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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/Odometry.cpp
+2 -2
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@@ -55,7 +55,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
_estimationType(Parameters::defaultVisEstimationType()),
_pnpReprojError(Parameters::defaultVisPnPReprojError()),
_pnpFlags(Parameters::defaultVisPnPFlags()),
_pnpOpenCV2(Parameters::defaultVisPnPOpenCV2()),
_pnpRefineIterations(Parameters::defaultVisPnPRefineIterations()),
_varianceFromInliersCount(Parameters::defaultRegVarianceFromInliersCount()),
_kalmanProcessNoise(Parameters::defaultOdomKalmanProcessNoise()),
_kalmanMeasurementNoise(Parameters::defaultOdomKalmanMeasurementNoise()),
@@ -79,7 +79,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kVisEstimationType(), _estimationType);
Parameters::parse(parameters, Parameters::kVisPnPReprojError(), _pnpReprojError);
Parameters::parse(parameters, Parameters::kVisPnPFlags(), _pnpFlags);
Parameters::parse(parameters, Parameters::kVisPnPOpenCV2(), _pnpOpenCV2);
Parameters::parse(parameters, Parameters::kVisPnPRefineIterations(), _pnpRefineIterations);
UASSERT(_pnpFlags>=0 && _pnpFlags <=2);
Parameters::parse(parameters, Parameters::kRegVarianceFromInliersCount(), _varianceFromInliersCount);
Parameters::parse(parameters, Parameters::kOdomFilteringStrategy(), _filteringStrategy);