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Implemented OptimizerG2O::optimimzeBA(). Updated PostProcessingDialog (g2o sba option). Fixed words descriptors not filled in rtabmap::getMap3D(). CameraModelD(): return 5 null coeff distorsions if not set

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matlabbe
2016-03-28 18:19:17 -04:00
parent 18759e7197
commit 8030d89634
16 changed files with 556 additions and 293 deletions
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corelib/include/rtabmap/core/CameraModel.h
+1 -1
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@@ -99,7 +99,7 @@ public:
cv::Mat K_raw() const {return K_;} //intrinsic camera matrix (before rectification)
cv::Mat D_raw() const {return D_;} //intrinsic distorsion matrix (before rectification)
cv::Mat K() const {return !P_.empty()?P_.colRange(0,3):K_;} // if P exists, return rectified version
cv::Mat D() const {return P_.empty()&&!D_.empty()?D_:cv::Mat::zeros(1,4,CV_64FC1);} // if P exists, return rectified version
cv::Mat D() const {return P_.empty()&&!D_.empty()?D_:cv::Mat::zeros(1,5,CV_64FC1);} // if P exists, return rectified version
cv::Mat R() const {return R_;} //rectification matrix
cv::Mat P() const {return P_;} //projection matrix