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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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corelib/src/Memory.cpp
+2 -1
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@@ -2040,7 +2040,7 @@ Transform Memory::computeVisualTransform(
tmpTo.setWords3(std::multimap<int, cv::Point3f>());
transform = _registrationVis->computeTransformation(tmpFrom, tmpTo, Transform::getIdentity(), rejectedMsg, &inliersV, variance);
}
else
else if(fromS->getWords().size() && toS->getWords().size())
{
transform = _registrationVis->computeTransformation(*fromS, *toS, Transform::getIdentity(), rejectedMsg, &inliersV, variance);
}
@@ -3310,6 +3310,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
s->sensorData().setLaserScanRaw(laserScan, maxLaserScanMaxPts, data.laserScanMaxRange());
s->sensorData().setUserDataRaw(data.userDataRaw());
}
s->sensorData().setGroundTruth(data.groundTruth());
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemCompressing_data(), t*1000.0f);