raphael/msckf_vio
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added full switch

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This commit is contained in:
Raphael Maenle
2019-07-19 17:20:10 +02:00
parent ed2ba61828
commit a8090ca58a
4 changed files with 142 additions and 112 deletions
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5
include/msckf_vio/msckf_vio.h
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@ -202,7 +202,7 @@ class MsckfVio {
Eigen::Vector4d& r);
// This function computes the Jacobian of all measurements viewed
// in the given camera states of this feature.
void featureJacobian(
bool featureJacobian(
const FeatureIDType& feature_id,
const std::vector<StateIDType>& cam_state_ids,
Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
@ -246,7 +246,7 @@ class MsckfVio {
Eigen::VectorXd& r);
void twodotFeatureJacobian(
bool twodotFeatureJacobian(
const FeatureIDType& feature_id,
const std::vector<StateIDType>& cam_state_ids,
Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
@ -283,6 +283,7 @@ class MsckfVio {
bool nan_flag;
bool play;
double last_time_bound;
double time_offset;
// Patch size for Photometry
int N;