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Résolution du problème du nombre de match (Asift_matcher)

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Unknown 2018-08-17 16:31:25 +02:00
parent 60ba96e9d1
commit 913e07ae1d
4 changed files with 6 additions and 3 deletions
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1
README.md
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@ -30,7 +30,6 @@ Thus refrences are required for the module to work properly. It can be loaded th
### Done ### Done
### Todo ### Todo
asift_matching - ASIFT_matcher : Issue on total number of match (after filtering ?).
asift_matching - ROS_matcher : Working loader of images for reference. asift_matching - ROS_matcher : Working loader of images for reference.
asift_matching - ROS_matcher : Improve reactivity. Slow process due to the message queue length ? asift_matching - ROS_matcher : Improve reactivity. Slow process due to the message queue length ?
asift_matching - ROS_matcher : Swap the callback function to a service called for matching. asift_matching - ROS_matcher : Swap the callback function to a service called for matching.

4
README.md~
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@ -63,7 +63,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo
- roslaunch rviz_interface interface_plannar_seg.launch - roslaunch rviz_interface interface_plannar_seg.launch
* Setup rviz : * Setup rviz :
- set fixed frame to camera_rgb_optical_frame. - set fixed frame to camera_rgb_optical_frame.
- add an InteractiveMarker and set topic to /RvizInterface/update. - add an InteractiveMarker and set topic to (server_topic parameter)/update.
- add a Marker and set topic to vizualization_topic parameter. - add a Marker and set topic to vizualization_topic parameter.
- add the Rviz interface panel. - add the Rviz interface panel.
- add a PointCloud2 and set topic to /camera/depth_registered/points. - add a PointCloud2 and set topic to /camera/depth_registered/points.
@ -80,7 +80,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo
- roslaunch rviz_interface interface_matching.launch - roslaunch rviz_interface interface_matching.launch
* Setup rviz : * Setup rviz :
- set fixed frame to camera_rgb_optical_frame. - set fixed frame to camera_rgb_optical_frame.
- add an InteractiveMarker and set topic to /RvizInterface/update. - add an InteractiveMarker and set topic to (server_topic parameter)/update.
- add a Marker and set topic to vizualization_topic parameter. - add a Marker and set topic to vizualization_topic parameter.
- add the Rviz interface panel. - add the Rviz interface panel.
- add a PointCloud2 and set topic to /camera/depth_registered/points. - add a PointCloud2 and set topic to /camera/depth_registered/points.

2
asift_gen/ASIFT_matcher.cpp
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@ -371,6 +371,8 @@ unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, un
//// Match ASIFT keypoints //// Match ASIFT keypoints
_total_num_matchings=0; _total_num_matchings=0;
_num_matchings.clear();
_matchings.clear();
for(unsigned int i = 0; i<_nb_refs;i++) for(unsigned int i = 0; i<_nb_refs;i++)
{ {

2
asift_matching/src/ASIFT_matcher.cpp
View file

@ -371,6 +371,8 @@ unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, un
//// Match ASIFT keypoints //// Match ASIFT keypoints
_total_num_matchings=0; _total_num_matchings=0;
_num_matchings.clear();
_matchings.clear();
for(unsigned int i = 0; i<_nb_refs;i++) for(unsigned int i = 0; i<_nb_refs;i++)
{ {