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working version 30th

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gfuse
2021-08-30 19:22:42 +02:00
parent fb6de808cd
commit e84c05235c
2 changed files with 2 additions and 1 deletions
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GPU_version/vio/include/vio/ukf.h
+1 -1
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@@ -129,7 +129,7 @@ public:
while(lock)usleep(5); while(lock)usleep(5);
lock=true; lock=true;
roll=roll+M_PI; roll=roll+M_PI;
if(filter_->predict_up)filter_->correct(-z,-y,roll,match,1e-9*time.toNSec()); if(filter_->predict_up)filter_->correct(z,y,roll,match,1e-9*time.toNSec());
lock=false; lock=false;
double roll_f; double roll_f;
roll_f=filter_->state_(2)+M_PI; roll_f=filter_->state_(2)+M_PI;
GPU_version/vio/src/reprojector.cpp
+1
View File
@@ -222,6 +222,7 @@ void Reprojector::reprojectMap(
extractor->compute(frame->img(), keypoints_cur, descriptors_cur); extractor->compute(frame->img(), keypoints_cur, descriptors_cur);
list< pair<FramePtr,double> > close_kfs; list< pair<FramePtr,double> > close_kfs;
map_.getCloseKeyframes(frame, close_kfs); map_.getCloseKeyframes(frame, close_kfs);
std::cerr<<close_kfs.size()<<'\n';
close_kfs.sort(boost::bind(&std::pair<FramePtr, double>::second, _1) < close_kfs.sort(boost::bind(&std::pair<FramePtr, double>::second, _1) <
boost::bind(&std::pair<FramePtr, double>::second, _2)); boost::bind(&std::pair<FramePtr, double>::second, _2));
size_t n = 0; size_t n = 0;