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changed update formula to correspond with the paper

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This commit is contained in:
Christian Forster
2014-04-01 18:04:25 +02:00
parent cc38295405
commit 231cdf5b3d
1 changed files with 3 additions and 6 deletions
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svo/src/sparse_img_align.cpp
+3 -6
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@@ -151,7 +151,7 @@ void SparseImgAlign::precomputeReferencePatches()
// cache the jacobian // cache the jacobian
jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter) = jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter) =
(dx*frame_jac.row(0) + dy*frame_jac.row(1))*(focal_length / (1<<level_)); - (dx*frame_jac.row(0) + dy*frame_jac.row(1))*(focal_length / (1<<level_));
} }
} }
} }
@@ -268,10 +268,7 @@ void SparseImgAlign::update(
const ModelType& T_curold_from_ref, const ModelType& T_curold_from_ref,
ModelType& T_curnew_from_ref) ModelType& T_curnew_from_ref)
{ {
// the jacobian is computed in the coordinate frame of the reference image T_curnew_from_ref = T_curold_from_ref * SE3::exp(x_).inverse();
// T_ref_from_curnew = T_ref_from_curold * SE3::exp(x_).inverse();
// but our state is in the reference frame of the new image, thus using (AB)^-1 = B^-1*A^-1
T_curnew_from_ref = SE3::exp(x_) * T_curold_from_ref;
} }
void SparseImgAlign::startIteration() void SparseImgAlign::startIteration()
@@ -282,7 +279,7 @@ void SparseImgAlign::finishIteration()
if(display_) if(display_)
{ {
cv::namedWindow("residuals", CV_WINDOW_AUTOSIZE); cv::namedWindow("residuals", CV_WINDOW_AUTOSIZE);
cv::imshow("residuals", resimg_*4); cv::imshow("residuals", resimg_*10);
cv::waitKey(0); cv::waitKey(0);
} }
} }