scale in feature detection

GPU_version/vio/launch/Px30.launch

@@ -1,6 +1,6 @@
 <launch>
 
-  <!-- node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" / -->
+  <node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" />
 
     <!-- Camera topic to subscribe to -->
     <param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" />

GPU_version/vio/src/feature_detection.cpp

@@ -103,7 +103,7 @@ void FastDetector::detect(
           // Create feature for every corner that has high enough corner score
           if(corners.at(k).score > detection_threshold){
               fts.push_back(make_shared<Feature>(frame, Vector2d(corners.at(k).x, corners.at(k).y), corners.at(k).level));
-              if(descriptors)keypoints.push_back(cv::KeyPoint(fast_corners[i].x, fast_corners[i].y, 1));
+              if(descriptors)keypoints.push_back(cv::KeyPoint(fast_corners[i].x*scale, fast_corners[i].y*scale, 1));
           }
       }
     }