raphael/msckf_vio
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added structure to compare two patch sizes

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This commit is contained in:
Raphael Maenle
2019-07-11 13:57:49 +02:00
parent 1380ec426f
commit 30daf37202
5 changed files with 184 additions and 63 deletions
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13
include/msckf_vio/msckf_vio.h
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@ -220,12 +220,14 @@ class MsckfVio {
const Feature& feature,
const StateIDType& cam_state_id,
Eigen::MatrixXd& H_xl,
Eigen::MatrixXd& H_yl);
Eigen::MatrixXd& H_yl,
int patchsize);
bool PhotometricPatchPointResidual(
const StateIDType& cam_state_id,
const Feature& feature,
Eigen::VectorXd& r);
Eigen::VectorXd& r,
int patchsize);
bool PhotometricPatchPointJacobian(
const CAMState& cam_state,
@ -233,6 +235,7 @@ class MsckfVio {
const Feature& feature,
Eigen::Vector3d point,
int count,
int patchsize,
Eigen::Matrix<double, 2, 1>& H_rhoj,
Eigen::Matrix<double, 2, 6>& H_plj,
Eigen::Matrix<double, 2, 6>& H_pAj,
@ -243,7 +246,8 @@ class MsckfVio {
const FeatureIDType& feature_id,
Eigen::MatrixXd& H_x,
Eigen::MatrixXd& H_y,
Eigen::VectorXd& r);
Eigen::VectorXd& r,
int patchsize);
void twodotFeatureJacobian(
const FeatureIDType& feature_id,
@ -253,7 +257,8 @@ class MsckfVio {
bool PhotometricFeatureJacobian(
const FeatureIDType& feature_id,
const std::vector<StateIDType>& cam_state_ids,
Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
Eigen::MatrixXd& H_x, Eigen::VectorXd& r,
int patchsize);
void photometricMeasurementUpdate(const Eigen::MatrixXd& H, const Eigen::VectorXd& r);
void measurementUpdate(const Eigen::MatrixXd& H,