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Increase the weight of marker #6

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Increase the weight of marker #6

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2 changes: 1 addition & 1 deletion src/optimization/pnpsolver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -316,7 +316,7 @@ int PnPSolver::solvePnp( const Frame &frame, std::shared_ptr<Map> TheMap, std::v
//compute the weight of markers considering that w_markers+w_points must be 1.
//the total sum of poits weigh is so far totalNEdges.
//So first, count nunmber of marker edges
float w_markers=0.3;
float w_markers=0.95;
int totalNEdges=map_matches.size()+ marker_poses.size();
double weight_marker= ((w_markers *totalNEdges)/ (1.- w_markers))/float(KpWeightSum);

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