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This commit is contained in:
Raphael Maenle
2019-05-23 09:17:05 +02:00
parent 2f130685c8
commit 0be7047928
2 changed files with 18 additions and 66 deletions
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20
include/msckf_vio/feature.hpp
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@ -206,12 +206,6 @@ struct Feature {
const StateIDType& cam_state_id,
std::vector<float>& return_i) const;
/*
* @brief AnchorPixelToPosition uses the calcualted pixels
* of the anchor patch to generate 3D positions of all of em
*/
inline Eigen::Vector3d AnchorPixelToPosition(cv::Point2f in_p,
const CameraCalibration& cam);
/*
* @brief Irradiance returns irradiance value of a pixel
@ -821,20 +815,6 @@ Eigen::Vector3d Feature::AnchorPixelToPosition(cv::Point2f in_p, const CameraCal
//printf("%f, %f, %f\n",PositionInWorld[0], PositionInWorld[1], PositionInWorld[2]);
}
Eigen::Vector3d Feature::AnchorPixelToPosition(cv::Point2f in_p, const CameraCalibration& cam)
{
// use undistorted position of point of interest
// project it back into 3D space using pinhole model
// save resulting NxN positions for this feature
Eigen::Vector3d PositionInCamera(in_p.x/anchor_rho, in_p.y/anchor_rho, 1/anchor_rho);
Eigen::Vector3d PositionInWorld = T_anchor_w.linear()*PositionInCamera + T_anchor_w.translation();
return PositionInWorld;
//printf("%f, %f, %f\n",PositionInWorld[0], PositionInWorld[1], PositionInWorld[2]);
}
//@test center projection must always be initial feature projection
bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
{