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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/Optimizer.h
+7
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@@ -99,6 +99,13 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
void computeBACorrespondences(
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
const std::map<int, Signature> & signatures,
std::map<int, cv::Point3f> & points3DMap,
std::map<int, std::map<int, cv::Point2f> > & wordReferences); // <ID words, IDs frames + keypoint>
protected:
Optimizer(
int iterations = Parameters::defaultOptimizerIterations(),