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Making solvPnPRansac to do all iterations. Updated TOROOptimizer::saveGraph().

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This commit is contained in:
Mathieu Labbe
2015-04-01 13:48:41 -04:00
parent f847bb9f9f
commit efd26973d2
2 changed files with 9 additions and 9 deletions
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12
corelib/src/Graph.cpp
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@@ -485,12 +485,12 @@ bool TOROOptimizer::saveGraph(
roll,
pitch,
yaw,
1.0f/iter->second.rotVariance(),
1.0f/iter->second.rotVariance(),
1.0f/iter->second.rotVariance(),
1.0f/iter->second.transVariance(),
1.0f/iter->second.transVariance(),
1.0f/iter->second.transVariance());
iter->second.rotVariance()>0?1.0f/iter->second.rotVariance():1.0f,
iter->second.rotVariance()>0?1.0f/iter->second.rotVariance():1.0f,
iter->second.rotVariance()>0?1.0f/iter->second.rotVariance():1.0f,
iter->second.transVariance()>0?1.0f/iter->second.transVariance():1.0f,
iter->second.transVariance()>0?1.0f/iter->second.transVariance():1.0f,
iter->second.transVariance()>0?1.0f/iter->second.transVariance():1.0f);
}
UINFO("Graph saved to %s", fileName.c_str());
fclose(file);

6
corelib/src/Odometry.cpp
View File

@@ -318,7 +318,7 @@ Transform OdometryBOW::computeTransform(
true,
this->getIterations(),
this->getPnPReprojError(),
this->getMinInliers(),
0,
inliersV,
this->getPnPFlags());
@@ -793,7 +793,7 @@ Transform OdometryOpticalFlow::computeTransformStereo(
true,
this->getIterations(),
this->getPnPReprojError(),
this->getMinInliers(),
0,
inliersV,
this->getPnPFlags());
@@ -1126,7 +1126,7 @@ Transform OdometryOpticalFlow::computeTransformRGBD(
true,
this->getIterations(),
this->getPnPReprojError(),
this->getMinInliers(),
0,
inliersV,
this->getPnPFlags());