raphael/msckf_vio
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This commit is contained in:
Raphael Maenle 2019-05-28 11:04:21 +02:00
parent 0d544c5361
commit 5d36a123a7
2 changed files with 5 additions and 5 deletions
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4
launch/msckf_vio_tum.launch
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@ -21,10 +21,10 @@
<param name="PHOTOMETRIC" value="true"/> <param name="PHOTOMETRIC" value="true"/>
<!-- Debugging Flaggs --> <!-- Debugging Flaggs -->
<param name="PrintImages" value="false"/> <param name="PrintImages" value="true"/>
<param name="GroundTruth" value="false"/> <param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="3"/> <param name="patch_size_n" value="7"/>
<!-- Calibration parameters --> <!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/> <rosparam command="load" file="$(arg calibration_file)"/>

6
src/msckf_vio.cpp
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@ -1303,7 +1303,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
photo_z.push_back(feature.PixelIrradiance(p_in_c0, frame)); photo_z.push_back(feature.PixelIrradiance(p_in_c0, frame));
//calculate photom. residual //calculate photom. residual
photo_r.push_back(photo_z[count] - estimate_photo_z[count]); photo_r.push_back((photo_z[count] - estimate_photo_z[count]));
//cout << "residual: " << photo_r.back() << endl; //cout << "residual: " << photo_r.back() << endl;
@ -1314,8 +1314,8 @@ void MsckfVio::PhotometricMeasurementJacobian(
// frame derivative calculated convoluting with kernel [-1, 0, 1] // frame derivative calculated convoluting with kernel [-1, 0, 1]
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); 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); 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*N*N); dI_dhj(0, 0) = dx/(pixelDistance.x);
dI_dhj(0, 1) = dy/(pixelDistance.y*N*N); dI_dhj(0, 1) = dy/(pixelDistance.y);
gradientVector.x += dx; gradientVector.x += dx;
gradientVector.y += dy; gradientVector.y += dy;