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added flag to switch to original, using right null space matrix for calculation now and existing eigen function, gating restult still way to high

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This commit is contained in:
Raphael Maenle
2019-04-25 11:16:44 +02:00
parent 821d9d6f71
commit 6ba26d782d
5 changed files with 59 additions and 26 deletions
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4
include/msckf_vio/feature.hpp
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@ -441,7 +441,7 @@ bool Feature::VisualizePatch(
float Feature::PixelIrradiance(cv::Point2f pose, cv::Mat image) const
{
return (float)image.at<uint8_t>(pose.x, pose.y);
return (float)(image.at<uint8_t>(pose.x, pose.y));
}
cv::Point2f Feature::projectPositionToCamera(
@ -496,7 +496,7 @@ bool Feature::initializeAnchor(
//initialize patch Size
//TODO make N size a ros parameter
int N = 13;
int N = 9;
int n = (int)(N-1)/2;
auto anchor = observations.begin();