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CudaSIFT: using abs(sharpness) instead of sharpness as response value (this slightly change how most significant features are retained with Vis/MaxFeatures or Kp/MaxFeatures). OptimizerTORO: changed a fatal log to error log when loading a link with not existing poses.

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matlabbe
2026-02-05 15:45:29 -08:00
parent e23c38f471
commit b47c4093a6
3 changed files with 5 additions and 3 deletions
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corelib/src/RegistrationVis.cpp
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@@ -2184,6 +2184,8 @@ Transform RegistrationVis::computeTransformationImpl(
// We take the second eigen value
info.inliersDistribution = pca_analysis.eigenvalues.at<float>(0, 1);
UDEBUG("Visual distribution: %f (eigen values = %f %f)", info.inliersDistribution, pca_analysis.eigenvalues.at<float>(0, 0), pca_analysis.eigenvalues.at<float>(0, 1));
if(info.inliersDistribution < _minInliersDistributionThr)
{
msg = uFormat("The distribution (%f) of inliers is under %s threshold (%f)",