raphael/msckf_vio
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added check if pre-undistorted, works for still distorted

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This commit is contained in:
Raphael Maenle
2019-06-27 17:27:47 +02:00
parent 655416a490
commit af1820a238
2 changed files with 57 additions and 28 deletions
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10
src/msckf_vio.cpp
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@@ -546,10 +546,20 @@ void MsckfVio::manageMovingWindow(
cv_bridge::CvImageConstPtr cam1_img_ptr = cv_bridge::toCvShare(cam1_img,
sensor_msgs::image_encodings::MONO8);
image_handler::undistortImage(cam0_img_ptr->image, cam0_img_ptr->image, cam0.distortion_model, cam0.intrinsics, cam0.distortion_coeffs);
image_handler::undistortImage(cam1_img_ptr->image, cam1_img_ptr->image, cam1.distortion_model, cam1.intrinsics, cam1.distortion_coeffs);
// save image information into moving window
cam0.moving_window[state_server.imu_state.id].image = cam0_img_ptr->image.clone();
cam1.moving_window[state_server.imu_state.id].image = cam1_img_ptr->image.clone();
//TODO handle any massive overflow correctly (should be pruned, before this ever triggers)
while(cam0.moving_window.size() > 100)
{