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using max reprojection error (rather than average) for outlier rejection during triangulation

release/4.3a0
lcarlone 2016-07-13 17:04:23 -04:00
parent 245e802959
commit 03fac5cd02
1 changed files with 3 additions and 3 deletions
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6
gtsam/geometry/triangulation.h
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@ -469,7 +469,7 @@ TriangulationResult triangulateSafe(const std::vector<CAMERA>& cameras,
// Check landmark distance and re-projection errors to avoid outliers // Check landmark distance and re-projection errors to avoid outliers
size_t i = 0; size_t i = 0;
double totalReprojError = 0.0; double maxReprojError = 0.0;
for(const CAMERA& camera: cameras) { for(const CAMERA& camera: cameras) {
const Pose3& pose = camera.pose(); const Pose3& pose = camera.pose();
if (params.landmarkDistanceThreshold > 0 if (params.landmarkDistanceThreshold > 0
@ -487,13 +487,13 @@ TriangulationResult triangulateSafe(const std::vector<CAMERA>& cameras,
if (params.dynamicOutlierRejectionThreshold > 0) { if (params.dynamicOutlierRejectionThreshold > 0) {
const Point2& zi = measured.at(i); const Point2& zi = measured.at(i);
Point2 reprojectionError(camera.project(point) - zi); Point2 reprojectionError(camera.project(point) - zi);
totalReprojError += reprojectionError.vector().norm(); maxReprojError = std::max(maxReprojError, reprojectionError.vector().norm());
} }
i += 1; i += 1;
} }
// Flag as degenerate if average reprojection error is too large // Flag as degenerate if average reprojection error is too large
if (params.dynamicOutlierRejectionThreshold > 0 if (params.dynamicOutlierRejectionThreshold > 0
&& totalReprojError / m > params.dynamicOutlierRejectionThreshold) && maxReprojError > params.dynamicOutlierRejectionThreshold)
return TriangulationResult::Outlier(); return TriangulationResult::Outlier();
// all good! // all good!