public/vio
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

track the trajectory with noise

Browse Source
This commit is contained in:
gfuse
2021-05-29 16:53:00 +02:00
parent cd6f0c5b97
commit faf00a6aad
20 changed files with 201 additions and 247 deletions
Download Patch File Download Diff File Expand all files Collapse all files
GPU_version/svo/src/matcher.cpp
+2 -2
View File
@@ -147,7 +147,7 @@ bool Matcher::findMatchDirect(
warp::getWarpMatrixAffine(
*ref_ftr_->frame->cam_, *cur_frame.cam_, ref_ftr_->px, ref_ftr_->f,
(ref_ftr_->frame->pos() - pt.pos_).norm(),
cur_frame.T_f_w_ * ref_ftr_->frame->T_f_w_.inverse(), ref_ftr_->level, A_cur_ref_);
(*cur_frame.T_f_w_.T) * ref_ftr_->frame->T_f_w_.T->inverse(), ref_ftr_->level, A_cur_ref_);
search_level_ = warp::getBestSearchLevel(A_cur_ref_, Config::nPyrLevels()-1);
warp::warpAffine(A_cur_ref_, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px,
ref_ftr_->level, search_level_, halfpatch_size_+1, patch_with_border_);
@@ -184,7 +184,7 @@ bool Matcher::findEpipolarMatchDirect(
const double d_max,
double& depth)
{
SE3 T_cur_ref = cur_frame.T_f_w_ * ref_frame.T_f_w_.inverse();
SE3 T_cur_ref = (*cur_frame.T_f_w_.T) * ref_frame.T_f_w_.T->inverse();
int zmssd_best = PatchScore::threshold();
Vector2d uv_best;