Skip to content
Snippets Groups Projects
Commit e35b0e1e authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Use the new retainBest()

parent 236615cc
No related branches found
No related tags found
2 merge requests!36After cmake and const refactor,!28Resolve "Building a new visual odometry system"
...@@ -115,7 +115,7 @@ void ProcessorVisualOdometry::preProcess() ...@@ -115,7 +115,7 @@ void ProcessorVisualOdometry::preProcess()
if (kps_roi.size() > 0){ if (kps_roi.size() > 0){
// retain only the best image in each region of interest // retain only the best image in each region of interest
cv::KeyPointsFilter::retainBest(kps_roi, 1); retainBest(kps_roi, 1);
// Keypoints are detected in the local coordinates of the region of interest // Keypoints are detected in the local coordinates of the region of interest
// -> translate to the full image corner coordinate system // -> translate to the full image corner coordinate system
kps_roi.at(0).pt.x = kps_roi.at(0).pt.x + rect_roi.x; kps_roi.at(0).pt.x = kps_roi.at(0).pt.x + rect_roi.x;
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment