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Fixed SIFT octave issue causing registration to always fail. Added Bundler export points option.

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This commit is contained in:
matlabbe
2018-10-24 20:01:57 -04:00
parent 299bec15ff
commit c14e20330f
15 changed files with 513 additions and 257 deletions
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2
corelib/include/rtabmap/core/optimizer/OptimizerCVSBA.h
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@@ -57,7 +57,7 @@ public:
const std::multimap<int, Link> & links,
const std::map<int, CameraModel> & models,
std::map<int, cv::Point3f> & points3DMap,
const std::map<int, std::map<int, cv::Point3f> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
std::set<int> * outliers = 0);
};

2
corelib/include/rtabmap/core/optimizer/OptimizerG2O.h
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@@ -73,7 +73,7 @@ public:
const std::multimap<int, Link> & links,
const std::map<int, CameraModel> & models, // in case of stereo, Tx should be set
std::map<int, cv::Point3f> & points3DMap,
const std::map<int, std::map<int, cv::Point3f> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
std::set<int> * outliers = 0);
bool saveGraph(