public/vio
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

1D alignment for edgelets seems to work better

Browse Source
This commit is contained in:
Christian Forster
2014-05-01 18:28:47 +02:00
parent 5954418249
commit d0ce9ae3c4
1 changed files with 14 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
svo/src/matcher.cpp
+14 -1
View File
@@ -170,9 +170,22 @@ bool Matcher::findMatchDirect(
// px_cur should be set // px_cur should be set
Vector2d px_scaled(px_cur/(1<<search_level_)); Vector2d px_scaled(px_cur/(1<<search_level_));
bool success = feature_alignment::align2D(
bool success = false;
if(ref_ftr_->type == Feature::EDGELET)
{
Vector2d dir_cur(A_cur_ref_*ref_ftr_->grad);
dir_cur.normalize();
success = feature_alignment::align1D(
cur_frame.img_pyr_[search_level_], dir_cur.cast<float>(),
patch_with_border_, patch_, options_.align_max_iter, px_scaled, h_inv_);
}
else
{
success = feature_alignment::align2D(
cur_frame.img_pyr_[search_level_], patch_with_border_, patch_, cur_frame.img_pyr_[search_level_], patch_with_border_, patch_,
options_.align_max_iter, px_scaled); options_.align_max_iter, px_scaled);
}
px_cur = px_scaled * (1<<search_level_); px_cur = px_scaled * (1<<search_level_);
return success; return success;
} }