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ethz-asl / rovio

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Patch score is not Shi-Tomasi score? #161

Open cstathis opened 6 years ago

cstathis commented 6 years ago

The docs/code comments say the score of a Patch is the Shi-Tomasi score, i.e. the minimum eigenvalue of the Hessian, however it looks like the code actually reports the sum of the two eigenvalues of H. Is this intentional?

bloesch commented 6 years ago

If I remember right this was change at some point in order to support the tracking of lines in scenarios with little corner data.