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Removed Optimizer:computeBACorrespondences() duplicated 3d points (more than 2 frames can reference a 3D point), added option to rematch features. Bundler: added more options to export dialog, fixed inverted colors.

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matlabbe
2018-10-25 16:31:13 -04:00
parent 1ef61db73b
commit 12a7349165
12 changed files with 355 additions and 67 deletions
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6
tools/Reprocess/main.cpp
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@@ -50,6 +50,7 @@ void showUsage()
" rtabmap-reprocess [options] \"input.db\" \"output.db\"\n"
" rtabmap-reprocess [options] \"input1.db;input2.db;input3.db\" \"output.db\"\n"
" For the second example, only parameters from the first database are used.\n"
" To see warnings when loop closures are rejected, add \"--uwarn\" argument.\n"
" Options:\n"
" -r Use database stamps as input rate.\n"
" -c \"path.ini\" Configuration file, overwritting parameters read \n"
@@ -191,10 +192,7 @@ int main(int argc, char * argv[])
ParametersMap parameters = dbDriver->getLastParameters();
if(parameters.empty())
{
printf("Failed getting parameters from database, reprocessing cannot be done. Database version may be too old.\n");
dbDriver->closeConnection(false);
delete dbDriver;
return -1;
printf("WARNING: Failed getting parameters from database, reprocessing will be done with default parameters! Database version may be too old (%s).\n", dbDriver->getDatabaseVersion().c_str());
}
if(customParameters.size())
{