12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Modernized a bit

release/4.3a0
Frank 2016-02-25 16:52:41 -08:00
parent e76f838d2f
commit a611cd078d
1 changed files with 8 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
gtsam/slam/dataset.cpp
View File

@ -658,10 +658,11 @@ bool readBundler(const string& filename, SfM_data &data) {
Pose3 pose = openGL2gtsam(R, tx, ty, tz); Pose3 pose = openGL2gtsam(R, tx, ty, tz);
data.cameras.push_back(SfM_Camera(pose, K)); data.cameras.emplace_back(pose, K);
} }
// Get the information for the 3D points // Get the information for the 3D points
data.tracks.reserve(nrPoints);
for (size_t j = 0; j < nrPoints; j++) { for (size_t j = 0; j < nrPoints; j++) {
SfM_Track track; SfM_Track track;
@ -681,12 +682,14 @@ bool readBundler(const string& filename, SfM_data &data) {
size_t nvisible = 0; size_t nvisible = 0;
is >> nvisible; is >> nvisible;
track.measurements.reserve(nvisible);
track.siftIndices.reserve(nvisible);
for (size_t k = 0; k < nvisible; k++) { for (size_t k = 0; k < nvisible; k++) {
size_t cam_idx = 0, point_idx = 0; size_t cam_idx = 0, point_idx = 0;
float u, v; float u, v;
is >> cam_idx >> point_idx >> u >> v; is >> cam_idx >> point_idx >> u >> v;
track.measurements.push_back(make_pair(cam_idx, Point2(u, -v))); track.measurements.emplace_back(cam_idx, Point2(u, -v));
track.siftIndices.push_back(make_pair(cam_idx, point_idx)); track.siftIndices.emplace_back(cam_idx, point_idx);
} }
data.tracks.push_back(track); data.tracks.push_back(track);
@ -716,7 +719,7 @@ bool readBAL(const string& filename, SfM_data &data) {
size_t i = 0, j = 0; size_t i = 0, j = 0;
float u, v; float u, v;
is >> i >> j >> u >> v; is >> i >> j >> u >> v;
data.tracks[j].measurements.push_back(make_pair(i, Point2(u, -v))); data.tracks[j].emplace_back(i, Point2(u, -v));
} }
// Get the information for the camera poses // Get the information for the camera poses
@ -737,7 +740,7 @@ bool readBAL(const string& filename, SfM_data &data) {
is >> f >> k1 >> k2; is >> f >> k1 >> k2;
Cal3Bundler K(f, k1, k2); Cal3Bundler K(f, k1, k2);
data.cameras.push_back(SfM_Camera(pose, K)); data.cameras.emplace_back(pose, K);
} }
// Get the information for the 3D points // Get the information for the 3D points