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export: refactored ba (to support stereo data)

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matlabbe
2021-09-09 14:22:02 -04:00
parent e017a0fcf4
commit 263e0170f1
1 changed files with 1 additions and 11 deletions
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12
tools/Export/main.cpp
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@@ -771,17 +771,7 @@ int main(int argc, char * argv[])
{ {
printf("Global bundle adjustment...\n"); printf("Global bundle adjustment...\n");
OptimizerG2O g2o(parameters); OptimizerG2O g2o(parameters);
std::map<int, cv::Point3f> points3DMap; optimizedPoses = ((Optimizer*)&g2o)->optimizeBA(optimizedPoses.lower_bound(1)->first, optimizedPoses, links, nodes, true);
std::map<int, std::map<int, FeatureBA> > wordReferences;
g2o.computeBACorrespondences(optimizedPoses, links, nodes, points3DMap, wordReferences, true);
std::map<int, rtabmap::CameraModel> cameraSingleModels;
for(std::map<int, Transform>::iterator iter=optimizedPoses.lower_bound(1); iter!=optimizedPoses.end(); ++iter)
{
Signature node = nodes.find(iter->first)->second;
UASSERT(node.sensorData().cameraModels().size()==1);
cameraSingleModels.insert(std::make_pair(iter->first, node.sensorData().cameraModels().front()));
}
optimizedPoses = g2o.optimizeBA(optimizedPoses.begin()->first, optimizedPoses, links, cameraSingleModels, points3DMap, wordReferences);
printf("Global bundle adjustment... done (%fs).\n", timer.ticks()); printf("Global bundle adjustment... done (%fs).\n", timer.ticks());
} }