raphael/msckf_vio
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added moving window structure, not yet done. added timestame sync for images and features detected

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This commit is contained in:
Raphael Maenle
2019-04-10 18:36:11 +02:00
parent e6620a4ed4
commit 79cce26dad
8 changed files with 174 additions and 74 deletions
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14
src/utils.cpp
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@ -11,20 +11,6 @@
namespace msckf_vio {
namespace utils {
void download(const cv::cuda::GpuMat& d_mat, std::vector<cv::Point2f>& vec)
{
vec.resize(d_mat.cols);
cv::Mat mat(1, d_mat.cols, CV_32FC2, (void*)&vec[0]);
d_mat.download(mat);
}
void download(const cv::cuda::GpuMat& d_mat, std::vector<uchar>& vec)
{
vec.resize(d_mat.cols);
cv::Mat mat(1, d_mat.cols, CV_8UC1, (void*)&vec[0]);
d_mat.download(mat);
}
Eigen::Isometry3d getTransformEigen(const ros::NodeHandle &nh,
const std::string &field) {
Eigen::Isometry3d T;