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changed interface of feature extractor

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This commit is contained in:
Christian Forster
2014-04-13 22:05:18 +02:00
parent d150ef5615
commit 38b7d0b9bc
12 changed files with 119 additions and 58 deletions
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svo/src/initialization.cpp
+3 -4
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@@ -110,10 +110,9 @@ void detectFeatures(
vector<Vector3d>& f_vec)
{
feature_detection::Corners corners;
feature_detection::FastDetector detector;
detector.detect(frame->img_pyr_, frame->fts_, Config::gridSize(),
Config::nPyrLevels(), Config::triangMinCornerScore(),
&corners);
feature_detection::FastDetector detector(
frame->img().cols, frame->img().rows, Config::gridSize(), Config::nPyrLevels());
detector.detect(frame->img_pyr_, frame->fts_, Config::triangMinCornerScore(), &corners);
// now for all maximum corners, initialize a new seed
px_vec.clear(); px_vec.reserve(corners.size());