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Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac)

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matlabbe
2023-07-22 11:05:21 -04:00
parent a593b0d525
commit 3feb03cf35
9 changed files with 242 additions and 127 deletions
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corelib/src/RegistrationVis.cpp
+3
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@@ -70,6 +70,7 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters, Registration
_PnPFlags(Parameters::defaultVisPnPFlags()),
_PnPRefineIterations(Parameters::defaultVisPnPRefineIterations()),
_PnPMaxVar(Parameters::defaultVisPnPMaxVariance()),
_multiSamplingPolicy(Parameters::defaultVisPnPSamplingPolicy()),
_correspondencesApproach(Parameters::defaultVisCorType()),
_flowWinSize(Parameters::defaultVisCorFlowWinSize()),
_flowIterations(Parameters::defaultVisCorFlowIterations()),
@@ -126,6 +127,7 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kVisPnPFlags(), _PnPFlags);
Parameters::parse(parameters, Parameters::kVisPnPRefineIterations(), _PnPRefineIterations);
Parameters::parse(parameters, Parameters::kVisPnPMaxVariance(), _PnPMaxVar);
Parameters::parse(parameters, Parameters::kVisPnPSamplingPolicy(), _multiSamplingPolicy);
Parameters::parse(parameters, Parameters::kVisCorType(), _correspondencesApproach);
Parameters::parse(parameters, Parameters::kVisCorFlowWinSize(), _flowWinSize);
Parameters::parse(parameters, Parameters::kVisCorFlowIterations(), _flowIterations);
@@ -1578,6 +1580,7 @@ Transform RegistrationVis::computeTransformationImpl(
words3A,
wordsB,
models,
_multiSamplingPolicy,
_minInliers,
_iterations,
_PnPReprojError,