raphael/msckf_vio
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removed some groundtruth measurement processings

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This commit is contained in:
Raphael Maenle
2019-06-11 17:03:05 +02:00
parent a0577dfb9d
commit a8d4580812
1 changed files with 2 additions and 2 deletions
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4
src/msckf_vio.cpp
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@@ -430,7 +430,7 @@ void MsckfVio::imageCallback(
//if(ErrState) //if(ErrState)
//{ //{
batchTruthProcessing(feature_msg->header.stamp.toSec()); //batchTruthProcessing(feature_msg->header.stamp.toSec());
if(GROUNDTRUTH) if(GROUNDTRUTH)
{ {
@@ -1270,7 +1270,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
dCpij_dGpij = quaternionToRotation(cam_state.orientation); dCpij_dGpij = quaternionToRotation(cam_state.orientation);
//orientation takes camera frame to world frame, we wa //orientation takes camera frame to world frame
dh_dGpij = dh_dCpij * dCpij_dGpij; dh_dGpij = dh_dCpij * dCpij_dGpij;
//dh / d X_{pl} //dh / d X_{pl}