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added fix to feature projection

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This commit is contained in:
Raphael Maenle
2019-06-18 11:03:52 +02:00
parent 1b29047451
commit dcbc69a1c4
3 changed files with 9 additions and 23 deletions
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6
include/msckf_vio/feature.hpp
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@ -498,15 +498,9 @@ double Feature::cvKernel(
double delta = 0;
if(type == "Sobel_x")
{
std::cout << "image value x" << ((double)xderImage.at<short>(pose.y, pose.x))/255. << std::endl;
delta = ((double)xderImage.at<short>(pose.y, pose.x))/255.;
}
else if (type == "Sobel_y")
{
std::cout << "image value y" << ((double)yderImage.at<short>(pose.y, pose.x))/255. << std::endl;
delta = ((double)yderImage.at<short>(pose.y, pose.x))/255.;
}
return delta;
}