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CameraRigBA::matchFrameToFrame allows to use only SURF_GPU for feature detection and matching #117

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CameraRigBA::matchFrameToFrame allows to use only SURF_GPU for feature detection and matching#117
@sandeepnmenon

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@sandeepnmenon
sandeepnmenon
opened on May 26, 2022

As shown in the code below

camodocal/src/calib/CameraRigBA.cc

Lines 1476 to 1483 in b399fa9

cv::Ptr<SurfGPU> surf = SurfGPU::instance(200.0);
std::vector<cv::KeyPoint> rkeypoints1, rkeypoints2;
cv::Mat rdtors1, rdtors2;
std::vector<cv::DMatch> rmatches;
surf->match(rimg1, rkeypoints1, rdtors1, rmask1,
rimg2, rkeypoints2, rdtors2, rmask2, rmatches);

Unlike in FeatureTracker.cc, there is no support for switching between detectors and matchers.
The code can be improved here to accept m_detectorType, m_descriptorType and m_matchTestType

Are PRs accepted? I see no PRs accepted post 2017

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