Fix wrong feature points in extractFeaturesKLT()

(Fixes #138)
MRPT · Jul 13, 2015 · 74b5df4 · 74b5df4
1 parent f436450
commit 74b5df4
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 16 deletions.
diff --git a/doc/doxygen-pages/changeLog_doc.h b/doc/doxygen-pages/changeLog_doc.h
@@ -55,6 +55,7 @@
 			- Fix wrong quaternion cross product when target variable is one of the operands. Also affected the += operator of mrpt::poses::CPose3DQuat (Fixes #148)
 			- mrpt::hwdrivers::CKinect with libfreenect driver: Fix potential memory corruption.
 			- Fix a bug in mrpt::tfest::se3_l2_robust() that led to it returning without trying to find a good consensus solution. It affected the demo app kinect-3d-slam (Fixes #156)
+			- Fix wrong feature points in CFeatureExtraction::extractFeaturesKLT()  (Fixes #138)
 
 <hr>
 <a name="1.3.0">

diff --git a/libs/vision/src/CFeatureExtraction_harris_KLT.cpp b/libs/vision/src/CFeatureExtraction_harris_KLT.cpp
@@ -61,27 +61,15 @@ void CFeatureExtraction::extractFeaturesKLT(
 
 		nDesiredFeatures <= 0 ? nPts = MAX_COUNT : nPts = nDesiredFeatures;
 
-		std::vector<CvPoint2D32f> points(nPts);
-
-		//CvImage eig, temp;									// temporary and auxiliary images
-
 #ifdef VERBOSE_TIMING
 		tictac.Tic();
 #endif
-		//eig.create( cvGetSize( cGrey ), 32, 1 );
-		//temp.create( cvGetSize( cGrey ), 32, 1 );
+
 #ifdef VERBOSE_TIMING
 		cout << "[KLT] Create: " << tictac.Tac()*1000.0f << endl;
 #endif
 		count = nPts;										// Number of points to find
 
-
-#if 0	// Temporary debug
-		{
-			static int i=0;
-			cvSaveImage( format("debug_map_%05i.bmp",++i).c_str(), cGrey);
-		}
-#endif
 		// -----------------------------------------------------------------
 		// Select good features with subpixel accuracy (USING HARRIS OR KLT)
 		// -----------------------------------------------------------------
@@ -90,9 +78,9 @@ void CFeatureExtraction::extractFeaturesKLT(
 #ifdef VERBOSE_TIMING
 		tictac.Tic();
 #endif
-		std::vector<cv::Point2f> corners;
+		std::vector<cv::Point2f> points;
 		cv::goodFeaturesToTrack(
-			cGrey,corners, nPts, 
+			cGrey,points, nPts, 
 			(double)options.harrisOptions.threshold,    // for rejecting weak local maxima ( with min_eig < threshold*max(eig_image) )
 			(double)options.harrisOptions.min_distance, // minimum distance between features
 			cv::noArray(), // mask
@@ -113,7 +101,7 @@ void CFeatureExtraction::extractFeaturesKLT(
 			tictac.Tic();
 #endif
 			// Subpixel interpolation
-			cv::cornerSubPix(cGrey,corners,
+			cv::cornerSubPix(cGrey,points,
 				cv::Size(3,3), cv::Size(-1,-1),
 				cv::TermCriteria( CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 10, 0.05 ));