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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/util3d_features.cpp
+4 -4
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@@ -100,7 +100,7 @@ std::vector<cv::Point3f> generateKeypoints3DDepth(
cv::Point3f pt(bad_point, bad_point, bad_point);
if(pcl::isFinite(ptXYZ) &&
(minDepth <= 0.0f || ptXYZ.z >= minDepth) &&
(minDepth < 0.0f || ptXYZ.z > minDepth) &&
(maxDepth <= 0.0f || ptXYZ.z <= maxDepth))
{
pt = cv::Point3f(ptXYZ.x, ptXYZ.y, ptXYZ.z);
@@ -137,7 +137,7 @@ std::vector<cv::Point3f> generateKeypoints3DDisparity(
cv::Point3f pt(bad_point, bad_point, bad_point);
if(util3d::isFinite(tmpPt) &&
(minDepth <= 0.0f || tmpPt.z >= minDepth) &&
(minDepth < 0.0f || tmpPt.z > minDepth) &&
(maxDepth <= 0.0f || tmpPt.z <= maxDepth))
{
pt = tmpPt;
@@ -181,7 +181,7 @@ std::vector<cv::Point3f> generateKeypoints3DStereo(
model);
if(util3d::isFinite(tmpPt) &&
(minDepth <= 0.0f || tmpPt.z >= minDepth) &&
(minDepth < 0.0f || tmpPt.z > minDepth) &&
(maxDepth <= 0.0f || tmpPt.z <= maxDepth))
{
pt = tmpPt;
@@ -221,7 +221,7 @@ std::map<int, cv::Point3f> generateWords3DMono(
std::map<int, cv::Point3f> words3D;
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
int pairsFound = EpipolarGeometry::findPairs(refWords, nextWords, pairs);
UDEBUG("pairsFound=%d", pairsFound);
UDEBUG("pairsFound=%d/%d", pairsFound, int(refWords.size()>nextWords.size()?refWords.size():nextWords.size()));
if(pairsFound > 8)
{
std::vector<unsigned char> status;