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Fixes #44, bug in KeyPoint selection

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This commit is contained in:
Christian Forster
2014-09-01 14:42:41 +02:00
parent 6f6c4c9930
commit 3ba099372f
1 changed files with 6 additions and 6 deletions
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svo/src/frame.cpp
+6 -6
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@@ -87,8 +87,8 @@ void Frame::checkKeyPoints(Feature* ftr)
// center pixel
if(key_pts_[0] == NULL)
key_pts_[0] = ftr;
else if(max(abs(ftr->px[0]-cu), abs(ftr->px[1]-cv))
< max(abs(key_pts_[0]->px[0]-cu), abs(key_pts_[0]->px[1]-cv)))
else if(std::max(std::fabs(ftr->px[0]-cu), std::fabs(ftr->px[1]-cv))
< std::max(std::fabs(key_pts_[0]->px[0]-cu), std::fabs(key_pts_[0]->px[1]-cv)))
key_pts_[0] = ftr;
if(ftr->px[0] >= cu && ftr->px[1] >= cv)
@@ -96,7 +96,7 @@ void Frame::checkKeyPoints(Feature* ftr)
if(key_pts_[1] == NULL)
key_pts_[1] = ftr;
else if((ftr->px[0]-cu) * (ftr->px[1]-cv)
> (key_pts_[1]->px[0]-cu) * (key_pts_[1]->px[0]-cv))
> (key_pts_[1]->px[0]-cu) * (key_pts_[1]->px[1]-cv))
key_pts_[1] = ftr;
}
if(ftr->px[0] >= cu && ftr->px[1] < cv)
@@ -104,7 +104,7 @@ void Frame::checkKeyPoints(Feature* ftr)
if(key_pts_[2] == NULL)
key_pts_[2] = ftr;
else if((ftr->px[0]-cu) * (ftr->px[1]-cv)
< (key_pts_[2]->px[0]-cu) * (key_pts_[2]->px[0]-cv))
> (key_pts_[2]->px[0]-cu) * (key_pts_[2]->px[1]-cv))
key_pts_[2] = ftr;
}
if(ftr->px[0] < cv && ftr->px[1] < cv)
@@ -112,7 +112,7 @@ void Frame::checkKeyPoints(Feature* ftr)
if(key_pts_[3] == NULL)
key_pts_[3] = ftr;
else if((ftr->px[0]-cu) * (ftr->px[1]-cv)
> (key_pts_[3]->px[0]-cu) * (key_pts_[3]->px[0]-cv))
> (key_pts_[3]->px[0]-cu) * (key_pts_[3]->px[1]-cv))
key_pts_[3] = ftr;
}
if(ftr->px[0] < cv && ftr->px[1] >= cv)
@@ -120,7 +120,7 @@ void Frame::checkKeyPoints(Feature* ftr)
if(key_pts_[4] == NULL)
key_pts_[4] = ftr;
else if((ftr->px[0]-cu) * (ftr->px[1]-cv)
< (key_pts_[4]->px[0]-cu) * (key_pts_[4]->px[0]-cv))
> (key_pts_[4]->px[0]-cu) * (key_pts_[4]->px[1]-cv))
key_pts_[4] = ftr;
}
}