From 2627bd5c8399c59179b73c0feef46713ef5f27ca Mon Sep 17 00:00:00 2001 From: ydepledt <yanndepledt360@gmail.com> Date: Mon, 27 Jun 2022 14:00:04 +0200 Subject: [PATCH] Comment and add new function allMatchesSameType --- .../processor_tracker_landmark_object.cpp | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/src/processor/processor_tracker_landmark_object.cpp b/src/processor/processor_tracker_landmark_object.cpp index 15729a5..ef70a59 100644 --- a/src/processor/processor_tracker_landmark_object.cpp +++ b/src/processor/processor_tracker_landmark_object.cpp @@ -538,6 +538,20 @@ void ProcessorTrackerLandmarkObject::allMatchesSameType(const FeatureBasePtrList index_incoming++; } } + + std::vector<int> inliers_idx; + std::vector<int> outliers_idx; + Eigen::Isometry3d best_model = Eigen::Isometry3d::Identity(); + bool RANSACWorks = ProcessorTrackerLandmarkObject::matchingRANSAC(cl_M_o_vec, ci_M_o_vec, matches, ratio_inliers_outliers_, inliers_idx, outliers_idx, best_model); + + if (RANSACWorks) + { + std::cout << "RANSAC has worked" << std::endl; + + //Keep only inliers + ProcessorTrackerLandmarkObject::filterMatchesInliers(inliers_idx, matches); + + } } -- GitLab