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Added CameraInfo class (added Camera tab in Statistics panel). Scans/userData are not saved anymore when Mem/BinDataKept=false. StereoACameraImages: Fixed error when scan path is not set. Refactoring of OdometryOpticalFlow class to provide variance when 3D->2D estimation is used.

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matlabbe
2015-11-30 18:49:28 -05:00
parent d9c9db934a
commit e58f907440
18 changed files with 267 additions and 144 deletions
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corelib/src/Odometry.cpp
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@@ -62,6 +62,7 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
{
Parameters::parse(parameters, Parameters::kOdomResetCountdown(), _resetCountdown);
Parameters::parse(parameters, Parameters::kVisMinInliers(), _minInliers);
UASSERT(_minInliers >= 1);
Parameters::parse(parameters, Parameters::kVisInlierDistance(), _inlierDistance);
Parameters::parse(parameters, Parameters::kVisIterations(), _iterations);
Parameters::parse(parameters, Parameters::kVisRefineIterations(), _refineIterations);