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Added Vis/PnPVarianceMedianRatio parameter (to tune pnp computed covariance)

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matlabbe
2023-07-27 16:13:30 -07:00
parent 446590b19f
commit 424dc90dce
7 changed files with 149 additions and 97 deletions
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corelib/src/RegistrationVis.cpp
+4
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@@ -69,6 +69,7 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters, Registration
_PnPReprojError(Parameters::defaultVisPnPReprojError()),
_PnPFlags(Parameters::defaultVisPnPFlags()),
_PnPRefineIterations(Parameters::defaultVisPnPRefineIterations()),
_PnPVarMedianRatio(Parameters::defaultVisPnPVarianceMedianRatio()),
_PnPMaxVar(Parameters::defaultVisPnPMaxVariance()),
_multiSamplingPolicy(Parameters::defaultVisPnPSamplingPolicy()),
_correspondencesApproach(Parameters::defaultVisCorType()),
@@ -126,6 +127,7 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kVisPnPReprojError(), _PnPReprojError);
Parameters::parse(parameters, Parameters::kVisPnPFlags(), _PnPFlags);
Parameters::parse(parameters, Parameters::kVisPnPRefineIterations(), _PnPRefineIterations);
Parameters::parse(parameters, Parameters::kVisPnPVarianceMedianRatio(), _PnPVarMedianRatio);
Parameters::parse(parameters, Parameters::kVisPnPMaxVariance(), _PnPMaxVar);
Parameters::parse(parameters, Parameters::kVisPnPSamplingPolicy(), _multiSamplingPolicy);
Parameters::parse(parameters, Parameters::kVisCorType(), _correspondencesApproach);
@@ -1586,6 +1588,7 @@ Transform RegistrationVis::computeTransformationImpl(
_PnPReprojError,
_PnPFlags,
_PnPRefineIterations,
_PnPVarMedianRatio,
_PnPMaxVar,
dir==0?(!guess.isNull()?guess:Transform::getIdentity()):!transforms[0].isNull()?transforms[0].inverse():(!guess.isNull()?guess.inverse():Transform::getIdentity()),
words3B,
@@ -1608,6 +1611,7 @@ Transform RegistrationVis::computeTransformationImpl(
_PnPReprojError,
_PnPFlags,
_PnPRefineIterations,
_PnPVarMedianRatio,
_PnPMaxVar,
dir==0?(!guess.isNull()?guess:Transform::getIdentity()):!transforms[0].isNull()?transforms[0].inverse():(!guess.isNull()?guess.inverse():Transform::getIdentity()),
words3B,