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Computing BA correspondences: added option to use input link's transform as guess for feature matching

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matlabbe
2025-04-14 10:28:12 -07:00
parent 43c398a0de
commit b5dce57be8
2 changed files with 5 additions and 4 deletions
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6
corelib/src/Optimizer.cpp
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@@ -556,7 +556,8 @@ void Optimizer::computeBACorrespondences(
const std::map<int, Signature> & signatures,
std::map<int, cv::Point3f> & points3DMap,
std::map<int, std::map<int, FeatureBA> > & wordReferences,
bool rematchFeatures)
bool rematchFeatures,
bool useLinkTransformAsGuess)
{
UDEBUG("rematchFeatures=%d", rematchFeatures?1:0);
int wordCount = 0;
@@ -621,8 +622,7 @@ void Optimizer::computeBACorrespondences(
}
RegistrationInfo info;
Transform t = reg.computeTransformationMod(sFrom, sTo, Transform(), &info);
//Transform t = reg.computeTransformationMod(sFrom, sTo, iter->second.transform(), &info);
Transform t = reg.computeTransformationMod(sFrom, sTo, useLinkTransformAsGuess?iter->second.transform():Transform(), &info);
UDEBUG("%d->%d, inliers=%d",sFrom.id(), sTo.id(), (int)info.inliersIDs.size());
if(!t.isNull())