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fixed anchor frame calcualtion

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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
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3
include/msckf_vio/feature.hpp
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@@ -1067,9 +1067,8 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
// check if image has been pre-undistorted // 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 //project onto pixel plane
undist_anchor_center_pos = cv::Point2f(u * cam.intrinsics[0] + cam.intrinsics[2], v * cam.intrinsics[1] + cam.intrinsics[3]); undist_anchor_center_pos = cv::Point2f(u * cam.intrinsics[0] + cam.intrinsics[2], v * cam.intrinsics[1] + cam.intrinsics[3]);