Error in the event based feature's boostraping

uzh-rpg / rpg_eklt

Code for the paper "EKLT: Asynchronous, Photometric Feature Tracking using Events and Frames" (IJCV'19)

GNU General Public License v3.0

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Error in the event based feature's boostraping #2

Closed John71509 closed 5 years ago

John71509 commented 5 years ago

Hello @danielgehrig18 ,

I think that there is an error in the bootstrapFeatureEvents() method. In fact, at line 407 you are multiplying the event patch with the frame's gradient in the X direction but it should be the one in the Y direction. double s_I_yt = cv::sum(I_x.mul(event_frame))[0]; should rather be double s_I_yt = cv::sum(I_y.mul(event_frame))[0];

Best regards, Jonathan.

danielgehrig18 commented 5 years ago

Yes of course. This will be fixed.

danielgehrig18 commented 5 years ago

Has been fixed in the most recent commit