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Fixed PnP in OpenCV3: added parameter Vis/PnPRefineIterations (default 1)

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CameraRGBDImages: Fixed calibration not loaded
Fixed loading ground truth from RGBD-SLAM format
MainWindow: added ground truth paths in CloudViewer and GraphViewer
This commit is contained in:
matlabbe
2015-12-22 19:32:52 -05:00
parent 2e9634cf65
commit 51300dde06
25 changed files with 986 additions and 917 deletions
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8
corelib/src/Graph.cpp
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@@ -202,7 +202,7 @@ bool importPoses(
std::list<std::string> strList = uSplit(str);
if(strList.size() == 8)
{
double stamp = uStr2Float(strList.front());
double stamp = uStr2Double(strList.front());
strList.pop_front();
str = uJoin(strList, " ");
Transform pose = Transform::fromString(str);
@@ -214,6 +214,12 @@ bool importPoses(
{
stamps->insert(std::make_pair(id, stamp));
}
// we need to remove optical rotation
// z pointing front, x left, y down
Transform t( 0, 0, 1, 0,
-1, 0, 0, 0,
0,-1, 0, 0);
pose = t * pose * t.inverse();
poses.insert(std::make_pair(id, pose));
}
else