From da547822a1d3769ab88d419f77b88e720e35dca6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Thu, 11 Apr 2019 16:05:37 +0200
Subject: [PATCH] Changed max_new_features to int. Documentation fixed and code
adapted
---
include/base/processor/processor_tracker.h | 4 ++--
.../processor/processor_tracker_feature.h | 10 ++++++----
.../processor_tracker_feature_corner.h | 10 +++++-----
.../processor_tracker_feature_dummy.h | 10 +++++-----
.../processor_tracker_feature_image.h | 12 +++++++-----
.../processor_tracker_feature_trifocal.h | 8 +++++---
.../processor/processor_tracker_landmark.h | 11 ++++++-----
.../processor_tracker_landmark_corner.h | 10 +++++-----
.../processor_tracker_landmark_dummy.h | 9 +++++----
.../processor_tracker_landmark_image.h | 12 +++++++-----
src/processor/processor_tracker_feature.cpp | 2 +-
.../processor_tracker_feature_corner.cpp | 5 ++++-
.../processor_tracker_feature_dummy.cpp | 11 +++++++++--
.../processor_tracker_feature_image.cpp | 4 ++--
.../processor_tracker_feature_trifocal.cpp | 4 ++--
src/processor/processor_tracker_landmark.cpp | 2 +-
.../processor_tracker_landmark_corner.cpp | 7 +++++--
.../processor_tracker_landmark_dummy.cpp | 19 ++++++++++++++-----
.../processor_tracker_landmark_image.cpp | 4 ++--
19 files changed, 93 insertions(+), 61 deletions(-)
diff --git a/include/base/processor/processor_tracker.h b/include/base/processor/processor_tracker.h
index 2461a69fe..38dc26b30 100644
--- a/include/base/processor/processor_tracker.h
+++ b/include/base/processor/processor_tracker.h
@@ -18,7 +18,7 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsTracker);
struct ProcessorParamsTracker : public ProcessorParamsBase
{
unsigned int min_features_for_keyframe; ///< minimum nbr. of features to vote for keyframe
- unsigned int max_new_features;
+ int max_new_features; ///< maximum nbr. of new features to be processed when adding a keyframe (-1: unlimited. 0: none.)
};
WOLF_PTR_TYPEDEFS(ProcessorTracker);
@@ -181,7 +181,7 @@ class ProcessorTracker : public ProcessorBase
/**\brief Process new Features or Landmarks
*
*/
- virtual unsigned int processNew(const unsigned int& _max_features) = 0;
+ virtual unsigned int processNew(const int& _max_features) = 0;
/**\brief Creates and adds factors from last_ to origin_
*
diff --git a/include/base/processor/processor_tracker_feature.h b/include/base/processor/processor_tracker_feature.h
index d3b0eedd6..c743eed17 100644
--- a/include/base/processor/processor_tracker_feature.h
+++ b/include/base/processor/processor_tracker_feature.h
@@ -143,17 +143,19 @@ class ProcessorTrackerFeature : public ProcessorTracker
/**\brief Process new Features
*
*/
- virtual unsigned int processNew(const unsigned int& _max_features);
+ virtual unsigned int processNew(const int& _max_features);
/** \brief Detect new Features
- * \param _max_features maximum number of features detected
+ * \param _max_features maximum number of features detected (-1: unlimited. 0: none)
+ * \param _features_last_out The list of detected Features.
* \return The number of detected Features.
*
* This function detects Features that do not correspond to known Features/Landmarks in the system.
*
- * The function sets the member new_features_last_, the list of newly detected features.
+ * The function is called in ProcessorTrackerFeature::processNew() to set the member new_features_last_,
+ * the list of newly detected features of the capture last_ptr_.
*/
- virtual unsigned int detectNewFeatures(const unsigned int& _max_new_features, FeatureBasePtrList& _features_incoming_out) = 0;
+ virtual unsigned int detectNewFeatures(const int& _max_new_features, FeatureBasePtrList& _features_last_out) = 0;
/** \brief Create a new factor and link it to the wolf tree
* \param _feature_ptr pointer to the parent Feature
diff --git a/include/base/processor/processor_tracker_feature_corner.h b/include/base/processor/processor_tracker_feature_corner.h
index e0c2ecbad..63ef69245 100644
--- a/include/base/processor/processor_tracker_feature_corner.h
+++ b/include/base/processor/processor_tracker_feature_corner.h
@@ -106,16 +106,16 @@ class ProcessorTrackerFeatureCorner : public ProcessorTrackerFeature
virtual bool voteForKeyFrame();
/** \brief Detect new Features
- * \param _capture_ptr Capture for feature detection. Defaults to incoming_ptr_.
- * \param _new_features_list The list of detected Features. Defaults to member new_features_list_.
+ * \param _max_features maximum number of features detected (-1: unlimited. 0: none)
+ * \param _features_last_out The list of detected Features.
* \return The number of detected Features.
*
* This function detects Features that do not correspond to known Features/Landmarks in the system.
*
- * The function sets the member new_features_list_, the list of newly detected features,
- * to be used for landmark initialization.
+ * The function is called in ProcessorTrackerFeature::processNew() to set the member new_features_last_,
+ * the list of newly detected features of the capture last_ptr_.
*/
- virtual unsigned int detectNewFeatures(const unsigned int& _max_features, FeatureBasePtrList& _features_incoming_out);
+ virtual unsigned int detectNewFeatures(const int& _max_features, FeatureBasePtrList& _features_incoming_out);
virtual FactorBasePtr createFactor(FeatureBasePtr _feature_ptr, FeatureBasePtr _feature_other_ptr);
diff --git a/include/base/processor/processor_tracker_feature_dummy.h b/include/base/processor/processor_tracker_feature_dummy.h
index 586cd57d7..419c31f5d 100644
--- a/include/base/processor/processor_tracker_feature_dummy.h
+++ b/include/base/processor/processor_tracker_feature_dummy.h
@@ -56,16 +56,16 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
virtual bool voteForKeyFrame();
/** \brief Detect new Features
- * \param _capture_ptr Capture for feature detection. Defaults to incoming_ptr_.
- * \param _new_features_list The list of detected Features. Defaults to member new_features_list_.
+ * \param _max_features maximum number of features detected (-1: unlimited. 0: none)
+ * \param _features_last_out The list of detected Features.
* \return The number of detected Features.
*
* This function detects Features that do not correspond to known Features/Landmarks in the system.
*
- * The function sets the member new_features_list_, the list of newly detected features,
- * to be used for landmark initialization.
+ * The function is called in ProcessorTrackerFeature::processNew() to set the member new_features_last_,
+ * the list of newly detected features of the capture last_ptr_.
*/
- virtual unsigned int detectNewFeatures(const unsigned int& _max_features, FeatureBasePtrList& _features_incoming_out);
+ virtual unsigned int detectNewFeatures(const int& _max_features, FeatureBasePtrList& _features_incoming_out);
virtual FactorBasePtr createFactor(FeatureBasePtr _feature_ptr, FeatureBasePtr _feature_other_ptr);
diff --git a/include/base/processor/processor_tracker_feature_image.h b/include/base/processor/processor_tracker_feature_image.h
index 800ca1211..25e2c6291 100644
--- a/include/base/processor/processor_tracker_feature_image.h
+++ b/include/base/processor/processor_tracker_feature_image.h
@@ -112,14 +112,16 @@ class ProcessorTrackerFeatureImage : public ProcessorTrackerFeature
virtual bool voteForKeyFrame();
/** \brief Detect new Features
+ * \param _max_features maximum number of features detected (-1: unlimited. 0: none)
+ * \param _features_last_out The list of detected Features.
+ * \return The number of detected Features.
*
- * This is intended to create Features that are not among the Features already known in the Map.
- *
- * This function sets new_features_last_, the list of newly detected features.
+ * This function detects Features that do not correspond to known Features/Landmarks in the system.
*
- * \return The number of detected Features.
+ * The function is called in ProcessorTrackerFeature::processNew() to set the member new_features_last_,
+ * the list of newly detected features of the capture last_ptr_.
*/
- virtual unsigned int detectNewFeatures(const unsigned int& _max_new_features, FeatureBasePtrList& _features_incoming_out);
+ virtual unsigned int detectNewFeatures(const int& _max_new_features, FeatureBasePtrList& _features_incoming_out);
virtual FactorBasePtr createFactor(FeatureBasePtr _feature_ptr, FeatureBasePtr _feature_other_ptr);
diff --git a/include/base/processor/processor_tracker_feature_trifocal.h b/include/base/processor/processor_tracker_feature_trifocal.h
index dba9e9171..52b6d902b 100644
--- a/include/base/processor/processor_tracker_feature_trifocal.h
+++ b/include/base/processor/processor_tracker_feature_trifocal.h
@@ -85,14 +85,16 @@ class ProcessorTrackerFeatureTrifocal : public ProcessorTrackerFeature
virtual bool voteForKeyFrame() override;
/** \brief Detect new Features
- * \param _max_features maximum number of features detected
+ * \param _max_features maximum number of features detected (-1: unlimited. 0: none)
+ * \param _features_last_out The list of detected Features.
* \return The number of detected Features.
*
* This function detects Features that do not correspond to known Features/Landmarks in the system.
*
- * The function sets the member new_features_last_, the list of newly detected features.
+ * The function is called in ProcessorTrackerFeature::processNew() to set the member new_features_last_,
+ * the list of newly detected features of the capture last_ptr_.
*/
- virtual unsigned int detectNewFeatures(const unsigned int& _max_new_features, FeatureBasePtrList& _features_incoming_out) override;
+ virtual unsigned int detectNewFeatures(const int& _max_new_features, FeatureBasePtrList& _features_incoming_out) override;
/** \brief Create a new factor and link it to the wolf tree
* \param _feature_ptr pointer to the parent Feature
diff --git a/include/base/processor/processor_tracker_landmark.h b/include/base/processor/processor_tracker_landmark.h
index 23e8132e3..35a99280c 100644
--- a/include/base/processor/processor_tracker_landmark.h
+++ b/include/base/processor/processor_tracker_landmark.h
@@ -128,18 +128,19 @@ class ProcessorTrackerLandmark : public ProcessorTracker
/** \brief Process new Features
*
*/
- unsigned int processNew(const unsigned int& _max_features);
+ unsigned int processNew(const int& _max_features);
/** \brief Detect new Features
- * \param _max_features The maximum number of features to detect.
+ * \param _max_features maximum number of features detected (-1: unlimited. 0: none)
+ * \param _features_last_out The list of detected Features.
* \return The number of detected Features.
*
* This function detects Features that do not correspond to known Features/Landmarks in the system.
*
- * The function sets the member new_features_list_, the list of newly detected features,
- * to be used for landmark initialization.
+ * The function is called in ProcessorTrackerLandmark::processNew() to set the member new_features_last_,
+ * the list of newly detected features of the capture last_ptr_.
*/
- virtual unsigned int detectNewFeatures(const unsigned int& _max_features, FeatureBasePtrList& _features_incoming_out) = 0;
+ virtual unsigned int detectNewFeatures(const int& _max_features, FeatureBasePtrList& _features_incoming_out) = 0;
/** \brief Creates a landmark for each of new_features_last_
**/
diff --git a/include/base/processor/processor_tracker_landmark_corner.h b/include/base/processor/processor_tracker_landmark_corner.h
index a25a2646f..83be3c837 100644
--- a/include/base/processor/processor_tracker_landmark_corner.h
+++ b/include/base/processor/processor_tracker_landmark_corner.h
@@ -135,16 +135,16 @@ class ProcessorTrackerLandmarkCorner : public ProcessorTrackerLandmark
virtual bool voteForKeyFrame();
/** \brief Detect new Features
- * \param _capture_ptr Capture for feature detection. Defaults to incoming_ptr_.
- * \param _new_features_list The list of detected Features. Defaults to member new_features_list_.
+ * \param _max_features maximum number of features detected (-1: unlimited. 0: none)
+ * \param _features_last_out The list of detected Features.
* \return The number of detected Features.
*
* This function detects Features that do not correspond to known Features/Landmarks in the system.
*
- * The function sets the member new_features_list_, the list of newly detected features,
- * to be used for landmark initialization.
+ * The function is called in ProcessorTrackerLandmark::processNew() to set the member new_features_last_,
+ * the list of newly detected features of the capture last_ptr_.
*/
- virtual unsigned int detectNewFeatures(const unsigned int& _max_features, FeatureBasePtrList& _features_incoming_out);
+ virtual unsigned int detectNewFeatures(const int& _max_features, FeatureBasePtrList& _features_incoming_out);
/** \brief Create one landmark
*
diff --git a/include/base/processor/processor_tracker_landmark_dummy.h b/include/base/processor/processor_tracker_landmark_dummy.h
index 82b446c47..c0c3424cb 100644
--- a/include/base/processor/processor_tracker_landmark_dummy.h
+++ b/include/base/processor/processor_tracker_landmark_dummy.h
@@ -48,15 +48,16 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
virtual bool voteForKeyFrame();
/** \brief Detect new Features
- * \param _max_features maximum number of features to detect.
+ * \param _max_features maximum number of features detected (-1: unlimited. 0: none)
+ * \param _features_last_out The list of detected Features.
* \return The number of detected Features.
*
* This function detects Features that do not correspond to known Features/Landmarks in the system.
*
- * The function sets the member new_features_list_, the list of newly detected features,
- * to be used for landmark initialization.
+ * The function is called in ProcessorTrackerLandmark::processNew() to set the member new_features_last_,
+ * the list of newly detected features of the capture last_ptr_.
*/
- virtual unsigned int detectNewFeatures(const unsigned int& _max_features, FeatureBasePtrList& _features_incoming_out);
+ virtual unsigned int detectNewFeatures(const int& _max_features, FeatureBasePtrList& _features_incoming_out);
/** \brief Create one landmark
*
diff --git a/include/base/processor/processor_tracker_landmark_image.h b/include/base/processor/processor_tracker_landmark_image.h
index d58920cc1..afdc8eff9 100644
--- a/include/base/processor/processor_tracker_landmark_image.h
+++ b/include/base/processor/processor_tracker_landmark_image.h
@@ -128,14 +128,16 @@ class ProcessorTrackerLandmarkImage : public ProcessorTrackerLandmark
virtual bool voteForKeyFrame();
/** \brief Detect new Features
+ * \param _max_features maximum number of features detected (-1: unlimited. 0: none)
+ * \param _features_last_out The list of detected Features.
+ * \return The number of detected Features.
*
- * This is intended to create Features that are not among the Features already known in the Map.
- *
- * This function sets new_features_last_, the list of newly detected features.
+ * This function detects Features that do not correspond to known Features/Landmarks in the system.
*
- * \return The number of detected Features.
+ * The function is called in ProcessorTrackerLandmark::processNew() to set the member new_features_last_,
+ * the list of newly detected features of the capture last_ptr_.
*/
- virtual unsigned int detectNewFeatures(const unsigned int& _max_new_features, FeatureBasePtrList& _features_incoming_out);
+ virtual unsigned int detectNewFeatures(const int& _max_new_features, FeatureBasePtrList& _features_incoming_out);
/** \brief Create one landmark
*
diff --git a/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp
index 0ee10e6f7..793b27988 100644
--- a/src/processor/processor_tracker_feature.cpp
+++ b/src/processor/processor_tracker_feature.cpp
@@ -21,7 +21,7 @@ ProcessorTrackerFeature::~ProcessorTrackerFeature()
{
}
-unsigned int ProcessorTrackerFeature::processNew(const unsigned int& _max_new_features)
+unsigned int ProcessorTrackerFeature::processNew(const int& _max_new_features)
{
/* Rationale: A keyFrame will be created using the last Capture.
* First, we work on the last Capture to detect new Features,
diff --git a/src/processor/processor_tracker_feature_corner.cpp b/src/processor/processor_tracker_feature_corner.cpp
index 4414d8caf..9218dba63 100644
--- a/src/processor/processor_tracker_feature_corner.cpp
+++ b/src/processor/processor_tracker_feature_corner.cpp
@@ -107,10 +107,13 @@ bool ProcessorTrackerFeatureCorner::voteForKeyFrame()
return incoming_ptr_->getFeatureList().size() < params_tracker_feature_corner_->n_corners_th;
}
-unsigned int ProcessorTrackerFeatureCorner::detectNewFeatures(const unsigned int& _max_features, FeatureBasePtrList& _features_incoming_out)
+unsigned int ProcessorTrackerFeatureCorner::detectNewFeatures(const int& _max_features, FeatureBasePtrList& _features_incoming_out)
{
// in corners_last_ remain all not tracked corners
_features_incoming_out = std::move(corners_last_);
+ if (_max_features != -1 && _features_incoming_out.size() > _max_features)
+ _features_incoming_out.resize(_max_features);
+
return _features_incoming_out.size();
}
diff --git a/src/processor/processor_tracker_feature_dummy.cpp b/src/processor/processor_tracker_feature_dummy.cpp
index 060b54e83..b5b225f84 100644
--- a/src/processor/processor_tracker_feature_dummy.cpp
+++ b/src/processor/processor_tracker_feature_dummy.cpp
@@ -49,12 +49,19 @@ bool ProcessorTrackerFeatureDummy::voteForKeyFrame()
return incoming_ptr_->getFeatureList().size() < params_tracker_feature_->min_features_for_keyframe;
}
-unsigned int ProcessorTrackerFeatureDummy::detectNewFeatures(const unsigned int& _max_features, FeatureBasePtrList& _features_incoming_out)
+unsigned int ProcessorTrackerFeatureDummy::detectNewFeatures(const int& _max_features, FeatureBasePtrList& _features_incoming_out)
{
+ unsigned int max_features = _max_features;
+
+ if (max_features == -1)
+ {
+ max_features = 10;
+ WOLF_INFO("max_features unlimited, setting it to " , max_features);
+ }
WOLF_INFO("Detecting " , _max_features , " new features..." );
// detecting new features
- for (unsigned int i = 1; i <= _max_features; i++)
+ for (unsigned int i = 0; i < max_features; i++)
{
n_feature_++;
FeatureBasePtr ftr(std::make_shared<FeatureBase>("POINT IMAGE",
diff --git a/src/processor/processor_tracker_feature_image.cpp b/src/processor/processor_tracker_feature_image.cpp
index 3f6bec8fe..c2f68524b 100644
--- a/src/processor/processor_tracker_feature_image.cpp
+++ b/src/processor/processor_tracker_feature_image.cpp
@@ -244,7 +244,7 @@ bool ProcessorTrackerFeatureImage::correctFeatureDrift(const FeatureBasePtr _ori
}
}
-unsigned int ProcessorTrackerFeatureImage::detectNewFeatures(const unsigned int& _max_new_features, FeatureBasePtrList& _features_incoming_out)
+unsigned int ProcessorTrackerFeatureImage::detectNewFeatures(const int& _max_new_features, FeatureBasePtrList& _features_incoming_out)
{
cv::Rect roi;
KeyPointVector new_keypoints;
@@ -252,7 +252,7 @@ unsigned int ProcessorTrackerFeatureImage::detectNewFeatures(const unsigned int&
cv::KeyPointsFilter keypoint_filter;
unsigned int n_new_features = 0;
- for (unsigned int n_iterations = 0; _max_new_features == 0 || n_iterations < _max_new_features; n_iterations++)
+ for (unsigned int n_iterations = 0; _max_new_features == -1 || n_iterations < _max_new_features; n_iterations++)
{
if (active_search_ptr_->pickEmptyRoi(roi))
diff --git a/src/processor/processor_tracker_feature_trifocal.cpp b/src/processor/processor_tracker_feature_trifocal.cpp
index 980c652af..620cb4c05 100644
--- a/src/processor/processor_tracker_feature_trifocal.cpp
+++ b/src/processor/processor_tracker_feature_trifocal.cpp
@@ -134,7 +134,7 @@ bool ProcessorTrackerFeatureTrifocal::isInlier(const cv::KeyPoint& _kp_last, con
}
-unsigned int ProcessorTrackerFeatureTrifocal::detectNewFeatures(const unsigned int& _max_new_features, FeatureBasePtrList& _features_incoming_out)
+unsigned int ProcessorTrackerFeatureTrifocal::detectNewFeatures(const int& _max_new_features, FeatureBasePtrList& _features_incoming_out)
{
// // DEBUG =====================================
// clock_t debug_tStart;
@@ -143,7 +143,7 @@ unsigned int ProcessorTrackerFeatureTrifocal::detectNewFeatures(const unsigned i
// WOLF_TRACE("======== DetectNewFeatures =========");
// // ===========================================
- for (unsigned int n_iterations = 0; n_iterations < _max_new_features; ++n_iterations)
+ for (unsigned int n_iterations = 0; _max_new_features == -1 || n_iterations < _max_new_features; ++n_iterations)
{
Eigen::Vector2i cell_last;
if (capture_last_->grid_features_->pickEmptyTrackingCell(cell_last))
diff --git a/src/processor/processor_tracker_landmark.cpp b/src/processor/processor_tracker_landmark.cpp
index d19610391..8516719fe 100644
--- a/src/processor/processor_tracker_landmark.cpp
+++ b/src/processor/processor_tracker_landmark.cpp
@@ -60,7 +60,7 @@ void ProcessorTrackerLandmark::resetDerived()
// std::cout << "\t" << match.first->id() << " to " << match.second.landmark_ptr_->id() << std::endl;
}
-unsigned int ProcessorTrackerLandmark::processNew(const unsigned int& _max_features)
+unsigned int ProcessorTrackerLandmark::processNew(const int& _max_features)
{
/* Rationale: A keyFrame will be created using the last Capture.
* First, we work on this Capture to detect new Features,
diff --git a/src/processor/processor_tracker_landmark_corner.cpp b/src/processor/processor_tracker_landmark_corner.cpp
index aeba30f8e..c3cac8003 100644
--- a/src/processor/processor_tracker_landmark_corner.cpp
+++ b/src/processor/processor_tracker_landmark_corner.cpp
@@ -375,10 +375,13 @@ LandmarkBasePtr ProcessorTrackerLandmarkCorner::createLandmark(FeatureBasePtr _f
_feature_ptr->getMeasurement()(3));
}
-unsigned int ProcessorTrackerLandmarkCorner::detectNewFeatures(const unsigned int& _max_features, FeatureBasePtrList& _features_incoming_out)
+unsigned int ProcessorTrackerLandmarkCorner::detectNewFeatures(const int& _max_features, FeatureBasePtrList& _features_incoming_out)
{
- // already computed since each scan is computed in preprocess()
+ // in corners_last_ remain all not tracked corners, already computed in preprocess()
_features_incoming_out = std::move(corners_last_);
+ if (_max_features != -1 && _features_incoming_out.size() > _max_features)
+ _features_incoming_out.resize(_max_features);
+
return _features_incoming_out.size();
}
diff --git a/src/processor/processor_tracker_landmark_dummy.cpp b/src/processor/processor_tracker_landmark_dummy.cpp
index b2f92d72d..f514cb7ef 100644
--- a/src/processor/processor_tracker_landmark_dummy.cpp
+++ b/src/processor/processor_tracker_landmark_dummy.cpp
@@ -63,16 +63,25 @@ bool ProcessorTrackerLandmarkDummy::voteForKeyFrame()
return incoming_ptr_->getFeatureList().size() < 4;
}
-unsigned int ProcessorTrackerLandmarkDummy::detectNewFeatures(const unsigned int& _max_features, FeatureBasePtrList& _features_incoming_out)
+unsigned int ProcessorTrackerLandmarkDummy::detectNewFeatures(const int& _max_features, FeatureBasePtrList& _features_incoming_out)
{
std::cout << "\tProcessorTrackerLandmarkDummy::detectNewFeatures" << std::endl;
- // detecting 5 new features
- for (unsigned int i = 1; i <= _max_features; i++)
+ unsigned int max_features = _max_features;
+
+ if (max_features == -1)
+ {
+ max_features = 10;
+ WOLF_INFO("max_features unlimited, setting it to " , max_features);
+ }
+
+ // detecting new features
+ for (unsigned int i = 1; i <= max_features; i++)
{
n_feature_++;
- _features_incoming_out.push_back(
- std::make_shared<FeatureBase>("POINT IMAGE", n_feature_ * Eigen::Vector1s::Ones(), Eigen::MatrixXs::Ones(1, 1)));
+ _features_incoming_out.push_back(std::make_shared<FeatureBase>("POINT IMAGE",
+ n_feature_ * Eigen::Vector1s::Ones(),
+ Eigen::MatrixXs::Ones(1, 1)));
std::cout << "\t\tfeature " << _features_incoming_out.back()->getMeasurement() << " detected!" << std::endl;
}
return _features_incoming_out.size();
diff --git a/src/processor/processor_tracker_landmark_image.cpp b/src/processor/processor_tracker_landmark_image.cpp
index a88ec47c9..6d6ca0cf2 100644
--- a/src/processor/processor_tracker_landmark_image.cpp
+++ b/src/processor/processor_tracker_landmark_image.cpp
@@ -225,7 +225,7 @@ bool ProcessorTrackerLandmarkImage::voteForKeyFrame()
// return landmarks_tracked_ < params_tracker_landmark_image_->min_features_for_keyframe;
}
-unsigned int ProcessorTrackerLandmarkImage::detectNewFeatures(const unsigned int& _max_features, FeatureBasePtrList& _features_incoming_out)
+unsigned int ProcessorTrackerLandmarkImage::detectNewFeatures(const int& _max_features, FeatureBasePtrList& _features_incoming_out)
{
cv::Rect roi;
KeyPointVector new_keypoints;
@@ -233,7 +233,7 @@ unsigned int ProcessorTrackerLandmarkImage::detectNewFeatures(const unsigned int
cv::KeyPointsFilter keypoint_filter;
unsigned int n_new_features = 0;
- for (unsigned int n_iterations = 0; n_iterations < _max_features; n_iterations++)
+ for (unsigned int n_iterations = 0; _max_features == -1 || n_iterations < _max_features; n_iterations++)
{
if (active_search_ptr_->pickEmptyRoi(roi))
{
--
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