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Fixed PnP in OpenCV3: added parameter Vis/PnPRefineIterations (default 1)

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CameraRGBDImages: Fixed calibration not loaded
Fixed loading ground truth from RGBD-SLAM format
MainWindow: added ground truth paths in CloudViewer and GraphViewer
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matlabbe
2015-12-22 19:32:52 -05:00
parent 2e9634cf65
commit 51300dde06
25 changed files with 986 additions and 917 deletions
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corelib/src/OdometryF2F.cpp
+1 -1
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@@ -84,7 +84,7 @@ Transform OdometryF2F::computeTransform(
output = registration_.computeTransformationMod(
refFrame_,
newFrame,
guessFromMotion_?motionSinceLastKeyFrame_*this->previousTransform():Transform::getIdentity(),
guessFromMotion_?motionSinceLastKeyFrame_*this->previousTransform():Transform(),
&rejectedMsg,
&inliers,
&variance);