i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 09:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added LccBow/VarianceFromInliersCount parameter (linked with Odom/VarianceFromInliersCount in standalone gui)

Browse Source
This commit is contained in:
matlabbe
2015-10-02 10:40:18 -04:00
parent ee76a02117
commit fbf967066a
13 changed files with 117 additions and 78 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+7
View File
@@ -108,6 +108,7 @@ Memory::Memory(const ParametersMap & parameters) :
_bowEstimationType(Parameters::defaultLccBowEstimationType()),
_bowPnPReprojError(Parameters::defaultLccBowPnPReprojError()),
_bowPnPFlags(Parameters::defaultLccBowPnPFlags()),
_bowVarianceFromInliersCount(Parameters::defaultLccBowVarianceFromInliersCount()),
_icpMaxTranslation(Parameters::defaultLccIcpMaxTranslation()),
_icpMaxRotation(Parameters::defaultLccIcpMaxRotation()),
@@ -450,6 +451,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kLccBowEpipolarGeometryVar(), _bowEpipolarGeometryVar);
Parameters::parse(parameters, Parameters::kLccBowPnPReprojError(), _bowPnPReprojError);
Parameters::parse(parameters, Parameters::kLccBowPnPFlags(), _bowPnPFlags);
Parameters::parse(parameters, Parameters::kLccBowVarianceFromInliersCount(), _bowVarianceFromInliersCount);
Parameters::parse(parameters, Parameters::kLccIcpMaxTranslation(), _icpMaxTranslation);
Parameters::parse(parameters, Parameters::kLccIcpMaxRotation(), _icpMaxRotation);
Parameters::parse(parameters, Parameters::kLccIcp3Decimation(), _icpDecimation);
@@ -2207,6 +2209,11 @@ Transform Memory::computeVisualTransform(
}
}
if(_bowVarianceFromInliersCount)
{
variance = inliersCount > 0?1.0/double(inliersCount):1.0;
}
if(rejectedMsg)
{
*rejectedMsg = msg;