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merged attention branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-11 18:05:05 +00:00
parent f9033809a2
commit 2836d4c48c
216 changed files with 7981 additions and 94889 deletions
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tools/EpipolarGeometry/main.cpp
+6 -7
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@@ -10,10 +10,9 @@
#include <utilite/UStl.h>
#include <utilite/UMath.h>
#include <opencv2/calib3d/calib3d.hpp>
#include "rtabmap/core/VWDictionary.h"
#include "rtabmap/core/KeypointDescriptor.h"
#include "rtabmap/core/KeypointDetector.h"
#include "rtabmap/core/Features2d.h"
#include "rtabmap/core/EpipolarGeometry.h"
#include "rtabmap/core/VWDictionary.h"
#include "rtabmap/gui/ImageView.h"
#include "rtabmap/gui/qtipl.h"
@@ -200,13 +199,13 @@ int main(int argc, char** argv)
// Find pairs
timer.start();
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
findPairsUnique(words1, words2, pairs);
EpipolarGeometry::findPairsUnique(words1, words2, pairs);
UINFO("find pairs = %d ms", timer.elapsed());
// Find fundamental matrix
timer.start();
std::vector<uchar> status;
cv::Mat fundamentalMatrix = findFFromWords(pairs, status);
cv::Mat fundamentalMatrix = EpipolarGeometry::findFFromWords(pairs, status);
UINFO("inliers = %d/%d", uSum(status), pairs.size());
UINFO("find F = %d ms", timer.elapsed());
if(!fundamentalMatrix.empty())
@@ -290,7 +289,7 @@ int main(int argc, char** argv)
std::cout<<"K=" << k << std::endl;
timer.start();
//std::cout<<"e=" << e << std::endl;
cv::Mat p = findPFromF(e, x1, x2);
cv::Mat p = EpipolarGeometry::findPFromF(e, x1, x2);
cv::Mat p0 = cv::Mat::zeros(3, 4, CV_64FC1);
p0.at<double>(0,0) = 1;
p0.at<double>(1,1) = 1;
@@ -333,7 +332,7 @@ int main(int argc, char** argv)
//Show rotation/translation of the second camera
cv::Mat r;
cv::Mat t;
findRTFromP(p, r, t);
EpipolarGeometry::findRTFromP(p, r, t);
std::cout<< "R=" << r << std::endl;
std::cout<< "t=" << t << std::endl;