i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 01:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Building more robust OpenCV3's cv::solvePnPRansac() in OpenCV2 build

Browse Source
This commit is contained in:
matlabbe
2016-03-08 19:51:50 -05:00
parent e5c500fad0
commit c4ee125f73
7 changed files with 866 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+21 -7
View File
@@ -2073,6 +2073,12 @@ Transform Memory::computeTransform(
Signature tmpFrom = *fromS;
Signature tmpTo = *toS;
// make a guess with known correspondences
RegistrationVis regVis(parameters_);
tmpFrom.sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());
tmpTo.sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
if(_reextractLoopClosureFeatures)
{
tmpFrom.setWords(std::multimap<int, cv::KeyPoint>());
@@ -2084,16 +2090,24 @@ Transform Memory::computeTransform(
tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
tmpTo.sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());
}
if(!_registrationPipeline->isImageRequired())
else
{
// no visual in the pipeline, make visual registration for guess
RegistrationVis regVis(parameters_);
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
// set back features
tmpFrom.sensorData().setFeatures(fromS->sensorData().keypoints(), fromS->sensorData().descriptors());
tmpTo.sensorData().setFeatures(toS->sensorData().keypoints(), toS->sensorData().descriptors());
}
else if(guess.isNull())
if(guess.isNull())
{
guess.setIdentity();
if(!_registrationPipeline->isImageRequired())
{
// no visual in the pipeline, make visual registration for guess
guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
}
else
{
guess.setIdentity();
}
}
if(!guess.isNull())