i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

-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...

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/tests/Tests.cpp
View File

@@ -468,7 +468,7 @@ void Tests::testVerifyHypotheses()
wordsB.insert(std::pair<int, cv::KeyPoint>(6, cv::KeyPoint(5, 5, 1)));
wordsB.insert(std::pair<int, cv::KeyPoint>(6, cv::KeyPoint(6, 6, 1)));
int total = VerifyHypothesesEpipolarGeo::findPairsAll(wordsA, wordsB, pairs, pairsId);
int total = HypVerificatorEpipolarGeo::findPairsAll(wordsA, wordsB, pairs, pairsId);
//printf("[%d,%d]\n", total, (int)pairs.size());
CPPUNIT_ASSERT(total == 5);