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0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

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matlabbe
2018-03-07 19:43:30 -05:00
parent 2fad881202
commit 4969ece356
30 changed files with 1700 additions and 102 deletions
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corelib/src/StereoCameraModel.cpp
+2 -2
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@@ -224,9 +224,9 @@ bool StereoCameraModel::load(const std::string & directory, const std::string &
UWARN("Missing \"rotation_matrix\" field in \"%s\"", filePath.c_str());
}
n = fs["translation_matrix"];
if(n.type() != cv::FileNode::NONE)
{
n = fs["translation_matrix"];
int rows = (int)n["rows"];
int cols = (int)n["cols"];
std::vector<double> data;
@@ -240,9 +240,9 @@ bool StereoCameraModel::load(const std::string & directory, const std::string &
UWARN("Missing \"translation_matrix\" field in \"%s\"", filePath.c_str());
}
n = fs["essential_matrix"];
if(n.type() != cv::FileNode::NONE)
{
n = fs["essential_matrix"];
int rows = (int)n["rows"];
int cols = (int)n["cols"];
std::vector<double> data;