raphael/msckf_vio
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commented visu parts cleanly

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This commit is contained in:
Raphael Maenle 2019-04-19 13:32:16 +02:00
parent 1949e4c43d
commit 8defb20c8e
2 changed files with 11 additions and 11 deletions
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6
include/msckf_vio/feature.hpp
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@ -403,7 +403,7 @@ bool Feature::FrameIrradiance(
std::vector<float>& anchorPatch_measurement) const std::vector<float>& anchorPatch_measurement) const
{ {
// visu // visu - feature
/*cv::Mat current_image = cam0.moving_window.find(cam_state_id)->second.image; /*cv::Mat current_image = cam0.moving_window.find(cam_state_id)->second.image;
cv::Mat dottedFrame(current_image.size(), CV_8UC3); cv::Mat dottedFrame(current_image.size(), CV_8UC3);
cv::cvtColor(current_image, dottedFrame, CV_GRAY2RGB); cv::cvtColor(current_image, dottedFrame, CV_GRAY2RGB);
@ -415,7 +415,7 @@ bool Feature::FrameIrradiance(
cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, cam0, point); cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, cam0, point);
// visu // visu - feature
/*cv::Point xs(p_in_c0.x, p_in_c0.y); /*cv::Point xs(p_in_c0.x, p_in_c0.y);
cv::Point ys(p_in_c0.x, p_in_c0.y); cv::Point ys(p_in_c0.x, p_in_c0.y);
cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,0)); cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,0));
@ -430,7 +430,7 @@ bool Feature::FrameIrradiance(
} }
//visu // visu - feature
//cv::resize(dottedFrame, dottedFrame, cv::Size(dottedFrame.cols*0.2, dottedFrame.rows*0.2)); //cv::resize(dottedFrame, dottedFrame, cv::Size(dottedFrame.cols*0.2, dottedFrame.rows*0.2));
/*if(cam0.featureVisu.empty()) /*if(cam0.featureVisu.empty())
cam0.featureVisu = dottedFrame.clone(); cam0.featureVisu = dottedFrame.clone();

16
src/msckf_vio.cpp
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@ -977,7 +977,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
r = z - Vector4d(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2), r = z - Vector4d(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2),
p_c1(0)/p_c1(2), p_c1(1)/p_c1(2)); p_c1(0)/p_c1(2), p_c1(1)/p_c1(2));
// visu // visu -residual
//printf("-----\n"); //printf("-----\n");
//estimate photometric measurement //estimate photometric measurement
@ -989,7 +989,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
for(int i = 0; i < photo_z.size(); i++) for(int i = 0; i < photo_z.size(); i++)
photo_r.push_back(photo_z[i] - estimate_photo_z[i]); photo_r.push_back(photo_z[i] - estimate_photo_z[i]);
// visu // visu- residual
//for(int i = 0; i < photo_z.size(); i++) //for(int i = 0; i < photo_z.size(); i++)
// printf("%.4f = %.4f - %.4f\n",photo_r[i], photo_z[i], estimate_photo_z[i]); // printf("%.4f = %.4f - %.4f\n",photo_r[i], photo_z[i], estimate_photo_z[i]);
@ -1024,11 +1024,11 @@ void MsckfVio::PhotometricFeatureJacobian(
int stack_cntr = 0; int stack_cntr = 0;
// visu // visu - residual
/* //printf("_____FEATURE:_____\n");
printf("_____FEATURE:_____\n"); // visu - feature
cam0.featureVisu.release(); //cam0.featureVisu.release();
*/
for (const auto& cam_id : valid_cam_state_ids) { for (const auto& cam_id : valid_cam_state_ids) {
Matrix<double, 4, 6> H_xi = Matrix<double, 4, 6>::Zero(); Matrix<double, 4, 6> H_xi = Matrix<double, 4, 6>::Zero();
@ -1046,7 +1046,7 @@ void MsckfVio::PhotometricFeatureJacobian(
r_j.segment<4>(stack_cntr) = r_i; r_j.segment<4>(stack_cntr) = r_i;
stack_cntr += 4; stack_cntr += 4;
} }
// visu // visu - feature
/* /*
if(!cam0.featureVisu.empty() && cam0.featureVisu.size().width > 3000) if(!cam0.featureVisu.empty() && cam0.featureVisu.size().width > 3000)
imshow("feature", cam0.featureVisu); imshow("feature", cam0.featureVisu);