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This commit is contained in:
gfuse
2021-08-18 08:45:04 +02:00
parent 7b7062e91e
commit dc29b94830
1 changed files with 3 additions and 1 deletions
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GPU_version/vio/src/sparse_img_align_gpu.cpp
+3 -1
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@@ -128,7 +128,9 @@ int SparseImgAlignGpu::solve()
J[0].y -= J[i].y; J[0].y -= J[i].y;
J[0].z -= J[i].z; J[0].z -= J[i].z;
} }
x_ = Eigen::Matrix<double,3,3>(H).ldlt().solve(Eigen::Vector3d(J[0].x,J[0].y,J[0].z)); double Hd[9]={};
double Jd[3]={};
x_ = Eigen::Matrix<double,3,3>(Hd).ldlt().solve(Eigen::Vector3d(Jd[0],Jd[1],Jd[2]));
if((bool) std::isnan((double) x_[0])) if((bool) std::isnan((double) x_[0]))
return 0; return 0;
return 1; return 1;