本文整理汇总了C++中Matcher::bruteForce方法的典型用法代码示例。如果您正苦于以下问题：C++ Matcher::bruteForce方法的具体用法？C++ Matcher::bruteForce怎么用？C++ Matcher::bruteForce使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Matcher的用法示例。
在下文中一共展示了Matcher::bruteForce方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: odometry
Transformation<double> StereoCartography::estimateOdometry(const vector<Feature> & featureVec)
{
//Matching
int numLandmarks = LM.size();
int numActive = min(300, numLandmarks);
vector<Feature> lmFeatureVec;
// cout << "ca va" << endl;
for (unsigned int i = numLandmarks - numActive; i < numLandmarks; i++)
{
lmFeatureVec.push_back(Feature(Vector2d(0, 0), LM[i].d));
}
// cout << "ca va" << endl;
Matcher matcher;
vector<int> matchVec;
matcher.bruteForce(featureVec, lmFeatureVec, matchVec);
Odometry odometry(trajectory.back(), stereo.TbaseCam1, stereo.cam1);
// cout << "ca va" << endl;
for (unsigned int i = 0; i < featureVec.size(); i++)
{
const int match = matchVec[i];
if (match == -1) continue;
odometry.observationVec.push_back(featureVec[i].pt);
odometry.cloud.push_back(LM[numLandmarks - numActive + match].X);
}
// cout << "cloud : " << odometry.cloud.size() << endl;
//RANSAC
odometry.Ransac();
// cout << odometry.TorigBase << endl;
//Final transformation computation
odometry.computeTransformation();
// cout << odometry.TorigBase << endl;
return odometry.TorigBase;
}