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add limit on VO odometry estimation

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This commit is contained in:
gfuse
2021-09-17 21:00:38 +02:00
parent 082e971d80
commit 81c302ab2a
3 changed files with 14297 additions and 8840 deletions
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GPU_version/vio/depth_filter_log.txt
+13418 -7526
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GPU_version/vio/frame_handler_log.txt
+878 -1313
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GPU_version/vio/src/frame_handler_mono.cpp
+1 -1
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@@ -224,7 +224,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
new_frame_->T_f_w_.se2().translation().y()-last_frame_->T_f_w_.se2().translation().y(), new_frame_->T_f_w_.se2().translation().y()-last_frame_->T_f_w_.se2().translation().y(),
fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())); fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch()));
#endif #endif
if((last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.5 || if((last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.005 ||
fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())>M_PI_2 || sfba_n_edges_final < Config::qualityMinFts()){ fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())>M_PI_2 || sfba_n_edges_final < Config::qualityMinFts()){
auto init_f= ukfPtr_.get_location(); auto init_f= ukfPtr_.get_location();
new_frame_->T_f_w_=init_f.second; new_frame_->T_f_w_=init_f.second;