Skip to content

[feat][fix] Update keypoint matching

Julia Sanchez requested to merge UpdateKeypointsMatching into master

  • The Tukey loss call is corrected. This makes the parameterization more intuitive.

  • The global covariance is changed : the matches covariance are scaled relatively to the models (planes/edges) uncertainties and the fitQualityCoeff is removed.

@nicolas.cadart PTAL

Edited by Julia Sanchez

Merge request reports