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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
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13
gtsam/slam/dataset.cpp
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@ -658,10 +658,11 @@ bool readBundler(const string& filename, SfM_data &data) {
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
data.tracks.reserve(nrPoints);
for (size_t j = 0; j < nrPoints; j++) {
SfM_Track track;
@ -681,12 +682,14 @@ bool readBundler(const string& filename, SfM_data &data) {
size_t nvisible = 0;
is >> nvisible;
track.measurements.reserve(nvisible);
track.siftIndices.reserve(nvisible);
for (size_t k = 0; k < nvisible; k++) {
size_t cam_idx = 0, point_idx = 0;
float u, v;
is >> cam_idx >> point_idx >> u >> v;
track.measurements.push_back(make_pair(cam_idx, Point2(u, -v)));
track.siftIndices.push_back(make_pair(cam_idx, point_idx));
track.measurements.emplace_back(cam_idx, Point2(u, -v));
track.siftIndices.emplace_back(cam_idx, point_idx);
}
data.tracks.push_back(track);
@ -716,7 +719,7 @@ bool readBAL(const string& filename, SfM_data &data) {
size_t i = 0, j = 0;
float 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
@ -737,7 +740,7 @@ bool readBAL(const string& filename, SfM_data &data) {
is >> 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