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inlier into point error

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This commit is contained in:
gfuse
2021-09-23 18:47:08 +02:00
parent 0614c558df
commit a64e064b37
3 changed files with 1042 additions and 1807 deletions
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GPU_version/vio/depth_filter_log.txt
+22
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@@ -0,0 +1,22 @@
[16:31:45.913] init depth filter
[16:31:47.423] init depth filter
[16:31:50.898] DepthFilter: RESET.
[16:32:05.679] add key frame
[16:32:05.679] init seeds
[16:32:05.679] update 0 seeds
[16:32:05.679] init seeds
[16:32:05.682] DepthFilter: Initialized 82 new seeds
[16:32:05.682] add key frame
[16:32:05.682] update 82 seeds
[16:32:05.682] init seeds
[16:32:05.687] DepthFilter: Initialized 112 new seeds
[16:32:05.692] DepthFilter: Initialized 126 new seeds
[16:32:08.165] add new frame
[16:32:08.165] add key frame
[16:32:08.165] update 320 seeds
[16:32:08.165] init seeds
[16:32:08.168] DepthFilter: Initialized 149 new seeds
[16:32:10.624] add new frame
[16:32:10.624] update 469 seeds
[16:32:47.056] DepthFilter stop thread invoked.
[16:32:47.056] DepthFilter interrupt and join thread
GPU_version/vio/frame_handler_log.txt
+1013 -1806
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File diff suppressed because it is too large Load Diff
GPU_version/vio/src/initialization.cpp
+7 -1
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@@ -99,7 +99,13 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
std::advance(first,id);
if(frame_cur->cam_->isInFrame(Vector2d(px_cur_.at(id).x,px_cur_.at(id).y).cast<int>(), 10) &&
frame_ref_->cam_->isInFrame((*first)->px.cast<int>(), 10)){
Vector3d pos = frame_cur->getSE3Inv() * (xyz_in_cur_.at(id)/* *scale */);
Vector3d pos = frame_cur->se3() * (xyz_in_cur_.at(id)/* *scale */);
#if VIO_DEBUG
fprintf(log_,"[%s] inlier: x=%f, y=%f, z=%f pos: x=%f y=%f z=%f\n",
vio::time_in_HH_MM_SS_MMM().c_str(),
xyz_in_cur_.at(id).x(),xyz_in_cur_.at(id).y(),xyz_in_cur_.at(id).z(),
pos.x(),pos.y(),pos.z());
#endif
std::shared_ptr<Point> new_point = std::make_shared<Point>(pos);
std::shared_ptr<Feature> ftr_cur=std::make_shared<Feature>(frame_cur, new_point, Vector2d(px_cur_.at(id).x,px_cur_.at(id).y),
frame_cur->c2f(px_cur_.at(id).x,px_cur_.at(id).y), (*first)->level);