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This commit is contained in:
gfuse
2021-08-28 21:49:22 +02:00
parent 3b834ba266
commit 3e3cf69d98
4 changed files with 4 additions and 4 deletions
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GPU_version/vio/include/vio/frame.h
+1 -1
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@@ -131,7 +131,7 @@ public:
q = AngleAxisd(atan2(inv.so2().unit_complex().imag(),inv.so2().unit_complex().real()), Vector3d::UnitX())
* AngleAxisd(0.261799, Vector3d::UnitY())
* AngleAxisd(0.0, Vector3d::UnitZ());
SE3 out(q.toRotationMatrix(),Vector3d(inv.translation()(0),1e-19,inv.translation()(1)));
SE3 out(q.toRotationMatrix(),Vector3d(0.0,inv.translation()(0),inv.translation()(1)));
return out;
}
GPU_version/vio/include/vio/global.h
+1 -1
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@@ -95,7 +95,7 @@ namespace vio
q = AngleAxisd(pitch(), Vector3d::UnitX())
* AngleAxisd(0.261799, Vector3d::UnitY())
* AngleAxisd(0.0, Vector3d::UnitZ());
return SE3(q.toRotationMatrix(),Vector3d(T2_.translation()(0),1e-19,T2_.translation()(1)));
return SE3(q.toRotationMatrix(),Vector3d(1e-19,T2_.translation()(0),T2_.translation()(1)));
}
~SE2_5(){}
GPU_version/vio/src/depth_filter.cpp
+1 -1
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@@ -221,7 +221,7 @@ void DepthFilter::updateSeeds(FramePtr frame)
q = AngleAxisd(atan2(T.so2().unit_complex().imag(),T.so2().unit_complex().real()), Vector3d::UnitX())
* AngleAxisd(0.261799, Vector3d::UnitY())
* AngleAxisd(0.0, Vector3d::UnitZ());
SE3 T_ref_cur(q.toRotationMatrix(),Vector3d(T.translation()(0),0.0,T.translation()(1)));
SE3 T_ref_cur(q.toRotationMatrix(),Vector3d(0.0,T.translation()(0),T.translation()(1)));
const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) );
if(xyz_f.z() < 0.0) {
++it; // behind the camera
GPU_version/vio/src/homography.cpp
+1 -1
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@@ -91,7 +91,7 @@ namespace vk {
q.w() *= 1/q.norm();
q.x()=0.0;
q.z()=0.0;
T_c2_from_c1=Sophus::SE3(q.toRotationMatrix(),Eigen::Vector3d(decompositions.front().T.translation().x(),0.0,decompositions.front().T.translation().z()));
T_c2_from_c1=Sophus::SE3(q.toRotationMatrix(),Eigen::Vector3d(0.0,decompositions.front().T.translation().x(),decompositions.front().T.translation().z()));
return true;
}