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added multiple couts for testing, not working

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This commit is contained in:
Raphael Maenle
2019-06-28 17:47:47 +02:00
parent 7b7e966217
commit d013a1b080
4 changed files with 203 additions and 62 deletions
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4
include/msckf_vio/feature.hpp
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@ -1024,8 +1024,8 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
cv::Sobel(anchorImage_deeper, xderImage, -1, 1, 0, 3);
cv::Sobel(anchorImage_deeper, yderImage, -1, 0, 1, 3);
xderImage/=8;
yderImage/=8;
xderImage/=8.;
yderImage/=8.;
cv::convertScaleAbs(xderImage, abs_xderImage);
cv::convertScaleAbs(yderImage, abs_yderImage);

9
include/msckf_vio/msckf_vio.h
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@ -212,7 +212,7 @@ class MsckfVio {
const FeatureIDType& feature_id,
Eigen::MatrixXd& H_x, Eigen::MatrixXd& H_y, Eigen::VectorXd& r);
void PhotometricMeasurementJacobian(
bool PhotometricMeasurementJacobian(
const StateIDType& cam_state_id,
const FeatureIDType& feature_id,
Eigen::MatrixXd& H_x,
@ -224,7 +224,7 @@ class MsckfVio {
const std::vector<StateIDType>& cam_state_ids,
Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
void PhotometricFeatureJacobian(
bool PhotometricFeatureJacobian(
const FeatureIDType& feature_id,
const std::vector<StateIDType>& cam_state_ids,
Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
@ -263,6 +263,11 @@ class MsckfVio {
// Chi squared test table.
static std::map<int, double> chi_squared_test_table;
// change in position
Eigen::Vector3d delta_position;
Eigen::Vector3d delta_orientation;
// State vector
StateServer state_server;
StateServer photometric_state_server;