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Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.

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This commit is contained in:
matlabbe
2019-05-31 15:36:35 -04:00
parent 71f7515775
commit e887d462ce
28 changed files with 1264 additions and 344 deletions
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corelib/src/VWDictionary.cpp
+2 -4
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@@ -1173,7 +1173,7 @@ std::vector<int> VWDictionary::findNN(const cv::Mat & queryIn) const
std::map<int, int> mapIndexIdNotIndexed;
std::vector<std::vector<cv::DMatch> > matchesNotIndexed;
if(_notIndexedWords.size())
if(!_notIndexedWords.empty())
{
cv::Mat dataNotIndexed = cv::Mat::zeros(_notIndexedWords.size(), query.cols, query.type());
unsigned int index = 0;
@@ -1198,12 +1198,10 @@ std::vector<int> VWDictionary::findNN(const cv::Mat & queryIn) const
{
descriptor = vw->getDescriptor();
}
UASSERT(vw != 0 && descriptor.cols == query.cols && descriptor.type() == query.type());
vw->getDescriptor().copyTo(dataNotIndexed.row(index));
descriptor.copyTo(dataNotIndexed.row(index));
mapIndexIdNotIndexed.insert(mapIndexIdNotIndexed.end(), std::pair<int,int>(index, vw->id()));
}
// Find nearest neighbor
ULOGGER_DEBUG("Searching in words not indexed...");
cv::BFMatcher matcher(query.type()==CV_8U?cv::NORM_HAMMING:useDistanceL1_?cv::NORM_L1:cv::NORM_L2SQR);