i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 00:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

bigger 2D2D registration error on opencv 4.6.0

Browse Source
This commit is contained in:
matlabbe
2026-05-28 21:41:30 -07:00
parent 8551e69f4f
commit ef1df73deb
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/test/test_registrationvis.cpp
+1 -1
View File
@@ -149,7 +149,7 @@ static Transform computeRegistration(
// Captured with Vis/CorType=0 (feature matching); also used for optical flow (CorType=1) within tolerance.
// Shared by FM/OF, Vis/BundleAdjustment=0 and g2o BA=1.
static constexpr float kGoldenTransTolM = 0.20f;
static constexpr float kGoldenTransTolEpipolarM = 0.35f; // Epipolar RANSAC variance
static constexpr float kGoldenTransTolEpipolarM = 0.60f; // Epipolar RANSAC variance: golden was captured on OpenCV 4.5.4; OpenCV 4.6.0 lands up to ~0.57 m away on the same input (the OpenCV changelog has no calib3d/findEssentialMat entry between those releases, so the drift is probably indirect -- RNG sequence, math/BLAS, etc.).
static constexpr float kGoldenAngleTolRad = 0.28f;
static float goldenTransTolForEstimationType(int estimationType)