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removed check if error increased in feature alignment. result is more feature matches and equal results to NEON version.

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This commit is contained in:
Christian Forster
2014-11-10 11:01:06 -05:00
parent 3ab81e54c2
commit 1282a95dde
1 changed files with 6 additions and 6 deletions
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svo/src/feature_alignment.cpp
+6 -6
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@@ -197,7 +197,7 @@ bool align2D(
// termination condition // termination condition
const float min_update_squared = 0.03*0.03; const float min_update_squared = 0.03*0.03;
const int cur_step = cur_img.step.p[0]; const int cur_step = cur_img.step.p[0];
float chi2 = 0; // float chi2 = 0;
Vector3f update; update.setZero(); Vector3f update; update.setZero();
for(int iter = 0; iter<n_iter; ++iter) for(int iter = 0; iter<n_iter; ++iter)
{ {
@@ -221,7 +221,7 @@ bool align2D(
uint8_t* it_ref = ref_patch; uint8_t* it_ref = ref_patch;
float* it_ref_dx = ref_patch_dx; float* it_ref_dx = ref_patch_dx;
float* it_ref_dy = ref_patch_dy; float* it_ref_dy = ref_patch_dy;
float new_chi2 = 0.0; // float new_chi2 = 0.0;
Vector3f Jres; Jres.setZero(); Vector3f Jres; Jres.setZero();
for(int y=0; y<patch_size_; ++y) for(int y=0; y<patch_size_; ++y)
{ {
@@ -233,12 +233,12 @@ bool align2D(
Jres[0] -= res*(*it_ref_dx); Jres[0] -= res*(*it_ref_dx);
Jres[1] -= res*(*it_ref_dy); Jres[1] -= res*(*it_ref_dy);
Jres[2] -= res; Jres[2] -= res;
new_chi2 += res*res; // new_chi2 += res*res;
} }
} }
/*
if(iter > 0 && new_chi2 > chi2) if(iter > 0 && new_chi2 > chi2)
{ {
#if SUBPIX_VERBOSE #if SUBPIX_VERBOSE
@@ -248,8 +248,8 @@ bool align2D(
v -= update[1]; v -= update[1];
break; break;
} }
chi2 = new_chi2; chi2 = new_chi2;
*/
update = Hinv * Jres; update = Hinv * Jres;
u += update[0]; u += update[0];
v += update[1]; v += update[1];
@@ -259,7 +259,7 @@ bool align2D(
cout << "Iter " << iter << ":" cout << "Iter " << iter << ":"
<< "\t u=" << u << ", v=" << v << "\t u=" << u << ", v=" << v
<< "\t update = " << update[0] << ", " << update[1] << "\t update = " << update[0] << ", " << update[1]
<< "\t new chi2 = " << new_chi2 << endl; // << "\t new chi2 = " << new_chi2 << endl;
#endif #endif
if(update[0]*update[0]+update[1]*update[1] < min_update_squared) if(update[0]*update[0]+update[1]*update[1] < min_update_squared)