raphael/msckf_vio
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changed data handling in undistortion to work with euroc datset

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This commit is contained in:
Raphael Maenle
2019-07-11 16:50:03 +02:00
parent 55669ea2c9
commit 3b6d2c918d
2 changed files with 15 additions and 10 deletions
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15
src/msckf_vio.cpp
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@ -541,14 +541,15 @@ void MsckfVio::manageMovingWindow(
sensor_msgs::image_encodings::MONO8);
cv_bridge::CvImageConstPtr cam1_img_ptr = cv_bridge::toCvShare(cam1_img,
sensor_msgs::image_encodings::MONO8);
image_handler::undistortImage(cam0_img_ptr->image, cam0_img_ptr->image, cam0.distortion_model, cam0.intrinsics, cam0.distortion_coeffs);
image_handler::undistortImage(cam1_img_ptr->image, cam1_img_ptr->image, cam1.distortion_model, cam1.intrinsics, cam1.distortion_coeffs);
cv::Mat newImage0;
cv::Mat newImage1;
image_handler::undistortImage(cam0_img_ptr->image, newImage0, cam0.distortion_model, cam0.intrinsics, cam0.distortion_coeffs);
image_handler::undistortImage(cam1_img_ptr->image, newImage1, cam1.distortion_model, cam1.intrinsics, cam1.distortion_coeffs);
// save image information into moving window
cam0.moving_window[state_server.imu_state.id].image = cam0_img_ptr->image.clone();
cam1.moving_window[state_server.imu_state.id].image = cam1_img_ptr->image.clone();
cam0.moving_window[state_server.imu_state.id].image = newImage0.clone();
cam1.moving_window[state_server.imu_state.id].image = newImage1.clone();
cv::Mat xder;
cv::Mat yder;