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

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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);