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Added Vis/PnPSplitLinearCovComponents parameter (default false -> same as before)

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matlabbe
2024-02-07 14:43:16 -08:00
parent 1dadd50cf2
commit 510aef19e4
11 changed files with 259 additions and 120 deletions
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corelib/src/RegistrationVis.cpp
+7 -2
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@@ -72,6 +72,7 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters, Registration
_PnPRefineIterations(Parameters::defaultVisPnPRefineIterations()),
_PnPVarMedianRatio(Parameters::defaultVisPnPVarianceMedianRatio()),
_PnPMaxVar(Parameters::defaultVisPnPMaxVariance()),
_PnPSplitLinearCovarianceComponents(Parameters::defaultVisPnPSplitLinearCovComponents()),
_multiSamplingPolicy(Parameters::defaultVisPnPSamplingPolicy()),
_correspondencesApproach(Parameters::defaultVisCorType()),
_flowWinSize(Parameters::defaultVisCorFlowWinSize()),
@@ -130,6 +131,7 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kVisPnPRefineIterations(), _PnPRefineIterations);
Parameters::parse(parameters, Parameters::kVisPnPVarianceMedianRatio(), _PnPVarMedianRatio);
Parameters::parse(parameters, Parameters::kVisPnPMaxVariance(), _PnPMaxVar);
Parameters::parse(parameters, Parameters::kVisPnPSplitLinearCovComponents(), _PnPSplitLinearCovarianceComponents);
Parameters::parse(parameters, Parameters::kVisPnPSamplingPolicy(), _multiSamplingPolicy);
Parameters::parse(parameters, Parameters::kVisCorType(), _correspondencesApproach);
Parameters::parse(parameters, Parameters::kVisCorFlowWinSize(), _flowWinSize);
@@ -295,6 +297,7 @@ Transform RegistrationVis::computeTransformationImpl(
UDEBUG("%s=%f", Parameters::kVisPnPReprojError().c_str(), _PnPReprojError);
UDEBUG("%s=%d", Parameters::kVisPnPFlags().c_str(), _PnPFlags);
UDEBUG("%s=%f", Parameters::kVisPnPMaxVariance().c_str(), _PnPMaxVar);
UDEBUG("%s=%f", Parameters::kVisPnPSplitLinearCovComponents().c_str(), _PnPSplitLinearCovarianceComponents);
UDEBUG("%s=%d", Parameters::kVisCorType().c_str(), _correspondencesApproach);
UDEBUG("%s=%d", Parameters::kVisCorFlowWinSize().c_str(), _flowWinSize);
UDEBUG("%s=%d", Parameters::kVisCorFlowIterations().c_str(), _flowIterations);
@@ -1637,7 +1640,8 @@ Transform RegistrationVis::computeTransformationImpl(
words3B,
&covariances[dir],
&matchesV,
&inliersV);
&inliersV,
_PnPSplitLinearCovarianceComponents);
inliers[dir] = inliersV;
matches[dir] = matchesV;
}
@@ -1660,7 +1664,8 @@ Transform RegistrationVis::computeTransformationImpl(
words3B,
&covariances[dir],
&matchesV,
&inliersV);
&inliersV,
_PnPSplitLinearCovarianceComponents);
inliers[dir] = inliersV;
matches[dir] = matchesV;
}