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RegistraitonVis: generate always 3D keypoints if possible

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matlabbe
2016-02-29 16:41:37 -05:00
parent 6d06b66496
commit e6e9c61c38
3 changed files with 4 additions and 5 deletions
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2
corelib/src/OdometryF2M.cpp
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@@ -228,7 +228,7 @@ Transform OdometryF2M::computeTransform(
std::multimap<int, cv::Mat> mapDescriptors = map_->getWordsDescriptors(); std::multimap<int, cv::Mat> mapDescriptors = map_->getWordsDescriptors();
Transform t = this->getPose()*output; Transform t = this->getPose()*output;
UASSERT(mapPoints.size() == mapDescriptors.size()); UASSERT(mapPoints.size() == mapDescriptors.size());
UASSERT(lastFrame_->getWordsDescriptors().size() == lastFrame_->getWords3().size()); UASSERT_MSG(lastFrame_->getWordsDescriptors().size() == lastFrame_->getWords3().size(), uFormat("%d vs %d", lastFrame_->getWordsDescriptors().size(), lastFrame_->getWords3().size()).c_str());
std::list<int> newIds = uUniqueKeys(lastFrame_->getWordsDescriptors()); std::list<int> newIds = uUniqueKeys(lastFrame_->getWordsDescriptors());
for(std::list<int>::iterator iter=newIds.begin(); iter!=newIds.end(); ++iter) for(std::list<int>::iterator iter=newIds.begin(); iter!=newIds.end(); ++iter)
{ {

4
corelib/src/RegistrationVis.cpp
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@@ -518,9 +518,7 @@ Transform RegistrationVis::computeTransformationImpl(
{ {
kptsFrom3D = uValues(fromSignature.getWords3()); kptsFrom3D = uValues(fromSignature.getWords3());
} }
if((_estimationType == 0 || (_estimationType == 1 && !varianceFromInliersCount()) || !_forwardEstimateOnly) && if(toSignature.getWords3().empty())
toSignature.getWords3().empty() &&
!toSignature.sensorData().imageRaw().empty())
{ {
kptsTo3D = detector->generateKeypoints3D(toSignature.sensorData(), kptsTo); kptsTo3D = detector->generateKeypoints3D(toSignature.sensorData(), kptsTo);
} }

3
corelib/src/Rtabmap.cpp
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@@ -2109,7 +2109,8 @@ bool Rtabmap::process(
} }
else if(_memory->isIncremental() && // FIXME: not tested in localization mode, so do it only in mapping mode else if(_memory->isIncremental() && // FIXME: not tested in localization mode, so do it only in mapping mode
_optimizationMaxLinearError > 0.0f && _optimizationMaxLinearError > 0.0f &&
loopClosureLinksAdded.size()) loopClosureLinksAdded.size() &&
optimizationIterations > 0)
{ {
const Link * maxLinearLink = 0; const Link * maxLinearLink = 0;
for(std::multimap<int, Link>::iterator iter=constraints.begin(); iter!=constraints.end(); ++iter) for(std::multimap<int, Link>::iterator iter=constraints.begin(); iter!=constraints.end(); ++iter)