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RegVis: convert to 3dof before SBA

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This commit is contained in:
matlabbe
2017-12-21 10:16:46 -05:00
parent d6058768fc
commit 9f80f4ac42
1 changed files with 16 additions and 1 deletions
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17
corelib/src/RegistrationVis.cpp
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@@ -1249,7 +1249,14 @@ Transform RegistrationVis::computeTransformationImpl(
{ {
if(variance <= _epipolarGeometryVar) if(variance <= _epipolarGeometryVar)
{ {
transforms[dir] = cameraTransform; if(this->force3DoF())
{
transforms[dir] = cameraTransform.to3DoF();
}
else
{
transforms[dir] = cameraTransform;
}
} }
else else
{ {
@@ -1327,6 +1334,10 @@ Transform RegistrationVis::computeTransformationImpl(
(int)inliers[dir].size(), _minInliers, (int)matches[dir].size(), signatureA->id(), signatureB->id()); (int)inliers[dir].size(), _minInliers, (int)matches[dir].size(), signatureA->id(), signatureB->id());
UINFO(msg.c_str()); UINFO(msg.c_str());
} }
else if(this->force3DoF())
{
transforms[dir] = transforms[dir].to3DoF();
}
} }
else else
{ {
@@ -1364,6 +1375,10 @@ Transform RegistrationVis::computeTransformationImpl(
(int)inliers[dir].size(), _minInliers, (int)matches[dir].size(), signatureA->id(), signatureB->id()); (int)inliers[dir].size(), _minInliers, (int)matches[dir].size(), signatureA->id(), signatureB->id());
UINFO(msg.c_str()); UINFO(msg.c_str());
} }
else if(this->force3DoF())
{
transforms[dir] = transforms[dir].to3DoF();
}
} }
else else
{ {