Fix mask downsizing

rpng · Sep 20, 2021 · efa05d7 · efa05d7
1 parent b4235fb
commit efa05d7
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/ov_msckf/src/core/VioManager.cpp b/ov_msckf/src/core/VioManager.cpp
@@ -274,9 +274,12 @@ void VioManager::track_image_and_update(const ov_core::CameraData &message_const
   ov_core::CameraData message = message_const;
   for (size_t i = 0; i < message.sensor_ids.size() && params.downsample_cameras; i++) {
     cv::Mat img = message.images.at(i);
-    cv::Mat img_temp;
+    cv::Mat mask = message.masks.at(i);
+    cv::Mat img_temp, mask_temp;
     cv::pyrDown(img, img_temp, cv::Size(img.cols / 2.0, img.rows / 2.0));
     message.images.at(i) = img_temp;
+    cv::pyrDown(mask, mask_temp, cv::Size(mask.cols / 2.0, mask.rows / 2.0));
+    message.masks.at(i) = mask_temp;
   }
 
   // Record our latest image for displaying out zero velocity update