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Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.

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matlabbe
2016-11-14 19:54:31 -05:00
parent 9fbd02b06d
commit 9276607920
39 changed files with 2214 additions and 594 deletions
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corelib/include/rtabmap/core/RegistrationVis.h
+2
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@@ -81,8 +81,10 @@ private:
int _flowMaxLevel;
float _nndr;
int _guessWinSize;
int _bundleAdjustment;
ParametersMap _featureParameters;
ParametersMap _bundleParameters;
};
}