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更新标注与修改opencv报错

master
小白逆袭 2021-12-08 22:09:39 +08:00
parent a1174f1df8
commit 6377e3694d
3 changed files with 7589 additions and 7308 deletions
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2
include/LoopClosing.h
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@ -179,7 +179,7 @@ protected:
int mnLoopNumCoincidences; int mnLoopNumCoincidences;
int mnLoopNumNotFound; int mnLoopNumNotFound;
KeyFrame* mpLoopLastCurrentKF; KeyFrame* mpLoopLastCurrentKF;
g2o::Sim3 ; g2o::Sim3 mg2oLoopSlw;
g2o::Sim3 mg2oLoopScw; g2o::Sim3 mg2oLoopScw;
KeyFrame* mpLoopMatchedKF; KeyFrame* mpLoopMatchedKF;
std::vector<MapPoint*> mvpLoopMPs; std::vector<MapPoint*> mvpLoopMPs;

14252
src/Optimizer.cc
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File diff suppressed because it is too large Load Diff

7
src/Tracking.cc
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@ -1131,7 +1131,12 @@ bool Tracking::ParseIMUParamFile(cv::FileStorage &fSettings)
cv::FileNode node = fSettings["Tbc"]; cv::FileNode node = fSettings["Tbc"];
if(!node.empty()) if(!node.empty())
{ {
Tbc = node.mat(); // Tbc = node.mat();
int Tbc_rows = static_cast<int>(node["rows"]);
int Tbc_cols = static_cast<int>(node["cols"]);
Tbc = cv::Mat(Tbc_rows, Tbc_cols, CV_32FC1);
node["data"].readRaw("f", Tbc.data, Tbc_rows*Tbc_cols);
if(Tbc.rows != 4 || Tbc.cols != 4) if(Tbc.rows != 4 || Tbc.cols != 4)
{ {
std::cerr << "*Tbc matrix have to be a 4x4 transformation matrix*" << std::endl; std::cerr << "*Tbc matrix have to be a 4x4 transformation matrix*" << std::endl;