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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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6
corelib/src/OdometryMono.cpp
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@@ -368,7 +368,7 @@ Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo *
0, // min inliers
inliersV,
this->getPnPFlags(),
this->getPnPOpenCV2());
this->getPnPRefineIterations());
UDEBUG("inliers=%d/%d", (int)inliersV.size(), (int)objectPoints.size());
@@ -434,7 +434,7 @@ Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo *
this->getIterations(),
this->getPnPReprojError(),
this->getPnPFlags(),
this->getPnPOpenCV2(),
this->getPnPRefineIterations(),
fundMatrixReprojError_,
fundMatrixConfidence_,
previousGuess,
@@ -897,7 +897,7 @@ Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo *
0, // min inliers
inliersPnP,
this->getPnPFlags(),
this->getPnPOpenCV2());
this->getPnPRefineIterations());
UDEBUG("PnP inliers = %d / %d", (int)inliersPnP.size(), (int)objectPoints.size());