Fixes uzh-rpg#44, bug in KeyPoint selection

focs · Sep 1, 2014 · 3ba0993 · 3ba0993
1 parent 6f6c4c9
commit 3ba0993
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/svo/src/frame.cpp b/svo/src/frame.cpp
@@ -87,40 +87,40 @@ 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)
   {
     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)
   {
     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)
   {
     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)
   {
     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;
   }
 }