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Added parameter "Mem/UseOdometryFeatures=false" to use directly features already extracted from odometry for the vocabulary (issue #32)

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matlabbe
2016-02-22 17:57:40 -05:00
parent ccc4b4a6c2
commit d7ef170d33
15 changed files with 175 additions and 73 deletions
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corelib/src/OdometryF2F.cpp
+5 -1
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@@ -59,7 +59,7 @@ void OdometryF2F::reset(const Transform & initialPose)
// return not null transform if odometry is correctly computed
Transform OdometryF2F::computeTransform(
const SensorData & data,
SensorData & data,
OdometryInfo * info)
{
UTimer timer;
@@ -87,6 +87,8 @@ Transform OdometryF2F::computeTransform(
guessFromMotion_?motionSinceLastKeyFrame_*this->previousTransform():Transform(),
&regInfo);
data.setFeatures(newFrame.sensorData().keypoints(), newFrame.sensorData().descriptors());
if(info && this->isInfoDataFilled())
{
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
@@ -140,6 +142,8 @@ Transform OdometryF2F::computeTransform(
newFrame,
dummy);
features = (int)newFrame.sensorData().keypoints().size();
data.setFeatures(newFrame.sensorData().keypoints(), newFrame.sensorData().descriptors());
}
if((features >= registrationPipeline_->getMinVisualCorrespondences()) &&