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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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This commit is contained in:
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/src/Memory.cpp
+4 -1
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@@ -2914,7 +2914,8 @@ SensorData Memory::getNodeData(int nodeId, bool uncompressedData, bool keepLoade
void Memory::getNodeWords(int nodeId,
std::multimap<int, cv::KeyPoint> & words,
std::multimap<int, cv::Point3f> & words3)
std::multimap<int, cv::Point3f> & words3,
std::multimap<int, cv::Mat> & wordsDescriptors)
{
UDEBUG("nodeId=%d", nodeId);
Signature * s = this->_getSignature(nodeId);
@@ -2922,6 +2923,7 @@ void Memory::getNodeWords(int nodeId,
{
words = s->getWords();
words3 = s->getWords3();
wordsDescriptors = s->getWordsDescriptors();
}
else if(_dbDriver)
{
@@ -2935,6 +2937,7 @@ void Memory::getNodeWords(int nodeId,
{
words = signatures.front()->getWords();
words3 = signatures.front()->getWords3();
wordsDescriptors = signatures.front()->getWordsDescriptors();
if(loadedFromTrash.size())
{
//put back