Detect multiple occurrences of the same object

[GoogleCodeExporter]

When there are multiple occurrences of the same object, the current 
implementation will only detect one occurrence with the homography, considering 
the features of the other object all outliers.

Add an option to recompute the homography without inliers of the previous 
homography computed, to detect other similar objects, until there is no more 
accepted homography found.

For ROS, we should be able to send multiple homographies of the same object.

Original issue reported on code.google.com by matla...@gmail.com on 10 Apr 2014 at 7:16

[GoogleCodeExporter]

Example:
In A and B, the homography switches between the two similar objects.
In C, we can see that there are many red features on both objects... so 
removing inliers of one would make it possible to detect the second one.

Note invertedSearch mode was enabled.

Original comment by matla...@gmail.com on 10 Apr 2014 at 7:19

Attachments:

• A.png
• B.png
• C.png

[GoogleCodeExporter]

This issue was closed by revision r205.

Original comment by matla...@gmail.com on 11 Apr 2014 at 7:25

• Changed state: Fixed