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removed dx filter, corrected jacobi calculation with bigger sobel (and correct division), removed scale for mahalanobis

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This commit is contained in:
Raphael Maenle
2019-07-05 13:51:58 +02:00
parent 1a07ba3d3c
commit a7c296ca3d
4 changed files with 48 additions and 31 deletions
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3
include/msckf_vio/feature.hpp
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@ -736,6 +736,7 @@ bool Feature::VisualizeKernel(
cvWaitKey(0);
}
bool Feature::VisualizePatch(
const CAMState& cam_state,
const StateIDType& cam_state_id,
@ -934,7 +935,7 @@ bool Feature::VisualizePatch(
//cv::imwrite(loc.str(), cam0.featureVisu);
cv::imshow("patch", cam0.featureVisu);
cvWaitKey(0);
cvWaitKey(1);
}
float Feature::PixelIrradiance(cv::Point2f pose, cv::Mat image) const

2
include/msckf_vio/msckf_vio.h
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@ -261,7 +261,7 @@ class MsckfVio {
void twoMeasurementUpdate(const Eigen::MatrixXd& H, const Eigen::VectorXd& r);
bool gatingTest(const Eigen::MatrixXd& H,
const Eigen::VectorXd&r, const int& dof);
const Eigen::VectorXd&r, const int& dof, int filter=0);
void removeLostFeatures();
void findRedundantCamStates(
std::vector<StateIDType>& rm_cam_state_ids);