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Fixed Stereo parameters not used for OdometryBOW. Saving parameters in Memory and Feature2D to re-use old parameters when underlaying algorithm strategies are re-created.

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matlabbe
2016-01-04 11:41:13 -05:00
parent 51300dde06
commit b578fc732e
11 changed files with 37 additions and 26 deletions
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corelib/src/util2d.cpp
-2
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@@ -225,7 +225,6 @@ std::vector<cv::Point2f> calcStereoCorrespondences(
{
if(level>0)
{
UDEBUG("");
tmpMaxDisparity = tmpMinDisparity+(bestScoreIndex+1)*(1<<level);
tmpMaxDisparity+=tmpMaxDisparity%level;
if(tmpMaxDisparity > maxDisparity)
@@ -247,7 +246,6 @@ std::vector<cv::Point2f> calcStereoCorrespondences(
if(bestScoreIndex>=0)
{
UDEBUG("");
//subpixel refining
int d = -(tmpMinDisparity+bestScoreIndex);