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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
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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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2
corelib/src/Signature.cpp
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@@ -188,7 +188,7 @@ float KeypointSignature::compareTo(const Signature * s) const
std::list<std::pair<cv::KeyPoint, cv::KeyPoint> > pairs;
std::list<int> pairsId;
int totalWords = _words.size()>words.size()?_words.size():words.size();
VerifyHypothesesEpipolarGeo::findPairsDirect(words, _words, pairs, pairsId);
HypVerificatorEpipolarGeo::findPairsDirect(words, _words, pairs, pairsId);
similarity = float(pairs.size()) / float(totalWords);