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Added ORB+FastGrid implementation (only with OpenCV2). Updated default parameters: Odom/GuessFromMotion=false, Vis/CorNNType=1. RegistrationVis: octave aware on features matching with motion

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matlabbe
2016-03-08 12:31:32 -05:00
parent e0b25aac8f
commit 62c8be40b9
13 changed files with 1179 additions and 133 deletions
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corelib/src/Memory.cpp
+2 -1
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@@ -3123,7 +3123,8 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
}
cv::Mat depthMask;
if(!data.depthRaw().empty())
if(!data.depthRaw().empty() &&
_feature2D->getType() != Feature2D::kFeatureOrb) // ORB's mask pyramids don't seem to work well
{
if(imageMono.rows % data.depthRaw().rows == 0 &&
imageMono.cols % data.depthRaw().cols == 0 &&