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Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.

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This commit is contained in:
matlabbe
2016-11-14 19:54:31 -05:00
parent 9fbd02b06d
commit 9276607920
39 changed files with 2214 additions and 594 deletions
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corelib/src/SensorData.cpp
+10 -1
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@@ -553,7 +553,16 @@ void SensorData::uncompressData(
cv::Mat * groundCellsRaw,
cv::Mat * obstacleCellsRaw)
{
UDEBUG("%d", this->id());
UDEBUG("%d data(%d,%d,%d,%d,%d)", this->id(), imageRaw?1:0, depthRaw?1:0, laserScanRaw?1:0, userDataRaw?1:0, groundCellsRaw?1:0, obstacleCellsRaw?1:0);
if(imageRaw == 0 &&
depthRaw == 0 &&
laserScanRaw == 0 &&
userDataRaw == 0 &&
groundCellsRaw == 0 &&
obstacleCellsRaw == 0)
{
return;
}
uncompressDataConst(
imageRaw,
depthRaw,