ ProcessorVisualOdometry::ProcessorVisualOdometry(ParamsProcessorVisualOdometryPt
{
// Preprocessor stuff
detector_ = cv::FastFeatureDetector::create(_params_vo->fast_params_.threshold_fast_,
- _params_vo->fast_params_.non_max_suppresion_);
+ _params_vo->fast_params_.non_max_suppresion_,
+ cv::FastFeatureDetector::TYPE_7_12); // TYPE_5_8, TYPE_7_12, TYPE_9_16
// Processor stuff
// Set pixel noise covariance
--
GitLab