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This commit is contained in:
Christian Forster
2014-04-27 15:44:16 +02:00
parent 669b65cbeb
commit 272ef797f9
1 changed files with 6 additions and 7 deletions
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svo/src/matcher.cpp
+6 -7
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@@ -69,7 +69,9 @@ void getWarpMatrixAffine(
A_cur_ref.col(1) = (px_dv - px_cur)/halfpatch_size; A_cur_ref.col(1) = (px_dv - px_cur)/halfpatch_size;
} }
int getBestSearchLevel(const Matrix2d& A_cur_ref, const int max_level) int getBestSearchLevel(
const Matrix2d& A_cur_ref,
const int max_level)
{ {
// Compute patch level in other image // Compute patch level in other image
int level_cur = 0; int level_cur = 0;
@@ -127,8 +129,7 @@ void warpAffine(
} // namespace warp } // namespace warp
bool bool findMatchDirect(
findMatchDirect(
const Point& pt, const Point& pt,
const Frame& cur_frame, const Frame& cur_frame,
Vector2d& px_cur, Vector2d& px_cur,
@@ -160,8 +161,7 @@ findMatchDirect(
return success; return success;
} }
bool bool depthFromTriangulation(
depthFromTriangulation(
const SE3& T_search_ref, const SE3& T_search_ref,
const Vector3d& f_ref, const Vector3d& f_ref,
const Vector3d& f_cur, const Vector3d& f_cur,
@@ -176,8 +176,7 @@ depthFromTriangulation(
return true; return true;
} }
bool bool findEpipolarMatchDirect(
findEpipolarMatchDirect(
const Frame& ref_frame, const Frame& ref_frame,
const Frame& cur_frame, const Frame& cur_frame,
const Feature& ref_ftr, const Feature& ref_ftr,