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Added parameter "Mem/UseOdometryFeatures=false" to use directly features already extracted from odometry for the vocabulary (issue #32)

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matlabbe
2016-02-22 17:57:40 -05:00
parent ccc4b4a6c2
commit d7ef170d33
15 changed files with 175 additions and 73 deletions
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7
corelib/src/OdometryF2M.cpp
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@@ -168,7 +168,7 @@ const std::multimap<int, cv::Point3f> & OdometryF2M::getLocalMap() const
// return not null transform if odometry is correctly computed
Transform OdometryF2M::computeTransform(
const SensorData & data,
SensorData & data,
OdometryInfo * info)
{
UTimer timer;
@@ -191,6 +191,8 @@ Transform OdometryF2M::computeTransform(
Transform guess = this->previousTransform().isIdentity()||this->previousTransform().isNull()?Transform():this->getPose()*this->previousTransform();
Transform transform = regVis_->computeTransformationMod(*map_, newSignature, guess, &regInfo);
data.setFeatures(newSignature.sensorData().keypoints(), newSignature.sensorData().descriptors());
if(!transform.isNull())
{
// make it incremental
@@ -271,6 +273,8 @@ Transform OdometryF2M::computeTransform(
newSignature,
dummy);
data.setFeatures(newSignature.sensorData().keypoints(), newSignature.sensorData().descriptors());
if(fixedMapPath_.empty() && (int)newSignature.getWords3().size() >= regVis_->getMinInliers())
{
output.setIdentity();
@@ -293,6 +297,7 @@ Transform OdometryF2M::computeTransform(
map_->sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat()); // clear sensorData features
nFeatures = newSignature.getWords().size();
if(this->isInfoDataFilled() && info)
{
info->words = newSignature.getWords();