search

surberj / Vision

15 stars 8 forks source link

Bad points within reference map #66

Closed surberj closed 8 years ago

surberj commented 8 years ago

The reference map created by OKVIS still contains a lot of "bad" points. E.g. points at a high distance. These points have an associated quality measure. We should filter the bad points depending on this measure (the same is done for the ros publisher, thats why the maps look sane within rviz.

The tradeoff is to keep enough points to keep high chances of finding enough correspondences to a new frame.

surberj commented 8 years ago

solved. Currently I save all points to file but only load the onces with a certain quality. For the unispital small sets we get 1500 "good" points out of 30'000 points. This step is important as it increases accuracy and reduces complexity both remarkably.