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some fixes for CameraFlyCapture2 driver on Windows, fixed OdometryMono with stereo cameras

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This commit is contained in:
Mathieu Labbé
2015-07-06 17:25:38 -04:00
parent fce1816c21
commit dc48b4d4f4
11 changed files with 126 additions and 56 deletions
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10
corelib/include/rtabmap/core/Odometry.h
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@@ -60,7 +60,7 @@ public:
int getRefineIterations() const {return _refineIterations;}
float getMaxDepth() const {return _maxDepth;}
bool isInfoDataFilled() const {return _fillInfoData;}
bool getEstimationType() const {return _estimationType;}
int getEstimationType() const {return _estimationType;}
double getPnPReprojError() const {return _pnpReprojError;}
int getPnPFlags() const {return _pnpFlags;}
const Transform & previousTransform() const {return previousTransform_;}
@@ -179,6 +179,12 @@ private:
double flowEps_;
int flowMaxLevel_;
int stereoWinSize_;
int stereoIterations_;
double stereoEps_;
int stereoMaxLevel_;
float stereoMaxSlope_;
Memory * memory_;
int localHistoryMaxSize_;
float initMinFlow_;
@@ -187,7 +193,7 @@ private:
float fundMatrixReprojError_;
float fundMatrixConfidence_;
cv::Mat refDepth_;
cv::Mat refDepthOrRight_;
std::map<int, cv::Point2f> cornersMap_;
std::multimap<int, cv::Point3f> localMap_;
std::map<int, std::multimap<int, pcl::PointXYZ> > keyFrameWords3D_;