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added reprojector option to not use feature alignment

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This commit is contained in:
Christian Forster
2014-03-31 19:47:12 +02:00
parent 8cf1504f7c
commit 6308c10fa2
2 changed files with 6 additions and 2 deletions
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svo/include/svo/reprojector.h
+3 -1
View File
@@ -42,8 +42,10 @@ public:
/// Reprojector config parameters /// Reprojector config parameters
struct Options { struct Options {
size_t max_n_kfs; //!< max number of keyframes to reproject from size_t max_n_kfs; //!< max number of keyframes to reproject from
bool find_match_direct;
Options() Options()
: max_n_kfs(10) : max_n_kfs(10),
find_match_direct(true)
{} {}
} options_; } options_;
svo/src/reprojector.cpp
+3 -1
View File
@@ -163,7 +163,9 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame)
} }
int feature_level; int feature_level;
bool found_match = matcher::findMatchDirect(*it->pt, *frame, it->px, feature_level); bool found_match = true;
if(options_.find_match_direct)
found_match = matcher::findMatchDirect(*it->pt, *frame, it->px, feature_level);
if(!found_match) if(!found_match)
{ {
it->pt->n_failed_reproj_++; it->pt->n_failed_reproj_++;