Re: Bunlder export: what poses ?

Posted by Pierre on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bunlder-export-what-poses-tp11037p11230.html

Hi Mathieu,

I see, thank you for the explanations. Introducing weights in the BAs sounds very nice.
For PnP I was thinking of the following way of using weights: when using RANSAC for the estimation of the transformation, change the way of selecting the winning sample set at each iteration, i.e. instead of selecting the transformation that has the largest inlier set, chose the one that has the best "score", where "score" is typically the sum of the weights of each inlier.

Regards
Pierre