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using map instead of multimap for motion estimation methods (only unique words were used)

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matlabbe
2015-07-28 23:48:50 -04:00
parent a4039241c5
commit b686103765
14 changed files with 121 additions and 84 deletions
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corelib/src/OdometryBOW.cpp
+3 -3
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@@ -247,14 +247,14 @@ Transform OdometryBOW::computeTransform(
UDEBUG("");
t = util3d::estimateMotion3DTo2D(
localMap_,
newSignature->getWords(),
uMultimapToMap(newSignature->getWords()),
cameraModel,
this->getMinInliers(),
this->getIterations(),
this->getPnPReprojError(),
this->getPnPFlags(),
this->getPose(),
newSignature->getWords3(),
uMultimapToMap(newSignature->getWords3()),
&variance,
&matches,
&inliers);
@@ -271,7 +271,7 @@ Transform OdometryBOW::computeTransform(
{
t = util3d::estimateMotion3DTo3D(
localMap_,
newSignature->getWords3(),
uMultimapToMap(newSignature->getWords3()),
this->getMinInliers(),
this->getInlierDistance(),
this->getIterations(),