i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-10 11:59:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

CI: use ubuntu arm runners instead of QEMU (#1771)

Browse Source 
* CI: use ubuntu arm runners instead of QEMU

* removed focal deps docker image ci

* run tests in docker ci

* revert temporary test

* trigger ci jobs with modified files

* ldconfig

* arm64 ldconfig order

* No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0.

* fixing ExtractXYZCorrespondencesRANSAC ci error

* increased windows timeout (probably caused by gftt fix now extracting more features)
This commit is contained in:
matlabbe
2026-09-22 14:41:07 -07:00
committed by GitHub
parent 9ed83a71db
commit 16fb2f0541
30 changed files with 719 additions and 278 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Features2d.cpp
-14
View File
@@ -2282,20 +2282,6 @@ std::vector<cv::KeyPoint> GFTT::generateKeypointsImpl(const cv::Mat & image, con
_gftt->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints
}
if(!_useHarrisDetector && _qualityLevel>0.0)
{
std::vector<cv::KeyPoint> bestKeypoints;
bestKeypoints.reserve(keypoints.size());
for(size_t i=0; i<keypoints.size(); ++i)
{
if(keypoints[i].response > _qualityLevel)
{
bestKeypoints.push_back(keypoints[i]);
}
}
return bestKeypoints;
}
return keypoints;
}