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added saving exposure time from the frame ID, where the TUM dataset saves it

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Raphael Maenle
2019-04-17 10:54:54 +02:00
parent 819e43bb3b
commit 6ae83f0db7
4 changed files with 28 additions and 17 deletions
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4
include/msckf_vio/feature.hpp
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@ -361,7 +361,7 @@ bool Feature::IrradianceOfAnchorPatch(
for (auto point : anchorPatch_3d)
{
cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, cam, point);
uint8_t irradiance = Irradiance(p_in_c0 , cam0_moving_window.find(cam_state_id)->second);
uint8_t irradiance = Irradiance(p_in_c0 , cam0_moving_window.find(cam_state_id)->second.image);
anchorPatch_measurement.push_back(irradiance);
}
}
@ -425,7 +425,7 @@ bool Feature::initializeAnchor(
if(cam0_moving_window.find(anchor->first) == cam0_moving_window.end())
return false;
cv::Mat anchorImage = cam0_moving_window.find(anchor->first)->second;
cv::Mat anchorImage = cam0_moving_window.find(anchor->first)->second.image;
auto u = anchor->second(0)*cam.intrinsics[0] + cam.intrinsics[2];
auto v = anchor->second(1)*cam.intrinsics[1] + cam.intrinsics[3];
int count = 0;