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SBA: improved number of duplicated word correspondences (under inlier distance error)

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matlabbe
2015-08-13 11:31:19 -04:00
parent 31d374e141
commit 15e75d17cc
2 changed files with 31 additions and 13 deletions
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7
guilib/src/MainWindow.cpp
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@@ -3686,14 +3686,15 @@ void MainWindow::postProcessing()
if(sba)
{
_initProgressDialog->appendText(tr("SBA (%1 nodes, %2 constraints)...")
.arg(optimizedPoses.size()).arg(linksOut.size()));
_initProgressDialog->appendText(tr("SBA (%1 nodes, %2 constraints, %3 iterations)...")
.arg(optimizedPoses.size()).arg(linksOut.size()).arg(sbaIterations));
QApplication::processEvents();
uSleep(100);
QApplication::processEvents();
ParametersMap parametersSBA = _preferencesDialog->getAllParameters();
uInsert(parametersSBA, std::make_pair(Parameters::kRGBDOptimizeIterations(), uNumber2Str(sbaIterations)));
graph::CVSBAOptimizer cvsba = graph::CVSBAOptimizer(parameters);
graph::CVSBAOptimizer cvsba = graph::CVSBAOptimizer(parametersSBA);
cvsba.setInlierDistance(sbaInlierDistance);
cvsba.setMinInliers(sbaMinInliers);
std::map<int, Transform> newPoses = cvsba.optimizeBA(0, optimizedPoses, linksOut, _cachedSignatures.toStdMap());