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using fabs() instead of abs()

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This commit is contained in:
Christian Forster
2014-04-09 17:59:19 +02:00
parent 225f2ea71c
commit c7e87f188e
1 changed files with 5 additions and 3 deletions
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svo/src/frame_handler_mono.cpp
+5 -3
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@@ -183,6 +183,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
depth_filter_->addFrame(new_frame_); depth_filter_->addFrame(new_frame_);
return RESULT_NO_KEYFRAME; return RESULT_NO_KEYFRAME;
} }
SVO_DEBUG_STREAM("New keyframe selected.");
// new keyframe selected // new keyframe selected
for(Features::iterator it=new_frame_->fts_.begin(); it!=new_frame_->fts_.end(); ++it) for(Features::iterator it=new_frame_->fts_.begin(); it!=new_frame_->fts_.end(); ++it)
@@ -242,9 +243,10 @@ bool FrameHandlerMono::needNewKf(double scene_depth_mean)
for(auto it=overlap_kfs_.begin(), ite=overlap_kfs_.end(); it!=ite; ++it) for(auto it=overlap_kfs_.begin(), ite=overlap_kfs_.end(); it!=ite; ++it)
{ {
Vector3d relpos = new_frame_->w2f(it->first->pos()); Vector3d relpos = new_frame_->w2f(it->first->pos());
if(abs(relpos.x())/scene_depth_mean < Config::kfSelectMinDist() && std::cout << relpos.transpose() << std::endl;
abs(relpos.y())/scene_depth_mean < Config::kfSelectMinDist()*0.8 && if(fabs(relpos.x())/scene_depth_mean < Config::kfSelectMinDist() &&
abs(relpos.z())/scene_depth_mean < Config::kfSelectMinDist()*1.3) fabs(relpos.y())/scene_depth_mean < Config::kfSelectMinDist()*0.8 &&
fabs(relpos.z())/scene_depth_mean < Config::kfSelectMinDist()*1.3)
return false; return false;
} }
return true; return true;