adapted stereoSmart factors to use "outlier" and "far point" statuses
parent
0b4927cafe
commit
6a21f1b730
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@ -274,7 +274,7 @@ public:
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// check landmark distance
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if (params_.triangulation.landmarkDistanceThreshold > 0 &&
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pl.norm() > params_.triangulation.landmarkDistanceThreshold) {
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result_ = TriangulationResult::Degenerate();
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result_ = TriangulationResult::FarPoint();
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return result_;
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}
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@ -287,7 +287,7 @@ public:
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if (params_.triangulation.dynamicOutlierRejectionThreshold > 0
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&& totalReprojError / m > params_.triangulation.dynamicOutlierRejectionThreshold) {
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result_ = TriangulationResult::Degenerate();
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result_ = TriangulationResult::Outlier();
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return result_;
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}
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@ -568,7 +568,7 @@ TEST( SmartStereoProjectionPoseFactor, dynamicOutlierRejection ) {
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EXPECT(smartFactor1->point());
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EXPECT(smartFactor2->point());
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EXPECT(smartFactor3->point());
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EXPECT(smartFactor4->point().degenerate());
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EXPECT(smartFactor4->point().outlier());
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EXPECT(smartFactor4b->point());
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// Factor 4 is disabled, pose 3 stays put
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