raphael/msckf_vio
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sobel normalization added

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Raphael Maenle
2019-06-13 18:09:06 +02:00
parent 07f4927128
commit 1b29047451
2 changed files with 11 additions and 4 deletions
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6
src/msckf_vio.cpp
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@@ -1320,8 +1320,8 @@ void MsckfVio::PhotometricMeasurementJacobian(
// 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);
dI_dhj(0, 0) = dx/(pixelDistance.x);
dI_dhj(0, 1) = dy/(pixelDistance.y);
dI_dhj(0, 0) = dx;// /(pixelDistance.x);
dI_dhj(0, 1) = dy;// /(pixelDistance.y);
gradientVector.x += dx;
gradientVector.y += dy;
@@ -1424,7 +1424,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
{
feature.MarkerGeneration(marker_pub, state_server.cam_states);
feature.VisualizePatch(cam_state, cam_state_id, cam0, r_photo, ss, gradientVector, residualVector);
// feature.VisualizeKernel(cam_state, cam_state_id, cam0);
feature.VisualizeKernel(cam_state, cam_state_id, cam0);
}
return;