raphael/msckf_vio
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g-spacewhale
2019-03-15 07:47:29 +00:00
parent 3c8e446f76
commit ea93237912
5 changed files with 38 additions and 1 deletions
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14
src/utils.cpp
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@ -11,6 +11,20 @@
namespace msckf_vio {
namespace utils {
static void download(const cv::cuda::GpuMat& d_mat, std::vector<cv::Point2f>& vec)
{
vec.resize(d_mat.cols);
cv::Mat mat(1, d_mat.cols, CV_32FC2, (void*)&vec[0]);
d_mat.download(mat);
}
static void download(const cv::cuda::GpuMat& d_mat, std::vector<uchar>& vec)
{
vec.resize(d_mat.cols);
cv::Mat mat(1, d_mat.cols, CV_8UC1, (void*)&vec[0]);
d_mat.download(mat);
}
Eigen::Isometry3d getTransformEigen(const ros::NodeHandle &nh,
const std::string &field) {
Eigen::Isometry3d T;