i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

12
corelib/src/Graph.cpp
View File

@@ -485,12 +485,12 @@ bool TOROOptimizer::saveGraph(
roll, roll,
pitch, pitch,
yaw, yaw,
1.0f/iter->second.rotVariance(), iter->second.rotVariance()>0?1.0f/iter->second.rotVariance():1.0f,
1.0f/iter->second.rotVariance(), iter->second.rotVariance()>0?1.0f/iter->second.rotVariance():1.0f,
1.0f/iter->second.rotVariance(), iter->second.rotVariance()>0?1.0f/iter->second.rotVariance():1.0f,
1.0f/iter->second.transVariance(), iter->second.transVariance()>0?1.0f/iter->second.transVariance():1.0f,
1.0f/iter->second.transVariance(), iter->second.transVariance()>0?1.0f/iter->second.transVariance():1.0f,
1.0f/iter->second.transVariance()); iter->second.transVariance()>0?1.0f/iter->second.transVariance():1.0f);
} }
UINFO("Graph saved to %s", fileName.c_str()); UINFO("Graph saved to %s", fileName.c_str());
fclose(file); fclose(file);

6
corelib/src/Odometry.cpp
View File

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