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GUI: added word wrap to transform label in loop closure viewer. Memory: creating a RegistraitonVis for stereo from motion if memory's registration pipeline is not vis only.

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matlabbe
2019-06-02 14:59:11 -04:00
parent cdbdc36c94
commit e09a872fa2
2 changed files with 27 additions and 3 deletions
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16
corelib/src/Memory.cpp
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@@ -4725,10 +4725,22 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
uniqueWords = uMultimapToMapUnique(words);
uniqueWordsDescriptors = uMultimapToMapUnique(wordsDescriptors);
cpCurrent.sensorData().setCameraModels(cameraModels);
// This will force comparing descriptors between both images directly
cpCurrent.setWords(std::multimap<int, cv::KeyPoint>(uniqueWords.begin(), uniqueWords.end()));
cpCurrent.setWordsDescriptors(std::multimap<int, cv::Mat>(uniqueWordsDescriptors.begin(), uniqueWordsDescriptors.end()));
// This will force comparing descriptors between both images directly
Transform tmpt = _registrationPipeline->computeTransformationMod(cpCurrent, cpPrevious, cameraTransform);
Transform tmpt;
if(_registrationPipeline->isScanRequired())
{
// If icp is used, remove it to just do visual registration
RegistrationVis vis(parameters_);
tmpt = vis.computeTransformationMod(cpCurrent, cpPrevious, cameraTransform);
}
else
{
tmpt = _registrationPipeline->computeTransformationMod(cpCurrent, cpPrevious, cameraTransform);
}
UDEBUG("t=%s", tmpt.prettyPrint().c_str());
// compute 3D words by epipolar geometry with the previous signature