raphael/msckf_vio
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minor changes, no improvements

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This commit is contained in:
Raphael Maenle 2019-05-24 17:22:02 +02:00
parent d9899227c2
commit 0d544c5361
2 changed files with 3 additions and 3 deletions
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2
launch/msckf_vio_tum.launch
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@ -18,7 +18,7 @@
output="screen"> output="screen">
<!-- Photometry Flag--> <!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="false"/> <param name="PHOTOMETRIC" value="true"/>
<!-- Debugging Flaggs --> <!-- Debugging Flaggs -->
<param name="PrintImages" value="false"/> <param name="PrintImages" value="false"/>

4
src/msckf_vio.cpp
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@ -1314,8 +1314,8 @@ void MsckfVio::PhotometricMeasurementJacobian(
// frame derivative calculated convoluting with kernel [-1, 0, 1] // frame derivative calculated convoluting with kernel [-1, 0, 1]
dx = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x+1, p_in_anchor.y), anchor_frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x-1, p_in_anchor.y), anchor_frame); dx = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x+1, p_in_anchor.y), anchor_frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x-1, p_in_anchor.y), anchor_frame);
dy = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y+1), anchor_frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y-1), anchor_frame); dy = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y+1), anchor_frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y-1), anchor_frame);
dI_dhj(0, 0) = dx/pixelDistance.x; dI_dhj(0, 0) = dx/(pixelDistance.x*N*N);
dI_dhj(0, 1) = dy/pixelDistance.y; dI_dhj(0, 1) = dy/(pixelDistance.y*N*N);
gradientVector.x += dx; gradientVector.x += dx;
gradientVector.y += dy; gradientVector.y += dy;