raphael/msckf_vio
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fixed minor error when not enough samples, edited feature ammount and patch size to make irradiance msckf more stable

Browse Source
This commit is contained in:
Raphael Maenle
2019-07-09 11:24:25 +02:00
parent a7c296ca3d
commit 1380ec426f
6 changed files with 79 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
include/msckf_vio/feature.hpp
View File

@ -208,7 +208,7 @@ void Rhocost(const Eigen::Isometry3d& T_c0_ci,
bool estimate_FrameIrradiance(
const CAMState& cam_state,
const StateIDType& cam_state_id,
CameraCalibration& cam0,
CameraCalibration& cam,
std::vector<double>& anchorPatch_estimate,
IlluminationParameter& estimatedIllumination) const;
@ -549,7 +549,7 @@ return delta;
bool Feature::estimate_FrameIrradiance(
const CAMState& cam_state,
const StateIDType& cam_state_id,
CameraCalibration& cam0,
CameraCalibration& cam,
std::vector<double>& anchorPatch_estimate,
IlluminationParameter& estimated_illumination) const
{
@ -558,11 +558,11 @@ bool Feature::estimate_FrameIrradiance(
// muliply by a and add b of this frame
auto anchor = observations.begin();
if(cam0.moving_window.find(anchor->first) == cam0.moving_window.end())
if(cam.moving_window.find(anchor->first) == cam.moving_window.end())
return false;
double anchorExposureTime_ms = cam0.moving_window.find(anchor->first)->second.exposureTime_ms;
double frameExposureTime_ms = cam0.moving_window.find(cam_state_id)->second.exposureTime_ms;
double anchorExposureTime_ms = cam.moving_window.find(anchor->first)->second.exposureTime_ms;
double frameExposureTime_ms = cam.moving_window.find(cam_state_id)->second.exposureTime_ms;
double a_A = anchorExposureTime_ms;