Revert "check all matches agains threshold"

JuliaRobotics · Apr 24, 2024 · 0986b29 · 0986b29
1 parent f4c5911
commit 0986b29
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/ext/services/OpenCVFeatures.jl b/ext/services/OpenCVFeatures.jl
@@ -133,7 +133,7 @@ function goodFeaturesToTrackORB(
   return kp_, des
 end
 
-function getPoseSIFT(imgA, imgB, K; mask=nothing, distthreshold=100)
+function getPoseSIFT(imgA, imgB, K; mask=nothing)
     # Initiate SIFT detector
   sift = cv.SIFT_create()
   # sift = cv.ORB_create()
@@ -148,10 +148,10 @@ function getPoseSIFT(imgA, imgB, K; mask=nothing, distthreshold=100)
   # Apply ratio test
   good = []
   for mat in matches
-      for m in mat  
-          if m.distance < distthreshold
-              push!(good, (distance=m.distance, queryIdx=m.queryIdx+1, trainIdx=m.trainIdx+1))
-          end
+      m = mat[1]  
+      n = mat[2]  
+      if m.distance < 0.75 * n.distance
+          push!(good, (distance=m.distance, queryIdx=m.queryIdx+1, trainIdx=m.trainIdx+1))
       end
   end