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minor change

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matlabbe
2016-02-17 18:30:35 -05:00
parent 0a913a9cd4
commit b09429c5d8
2 changed files with 1 additions and 7 deletions
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2
corelib/include/rtabmap/core/OptimizerG2O.h
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@@ -47,7 +47,7 @@ public:
bool useRobustConstraints = false); bool useRobustConstraints = false);
public: public:
OptimizerG2O(const ParametersMap & parameters) : OptimizerG2O(const ParametersMap & parameters = ParametersMap()) :
Optimizer(parameters), Optimizer(parameters),
solver_(Parameters::defaultg2oSolver()), solver_(Parameters::defaultg2oSolver()),
optimizer_(Parameters::defaultg2oOptimizer()) optimizer_(Parameters::defaultg2oOptimizer())

6
corelib/src/util3d_motion_estimation.cpp
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@@ -130,12 +130,6 @@ Transform estimateMotion3DTo2D(
R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2), tvec.at<double>(1), R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2), tvec.at<double>(1),
R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2), tvec.at<double>(2)); R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2), tvec.at<double>(2));
UWARN("pnp=%s", pnp.prettyPrint().c_str());
OptimizerG2O g2o;
Transform g2oT = g2o.poseOptimization(pnp, objectPoints, imagePoints, cameraModel);
UWARN("g2oT=%s", g2oT.prettyPrint().c_str());
transform = (cameraModel.localTransform() * pnp).inverse(); transform = (cameraModel.localTransform() * pnp).inverse();
// compute variance (like in PCL computeVariance() method of sac_model.h) // compute variance (like in PCL computeVariance() method of sac_model.h)