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Added cvsba support for post-processing bundle adjustment (SBA)

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matlabbe
2015-08-12 20:59:21 -04:00
parent a8a3566fed
commit 31d374e141
13 changed files with 543 additions and 18 deletions
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utilite/include/rtabmap/utilite/UStl.h
+20
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@@ -472,6 +472,7 @@ inline std::list<V> uVectorToList(const std::vector<V> & v)
/**
* Convert a std::multimap to a std::map
* @see uMultimapToMapUnique to keep only unique keys
*/
template<class K, class V>
inline std::map<K, V> uMultimapToMap(const std::multimap<K, V> & m)
@@ -479,6 +480,25 @@ inline std::map<K, V> uMultimapToMap(const std::multimap<K, V> & m)
return std::map<K, V>(m.begin(), m.end());
}
/**
* Convert a std::multimap to a std::map, keeping only unique keys!
*/
template<class K, class V>
inline std::map<K, V> uMultimapToMapUnique(const std::multimap<K, V> & m)
{
std::map<K, V> mapOut;
std::list<K> uniqueKeys = uUniqueKeys(m);
for(typename std::list<K>::const_iterator iter = uniqueKeys.begin(); iter!=uniqueKeys.end(); ++iter)
{
if(m.count(*iter) == 1)
{
typename std::multimap<K, V>::const_iterator jter=m.find(*iter);
mapOut.insert(std::pair<K,V>(jter->first, jter->second));
}
}
return mapOut;
}
/**
* Append a list to another list.
* @param list the list on which the other list will be appended