i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 17:47:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+3 -3
View File
@@ -2599,7 +2599,7 @@ Transform Memory::computeTransform(
std::map<int, Transform> bundlePoses;
std::multimap<int, Link> bundleLinks;
std::map<int, CameraModel> bundleModels;
std::map<int, std::map<int, cv::Point3f> > wordReferences;
std::map<int, std::map<int, FeatureBA> > wordReferences;
std::map<int, Link> links = fromS.getLinks();
links.insert(std::make_pair(toS.id(), Link(fromS.id(), toS.id(), Link::kGlobalClosure, transform, info->covariance.inv())));
@@ -2656,8 +2656,8 @@ Transform Memory::computeTransform(
{
std::multimap<int, cv::Point3f>::const_iterator kter = s->getWords3().find(jter->first);
cv::Point3f pt3d = util3d::transformPoint(kter->second, invLocalTransform);
wordReferences.insert(std::make_pair(jter->first, std::map<int, cv::Point3f>()));
wordReferences.at(jter->first).insert(std::make_pair(id, cv::Point3f(jter->second.pt.x, jter->second.pt.y, pt3d.z)));
wordReferences.insert(std::make_pair(jter->first, std::map<int, FeatureBA>()));
wordReferences.at(jter->first).insert(std::make_pair(id, FeatureBA(jter->second, pt3d.z)));
}
}
}