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Cudasift tuning and SSC supporting multicameras (#1677)

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* CudaSIFT: filter doubles

* removed fixed threshold

* SSC can be used with multicameras. Refactored CudaSIFT to support SSC. Add new parameter SIFT/MaxGaussianThreshold. DbViewer: show negative features with gray color (so that we can know which features are in the vocabulary)

* Added SIFT/MaxGaussianThreshold parameter

* Updated parameter description
This commit is contained in:
matlabbe
2026-03-28 18:47:46 -07:00
committed by GitHub
parent 94bd3601fc
commit 20409d2bf6
11 changed files with 232 additions and 180 deletions
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corelib/src/RegistrationVis.cpp
+2 -20
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@@ -447,16 +447,7 @@ Transform RegistrationVis::computeTransformationImpl(
{
UASSERT(!fromSignature.sensorData().cameraModels().empty());
UDEBUG("Masking floor (threshold=%f)", _maskFloorThreshold);
if(_maskFloorThreshold<0.0f)
{
cv::Mat depthBelow;
util3d::filterFloor(depthMask, fromSignature.sensorData().cameraModels(), _maskFloorThreshold*-1.0f, &depthBelow);
depthMask = depthBelow;
}
else
{
depthMask = util3d::filterFloor(depthMask, fromSignature.sensorData().cameraModels(), _maskFloorThreshold);
}
depthMask = util3d::filterFloor(depthMask, fromSignature.sensorData().cameraModels(), _maskFloorThreshold);
UDEBUG("Masking floor done.");
}
@@ -817,16 +808,7 @@ Transform RegistrationVis::computeTransformationImpl(
{
UASSERT(!toSignature.sensorData().cameraModels().empty());
UDEBUG("Masking floor (threshold=%f)", _maskFloorThreshold);
if(_maskFloorThreshold<0.0f)
{
cv::Mat depthBelow;
util3d::filterFloor(depthMask, toSignature.sensorData().cameraModels(), _maskFloorThreshold*-1.0f, &depthBelow);
depthMask = depthBelow;
}
else
{
depthMask = util3d::filterFloor(depthMask, toSignature.sensorData().cameraModels(), _maskFloorThreshold);
}
depthMask = util3d::filterFloor(depthMask, toSignature.sensorData().cameraModels(), _maskFloorThreshold);
UDEBUG("Masking floor done.");
}