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add k check to ignore the out_of range crash

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gfuse
2021-08-23 09:48:31 +02:00
parent e0122c81bb
commit 7168d92e1c
1 changed files with 1 additions and 1 deletions
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GPU_version/vio/src/feature_detection.cpp
+1 -1
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@@ -92,7 +92,7 @@ void FastDetector::detect(
const int k = static_cast<int>((fast_corners[i].y*scale)/cell_size_)*grid_n_cols_ const int k = static_cast<int>((fast_corners[i].y*scale)/cell_size_)*grid_n_cols_
+ static_cast<int>((fast_corners[i].x*scale)/cell_size_); + static_cast<int>((fast_corners[i].x*scale)/cell_size_);
if(grid_occupancy_[k]) if(grid_occupancy_[k] || k > corners.size())
continue; continue;
const float score = vk::shiTomasiScore(img_pyr[L], fast_corners[i].x, fast_corners[i].y); const float score = vk::shiTomasiScore(img_pyr[L], fast_corners[i].x, fast_corners[i].y);