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added EpipolarGeometry::triangulatePoints() (LS and iterative LS)

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Added option to see words3d in constraint view

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1974 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-11-07 20:04:04 +00:00
parent b5dc120bb9
commit 7efc6aab2d
7 changed files with 303 additions and 52 deletions
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4
corelib/src/util3d.cpp
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@@ -1571,8 +1571,8 @@ Transform transformFromXYZCorrespondences(
double variance = model->computeVariance ();
error_threshold = sqrt (std::min (inlier_distance_threshold_sqr, sigma_sqr * variance));
UDEBUG ("RANSAC refineModel: New estimated error threshold: %f on iteration %d out of %d.",
error_threshold, refine_iterations, refineModelIterations);
UDEBUG ("RANSAC refineModel: New estimated error threshold: %f (variance=%f) on iteration %d out of %d.",
error_threshold, variance, refine_iterations, refineModelIterations);
inlier_changed = false;
std::swap (prev_inliers, new_inliers);