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OdometryF2F: Fixed broken OpticalFlow approach

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matlabbe
2016-02-24 17:42:23 -05:00
parent 172e9857c7
commit a8d1b91083
8 changed files with 55 additions and 45 deletions
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corelib/src/util3d_motion_estimation.cpp
+6 -1
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@@ -144,7 +144,12 @@ Transform estimateMotion3DTo2D(
{
const cv::Point3f & objPt = objectPoints[inliers[i]];
cv::Point3f newPt = util3d::transformPoint(iter->second, transform);
errorSqrdDists[oi++] = uNormSquared(objPt.x-newPt.x, objPt.y-newPt.y, objPt.z-newPt.z);
errorSqrdDists[oi] = uNormSquared(objPt.x-newPt.x, objPt.y-newPt.y, objPt.z-newPt.z);
//ignore very very far features (stereo)
if(errorSqrdDists[oi] < 100.0f)
{
++oi;
}
}
}
errorSqrdDists.resize(oi);