raphael/msckf_vio
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fixed pixel position return value

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This commit is contained in:
Raphael Maenle
2019-04-17 09:03:27 +02:00
parent 7f2140ae88
commit 819e43bb3b
2 changed files with 22 additions and 47 deletions
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7
src/msckf_vio.cpp
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@ -904,8 +904,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
//photometric observation
std::vector<uint8_t> photo_z;
feature.IrradianceOfAnchorPatch(cam_state, cam_state_id, cam0.intrinsics, cam0.distortion_model, cam0.distortion_coeffs, cam0_moving_window, photo_z);
feature.IrradianceOfAnchorPatch(cam_state, cam_state_id, cam0, cam0_moving_window, photo_z);
// Convert the feature position from the world frame to
// the cam0 and cam1 frame.
@ -1316,7 +1315,7 @@ void MsckfVio::removeLostFeatures() {
}
}
if(!feature.initializeAnchor(cam0_moving_window, cam0.intrinsics, cam0.distortion_model, cam0.distortion_coeffs))
if(!feature.initializeAnchor(cam0_moving_window, cam0))
{
invalid_feature_ids.push_back(feature.id);
continue;
@ -1470,7 +1469,7 @@ void MsckfVio::pruneCamStateBuffer() {
}
}
if(!feature.initializeAnchor(cam0_moving_window, cam0.intrinsics, cam0.distortion_model, cam0.distortion_coeffs))
if(!feature.initializeAnchor(cam0_moving_window, cam0))
{
for (const auto& cam_id : involved_cam_state_ids)
feature.observations.erase(cam_id);