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

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matlabbe
2015-07-28 23:48:50 -04:00
parent a4039241c5
commit b686103765
14 changed files with 121 additions and 84 deletions
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corelib/src/Memory.cpp
+5 -5
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@@ -2102,15 +2102,15 @@ Transform Memory::computeVisualTransform(
std::vector<int> inliersV;
transform = util3d::estimateMotion3DTo2D(
oldS.getWords3(),
newS.getWords(),
uMultimapToMap(oldS.getWords3()),
uMultimapToMap(newS.getWords()),
cameraModel,
_bowMinInliers,
_bowIterations,
_bowPnPReprojError,
_bowPnPFlags,
Transform::getIdentity(),
newS.getWords3(),
uMultimapToMap(newS.getWords3()),
&variance,
0,
&inliersV);
@@ -2143,8 +2143,8 @@ Transform Memory::computeVisualTransform(
{
std::vector<int> inliersV;
transform = util3d::estimateMotion3DTo3D(
oldS.getWords3(),
newS.getWords3(),
uMultimapToMap(oldS.getWords3()),
uMultimapToMap(newS.getWords3()),
_bowMinInliers,
_bowInlierDistance,
_bowIterations,