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refactoring

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This commit is contained in:
Christian Forster
2014-05-09 15:06:03 +02:00
parent 734a5c007b
commit 713f35697b
2 changed files with 3 additions and 4 deletions
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svo/src/pose_optimizer.cpp
+1 -1
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@@ -138,7 +138,7 @@ void optimizeGaussNewton(
chi2_vec_final.push_back(e.squaredNorm()); chi2_vec_final.push_back(e.squaredNorm());
if(e.norm() > reproj_thresh_scaled) if(e.norm() > reproj_thresh_scaled)
{ {
// (*it)->point->deleteFrameRef(frame); // we don't need to delete a reference in the point since it was not created yet
(*it)->point = NULL; (*it)->point = NULL;
++n_deleted_refs; ++n_deleted_refs;
} }
svo/src/sparse_img_align.cpp
+2 -3
View File
@@ -60,7 +60,6 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame)
for(level_=max_level_; level_>=min_level_; --level_) for(level_=max_level_; level_>=min_level_; --level_)
{ {
setInitialChi2(1.0);
mu_ = 0.1; mu_ = 0.1;
jacobian_cache_.setZero(); jacobian_cache_.setZero();
have_ref_patch_cache_ = false; have_ref_patch_cache_ = false;
@@ -227,8 +226,8 @@ double SparseImgAlign::computeResiduals(
{ {
// compute Jacobian, weighted Hessian and weighted "steepest descend images" (times error) // compute Jacobian, weighted Hessian and weighted "steepest descend images" (times error)
const Vector6d J(jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter)); const Vector6d J(jacobian_cache_.col(feature_counter*patch_area_ + pixel_counter));
H_ += J*J.transpose()*weight; H_.noalias() += J*J.transpose()*weight;
Jres_ -= J*res*weight; Jres_.noalias() -= J*res*weight;
if(display_) if(display_)
resimg_.at<float>((int) v_cur+y-patch_halfsize_, (int) u_cur+x-patch_halfsize_) = res/255.0; resimg_.at<float>((int) v_cur+y-patch_halfsize_, (int) u_cur+x-patch_halfsize_) = res/255.0;
} }