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-Refactored HypVerification classes (added verification by signatures' similarity), there is no more complicated rejectedHypReason, now it's only true if valide or false if verification fails...

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@86 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-09 02:56:31 +00:00
parent c59d461c81
commit 25c2a9f07e
13 changed files with 202 additions and 367 deletions
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6
corelib/src/KeypointMemory.cpp
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@@ -419,7 +419,7 @@ void KeypointMemory::merge(const Signature * from, Signature * to, MergingStrate
std::list<std::pair<cv::KeyPoint, cv::KeyPoint> > pairs;
std::list<int> pairsId;
std::set<int> pairsIdSet;
VerifyHypothesesEpipolarGeo::findPairsDirect(wordsA, wordsB, pairs, pairsId);
HypVerificatorEpipolarGeo::findPairsDirect(wordsA, wordsB, pairs, pairsId);
std::list<std::pair<cv::KeyPoint, cv::KeyPoint> >::iterator kpIt = pairs.begin();
std::list<int>::iterator idIt = pairsId.begin();
for(; kpIt != pairs.end() && idIt != pairsId.end(); ++kpIt, ++idIt)
@@ -570,7 +570,7 @@ void KeypointMemory::merge(const Signature * from, Signature * to, MergingStrate
{
std::list<std::pair<cv::KeyPoint, cv::KeyPoint> > pairs;
std::list<int> pairsId;
VerifyHypothesesEpipolarGeo::findPairsDirect(wordsA, wordsB, pairs, pairsId);
HypVerificatorEpipolarGeo::findPairsDirect(wordsA, wordsB, pairs, pairsId);
std::set<int> ignoredIds(pairsId.begin(), pairsId.end());
int dif = maxWords - (int)wordsA.size();
newWords = getMostDescriptiveWords(wordsB, dif, ignoredIds);
@@ -598,7 +598,7 @@ void KeypointMemory::merge(const Signature * from, Signature * to, MergingStrate
}
std::list<std::pair<cv::KeyPoint, cv::KeyPoint> > pairs;
std::list<int> pairsId;
VerifyHypothesesEpipolarGeo::findPairsDirect(wordsA, wordsB, pairs, pairsId);
HypVerificatorEpipolarGeo::findPairsDirect(wordsA, wordsB, pairs, pairsId);
std::set<int> ignoredIds(pairsId.begin(), pairsId.end());
int dif = maxWords - (int)wordsB.size();
newWords = getMostDescriptiveWords(wordsA, dif, ignoredIds);