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scale in feature detection

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This commit is contained in:
VahdPourAmin
2021-09-15 13:08:58 +02:00
parent c7e98907d1
commit fa182ba130
4 changed files with 35473 additions and 30125 deletions
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GPU_version/vio/depth_filter_log.txt
+33572 -28810
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GPU_version/vio/frame_handler_log.txt
+1899 -1313
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GPU_version/vio/launch/Px30.launch
+1 -1
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@@ -1,6 +1,6 @@
<launch> <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 --> <!-- Camera topic to subscribe to -->
<param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" /> <param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" />
GPU_version/vio/src/feature_detection.cpp
+1 -1
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@@ -103,7 +103,7 @@ void FastDetector::detect(
// Create feature for every corner that has high enough corner score // Create feature for every corner that has high enough corner score
if(corners.at(k).score > detection_threshold){ 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)); 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));
} }
} }
} }