added live toggle for photometric

2019-06-25 19:05:53 +02:00
parent 6f7f8b7892
commit 1d6100ed13
5 changed files with 55 additions and 33 deletions
--- a/include/msckf_vio/feature.hpp
+++ b/include/msckf_vio/feature.hpp
@ -1008,8 +1008,6 @@ Eigen::Vector3d Feature::AnchorPixelToPosition(cv::Point2f in_p, const CameraCal
 bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
 {

-
-
  //initialize patch Size
  int n = (int)(N-1)/2;