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refactored matcher class

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This commit is contained in:
Christian Forster
2014-04-29 21:43:24 +02:00
parent cdecc6325f
commit 44f87b860b
9 changed files with 192 additions and 196 deletions
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svo/src/reprojector.cpp
+11 -4
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@@ -162,10 +162,9 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame)
continue;
}
int feature_level;
bool found_match = true;
if(options_.find_match_direct)
found_match = matcher::findMatchDirect(*it->pt, *frame, it->px, feature_level);
found_match = matcher_.findMatchDirect(*it->pt, *frame, it->px);
if(!found_match)
{
it->pt->n_failed_reproj_++;
@@ -180,10 +179,18 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame)
if(it->pt->type_ == Point::TYPE_UNKNOWN && it->pt->n_succeeded_reproj_ > 10)
it->pt->type_ = Point::TYPE_GOOD;
Feature* new_feature = new Feature(frame.get(), it->px, feature_level);
Feature* new_feature = new Feature(frame.get(), it->px, matcher_.search_level_);
frame->addFeature(new_feature);
// Here we add a reference in the feature to the 3D point, the other way
// round is only done if this frame is selected as keyframe.
new_feature->point = it->pt;
// note, we add a reference to the point only if the frame is selected as a keyframe
if(matcher_.ref_ftr_->type == Feature::EDGELET)
{
new_feature->type = Feature::EDGELET;
new_feature->grad = matcher_.A_cur_ref_*matcher_.ref_ftr_->grad;
}
// If the keyframe is selected and we reproject the rest, we don't have to
// check this point anymore.