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3D->3D estimation refining: using 3x sqrt(variance) instead of sqrt(9x variance). GUI: added features cloud rendering option. CloudViewer: fixed slow updateCameraTargetPosition()

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matlabbe
2016-03-01 17:33:27 -05:00
parent a89b8cb4fe
commit b6fb947310
12 changed files with 354 additions and 102 deletions
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corelib/src/util3d_registration.cpp
+1 -3
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@@ -112,9 +112,7 @@ Transform transformFromXYZCorrespondences(
if (refineIterations>0)
{
double inlier_distance_threshold_sqr = inlierThreshold * inlierThreshold;
double error_threshold = inlierThreshold;
double sigma_sqr = refineSigma * refineSigma;
int refine_iterations = 0;
bool inlier_changed = false, oscillating = false;
std::vector<int> new_inliers, prev_inliers = inliers;
@@ -143,7 +141,7 @@ Transform transformFromXYZCorrespondences(
// Estimate the variance and the new threshold
double variance = model->computeVariance ();
error_threshold = sqrt (std::min (inlier_distance_threshold_sqr, sigma_sqr * variance));
error_threshold = std::min (inlierThreshold, refineSigma * sqrt(variance));
UDEBUG ("RANSAC refineModel: New estimated error threshold: %f (variance=%f) on iteration %d out of %d.",
error_threshold, variance, refine_iterations, refineIterations);