Update Tracker.cc

gxyu-star · web-flow · commit 4db13b829121 · 2024-02-28T11:14:49.000+08:00
bgfx: normalize the points in MatchesForRansac to fix the bug of issue#8
diff --git a/src/rvio2/Tracker.cc b/src/rvio2/Tracker.cc
@@ -262,6 +262,7 @@ void Tracker::VisualTracking(const int nImageId,
         {
             cv::Point2f pt = vFeatPtsUN.at(i);
             MatchesForRansac.col(i) << pt.x, pt.y, 1;
+            MatchesForRansac.col(i).normalize();
         }
 
         mpRansac->FindInliers(PointsForRansac, MatchesForRansac, mRr, nInliers, vInlierFlags);

Original file line number	Diff line number	Diff line change
`@@ -262,6 +262,7 @@ void Tracker::VisualTracking(const int nImageId,`
`262`	`262`	`{`
`263`	`263`	`cv::Point2f pt = vFeatPtsUN.at(i);`
`264`	`264`	`MatchesForRansac.col(i) << pt.x, pt.y, 1;`
	`265`	`+ MatchesForRansac.col(i).normalize();`
`265`	`266`	`}`
`266`	`267`
`267`	`268`	`mpRansac->FindInliers(PointsForRansac, MatchesForRansac, mRr, nInliers, vInlierFlags);`