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Sort keypoints before SSC (#1364)

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* Sort keypoints before SSC

* avoid using vector<bool>
This commit is contained in:
Borong Yuan
2024-10-27 05:44:22 +08:00
committed by GitHub
parent e3fde4ecdd
commit 2454b04f1f
4 changed files with 45 additions and 17 deletions
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1
corelib/include/rtabmap/core/Features2d.h
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@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <list>
#include <numeric>
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/SensorData.h"

2
corelib/include/rtabmap/core/util2d.h
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@@ -165,7 +165,7 @@ void RTABMAP_CORE_EXPORT NMS(
int border, int dist_thresh, int img_width, int img_height);
std::vector<int> RTABMAP_CORE_EXPORT SSC(
const std::vector<cv::KeyPoint> & keypoints, int maxKeypoints, float tolerance, int cols, int rows);
const std::vector<cv::KeyPoint> & keypoints, int maxKeypoints, float tolerance, int cols, int rows, const std::vector<int> & indx = {});
/**
* @brief Rotate images and camera model so that the top of the image is up.