i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 09:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)

Browse Source
This commit is contained in:
matlabbe
2015-06-15 14:44:44 -04:00
parent b8dccc2228
commit dfbf6e721e
14 changed files with 785 additions and 671 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+1 -3
View File
@@ -2486,12 +2486,10 @@ void Rtabmap::dumpPoses(
#endif
if(fout)
{
Transform localTransformInv = Transform(0,0,0, -CV_PI/2, 0, -CV_PI/2).inverse();
for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
Transform t = localTransformInv * (*iter).second;
// in camera frame
const float * p = (const float *)t.data();
const float * p = (const float *)(*iter).second.data();
fprintf(fout, "%f", p[0]);
for(int i=1; i<(*iter).second.size(); i++)