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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/Rtabmap.cpp
+3 -1
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@@ -3160,7 +3160,8 @@ void Rtabmap::get3DMap(
data.setId(*iter);
std::multimap<int, cv::KeyPoint> words;
std::multimap<int, cv::Point3f> words3;
_memory->getNodeWords(*iter, words, words3);
std::multimap<int, cv::Mat> wordsDescriptors;
_memory->getNodeWords(*iter, words, words3, wordsDescriptors);
signatures.insert(std::make_pair(*iter,
Signature(*iter,
mapId,
@@ -3172,6 +3173,7 @@ void Rtabmap::get3DMap(
data)));
signatures.at(*iter).setWords(words);
signatures.at(*iter).setWords3(words3);
signatures.at(*iter).setWordsDescriptors(wordsDescriptors);
}
}
else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size() > 1))