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DbSqlite3: fixed Feature.depth_[x,y,z] not saving correctly NaN values (then NaNs were wrongly converted to 0 on reload). Gui: Added stereo exposure compensation option in Source panel.

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matlabbe
2018-02-11 16:07:26 -05:00
parent 1c8c233ebf
commit 1595405871
9 changed files with 114 additions and 28 deletions
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corelib/src/util3d_motion_estimation.cpp
+3 -1
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@@ -167,10 +167,11 @@ Transform estimateMotion3DTo2D(
std::sort(errorSqrdDists.begin(), errorSqrdDists.end());
//divide by 4 instead of 2 to ignore very very far features (stereo)
double median_error_sqr = 2.1981 * (double)errorSqrdDists[errorSqrdDists.size () >> 2];
UASSERT(uIsFinite(median_error_sqr));
(*covariance)(cv::Range(0,3), cv::Range(0,3)) *= median_error_sqr;
std::sort(errorSqrdAngles.begin(), errorSqrdAngles.end());
median_error_sqr = 2.1981 * (double)errorSqrdAngles[errorSqrdAngles.size () >> 2];
UASSERT(uIsFinite(median_error_sqr));
(*covariance)(cv::Range(3,6), cv::Range(3,6)) *= median_error_sqr;
}
else
@@ -188,6 +189,7 @@ Transform estimateMotion3DTo2D(
{
err += uNormSquared(imagePoints.at(inliers[i]).x - imagePointsReproj.at(inliers[i]).x, imagePoints.at(inliers[i]).y - imagePointsReproj.at(inliers[i]).y);
}
UASSERT(uIsFinite(err));
*covariance *= std::sqrt(err/float(inliers.size()));
}
}