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correct forward tracking

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This commit is contained in:
gfuse
2021-09-20 16:58:23 +02:00
parent c8f942131e
commit 93ee49d5a2
3 changed files with 1705 additions and 992 deletions
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GPU_version/vio/depth_filter_log.txt
+870 -181
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GPU_version/vio/frame_handler_log.txt
+834 -810
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GPU_version/vio/src/map.cpp
+1 -1
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@@ -222,7 +222,7 @@ MapPointCandidates::~MapPointCandidates()
void MapPointCandidates::newCandidatePoint(std::shared_ptr<Point> point, double depth_sigma2) void MapPointCandidates::newCandidatePoint(std::shared_ptr<Point> point, double depth_sigma2)
{ {
point->type_ = Point::TYPE_CANDIDATE; point->type_ = Point::TYPE_CANDIDATE;
//boost::unique_lock<boost::mutex> lock(mut_); boost::unique_lock<boost::mutex> lock(mut_);
candidates_.push_back(PointCandidate(point, point->obs_.front())); candidates_.push_back(PointCandidate(point, point->obs_.front()));
} }