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RGBD/LocalBundleOnLoopClosure: disabled on neighbor refining and fixed Reg/Force3DoF ignored

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matlabbe
2019-02-17 21:57:52 -05:00
parent dd5e09be37
commit 08f3e6c08e
1 changed files with 8 additions and 1 deletions
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9
corelib/src/Memory.cpp
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@@ -2745,6 +2745,8 @@ Transform Memory::computeTransform(
tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
}
bool isNeighborRefining = fromS.getLinks().find(toS.id()) != fromS.getLinks().end() && fromS.getLinks().find(toS.id())->second.type() == Link::kNeighbor;
if(guess.isNull() && !_registrationPipeline->isImageRequired())
{
UDEBUG("");
@@ -2760,7 +2762,8 @@ Transform Memory::computeTransform(
transform = _registrationPipeline->computeTransformationMod(tmpFrom, tmpTo, guess, info);
}
}
else if(_localBundleOnLoopClosure &&
else if(!isNeighborRefining &&
_localBundleOnLoopClosure &&
_registrationPipeline->isImageRequired() &&
!_registrationPipeline->isScanRequired() &&
!_registrationPipeline->isUserDataRequired() &&
@@ -2928,6 +2931,10 @@ Transform Memory::computeTransform(
else
{
transform = bundlePoses.rbegin()->second;
if(_registrationPipeline->force3DoF())
{
transform = transform.to3DoF();
}
}
}
UDEBUG("Local Bundle Adjustment After : %s", transform.prettyPrint().c_str());