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

2019-07-05 13:51:58 +02:00
parent 1a07ba3d3c
commit a7c296ca3d
4 changed files with 48 additions and 31 deletions
--- a/include/msckf_vio/feature.hpp
+++ b/include/msckf_vio/feature.hpp
@ -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