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Updated EpipolarGeometry methods

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Experimental: added OdometryMono in epipolar geometry test

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1982 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-12 15:25:15 +00:00
parent 6608ee5ef6
commit af31410590
9 changed files with 793 additions and 224 deletions
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corelib/include/rtabmap/core/EpipolarGeometry.h
+6 -6
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@@ -65,10 +65,10 @@ public:
cv::Vec3d & e1,
cv::Vec3d & e2);
static cv::Mat findPFromF(
const cv::Mat & fundamentalMatrix,
const cv::Mat & x1,
const cv::Mat & x2);
static cv::Mat findPFromE(
const cv::Mat & E,
const cv::Mat & x,
const cv::Mat & xp);
// return fundamental matrix
// status -> inliers = 1, outliers = 0
@@ -126,8 +126,8 @@ public:
const cv::Matx34d & P1); //camera 2 matrix 3x4 double
static double triangulatePoints(
const std::vector<cv::Point2f>& pt_set1,
const std::vector<cv::Point2f>& pt_set2,
const cv::Mat& pt_set1, //2xN double
const cv::Mat& pt_set2, //2xN double
const cv::Mat& P, // 3x4 double
const cv::Mat& P1, // 3x4 double
pcl::PointCloud<pcl::PointXYZ>::Ptr & pointcloud,