raphael/msckf_vio
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fixed anchor frame calcualtion

Browse Source
This commit is contained in:
Raphael Maenle 2019-07-17 10:34:28 +02:00
parent 14825c344e
commit ed2ba61828
1 changed files with 1 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
include/msckf_vio/feature.hpp
View File

@ -1067,9 +1067,8 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
// check if image has been pre-undistorted
if(cam.distortion_model.substr(0,3) == "pre-")
if(cam.distortion_model.substr(0,3) == "pre")
{
std::cout << "is a pre" << std::endl;
//project onto pixel plane
undist_anchor_center_pos = cv::Point2f(u * cam.intrinsics[0] + cam.intrinsics[2], v * cam.intrinsics[1] + cam.intrinsics[3]);