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Fix pixel selector #158

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Fix pixel selector #158

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04f55fb
Merge pull request #1 from JakobEngel/master
AlexandrGraschenkov Jul 30, 2018
a8c24ad
- fix selecting pixels outside the memory
AlexandrGraschenkov Jul 30, 2018
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6 changes: 5 additions & 1 deletion src/FullSystem/PixelSelector2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -368,8 +368,12 @@ Eigen::Vector3i PixelSelector::select(const FrameHessian* const fh,

if(xf<4 || xf>=w-5 || yf<4 || yf>h-4) continue;

int thIdx = (xf>>5) + (yf>>5) * thsStep;
int maxThIdx = (w >> 5) * (h >> 5);
if (thIdx >= maxThIdx) continue;

float pixelTH0 = thsSmoothed[(xf>>5) + (yf>>5) * thsStep];

float pixelTH0 = thsSmoothed[thIdx];
float pixelTH1 = pixelTH0*dw1;
float pixelTH2 = pixelTH1*dw2;

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