using map instead of multimap for motion estimation methods (only unique words were used)

2026-10-07 18:47:48 +08:00 · 2015-07-28 23:48:50 -04:00
parent a4039241c5
commit b686103765
14 changed files with 121 additions and 84 deletions
@@ -68,7 +68,7 @@ public:
 	std::multimap<int, cv::KeyPoint> words;
 	std::vector<int> wordMatches;
 	std::vector<int> wordInliers;
-	std::multimap<int, cv::Point3f> localMap;
+	std::map<int, cv::Point3f> localMap;

 	// Optical Flow odometry
 	std::vector<cv::Point2f> refCorners;