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fixed Win32 build (VS2010)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1050 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-12 22:36:56 +00:00
parent a4061275c2
commit 1c3f78f2d6
15 changed files with 135 additions and 60 deletions
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14
corelib/include/rtabmap/core/EpipolarGeometry.h
View File

@@ -50,26 +50,26 @@ public:
// STATIC STUFF
//epipolar geometry
static void RTABMAP_EXP findEpipolesFromF(
static void findEpipolesFromF(
const cv::Mat & fundamentalMatrix,
cv::Vec3d & e1,
cv::Vec3d & e2);
static cv::Mat RTABMAP_EXP findPFromF(
static cv::Mat findPFromF(
const cv::Mat & fundamentalMatrix,
const cv::Mat & x1,
const cv::Mat & x2);
// return fundamental matrix
// status -> inliers = 1, outliers = 0
static cv::Mat RTABMAP_EXP findFFromWords(
static cv::Mat findFFromWords(
const std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs, // id, kpt1, kpt2
std::vector<uchar> & status,
double ransacParam1 = 3.0,
double ransacParam2 = 0.99);
// assume a canonical camera (without K)
static void RTABMAP_EXP findRTFromP(
static void findRTFromP(
const cv::Mat & p,
cv::Mat & r,
cv::Mat & t);
@@ -78,7 +78,7 @@ public:
* if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (2,2) (4,4) (6a,6a) (6b,6b)]
* realPairsCount = 5
*/
static int RTABMAP_EXP findPairs(
static int findPairs(
const std::multimap<int, cv::KeyPoint> & wordsA,
const std::multimap<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
@@ -87,7 +87,7 @@ public:
* if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)]
* realPairsCount = 5
*/
static int RTABMAP_EXP findPairsUnique(
static int findPairsUnique(
const std::multimap<int, cv::KeyPoint> & wordsA,
const std::multimap<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
@@ -96,7 +96,7 @@ public:
* if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (1,1b) (2,2) (4,4) (6a,6a) (6a,6b) (6b,6a) (6b,6b)]
* realPairsCount = 5
*/
static int RTABMAP_EXP findPairsAll(
static int findPairsAll(
const std::multimap<int, cv::KeyPoint> & wordsA,
const std::multimap<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);

4
corelib/src/Rtabmap.cpp
View File

@@ -141,8 +141,8 @@ void Rtabmap::setupLogFiles(bool overwrite)
bool addLogIHeader = overwrite || !UFile::exists(_wDir+LOG_I);
#ifdef _MSC_VER
fopen_s(&_foutFloat, (_wDir+LOG_F).toStdString().c_str(), attributes.c_str());
fopen_s(&_foutInt, (_wDir+LOG_I).toStdString().c_str(), attributes.c_str());
fopen_s(&_foutFloat, (_wDir+LOG_F).c_str(), attributes.c_str());
fopen_s(&_foutInt, (_wDir+LOG_I).c_str(), attributes.c_str());
#else
_foutFloat = fopen((_wDir+LOG_F).c_str(), attributes.c_str());
_foutInt = fopen((_wDir+LOG_I).c_str(), attributes.c_str());