From ef5b1ed528de037d22861dff2114b42664751927 Mon Sep 17 00:00:00 2001 From: Pablo Rodriguez Palafox Date: Tue, 30 Jul 2019 20:14:03 +0000 Subject: [PATCH] Fix typos --- include/basalt/optimization/spline_optimize.h | 4 ++-- include/basalt/vi_estimator/ba_base.h | 2 +- src/vi_estimator/keypoint_vio.cpp | 4 ++-- src/vio_sim.cpp | 4 ++-- thirdparty/basalt-headers | 2 +- 5 files changed, 8 insertions(+), 8 deletions(-) diff --git a/include/basalt/optimization/spline_optimize.h b/include/basalt/optimization/spline_optimize.h index e85b6fe..5657935 100644 --- a/include/basalt/optimization/spline_optimize.h +++ b/include/basalt/optimization/spline_optimize.h @@ -325,9 +325,9 @@ class SplineOptimization { ccd.pose_var_inv = pose_var_inv; ccd.gyro_var_inv = - calib->dicreete_time_gyro_noise_std().array().square().inverse(); + calib->dicrete_time_gyro_noise_std().array().square().inverse(); ccd.accel_var_inv = - calib->dicreete_time_accel_noise_std().array().square().inverse(); + calib->dicrete_time_accel_noise_std().array().square().inverse(); ccd.mocap_var_inv = pose_var_inv; } diff --git a/include/basalt/vi_estimator/ba_base.h b/include/basalt/vi_estimator/ba_base.h index dfdb604..19834eb 100644 --- a/include/basalt/vi_estimator/ba_base.h +++ b/include/basalt/vi_estimator/ba_base.h @@ -264,7 +264,7 @@ class BundleAdjustmentBase { Vec4 worldPoint = mySVD.matrixV().col(3); worldPoint /= worldPoint.template head<3>().norm(); - // Enforse same direction of bearing vector and initial point + // Enforce same direction of bearing vector and initial point if (f0.dot(worldPoint.template head<3>()) < 0) worldPoint *= -1; return worldPoint; diff --git a/src/vi_estimator/keypoint_vio.cpp b/src/vi_estimator/keypoint_vio.cpp index 6908a8c..9daadc3 100644 --- a/src/vi_estimator/keypoint_vio.cpp +++ b/src/vi_estimator/keypoint_vio.cpp @@ -113,9 +113,9 @@ void KeypointVioEstimator::initialize(const Eigen::Vector3d& bg, IntegratedImuMeasurement::Ptr meas; const Eigen::Vector3d accel_cov = - calib.dicreete_time_accel_noise_std().array().square(); + calib.dicrete_time_accel_noise_std().array().square(); const Eigen::Vector3d gyro_cov = - calib.dicreete_time_gyro_noise_std().array().square(); + calib.dicrete_time_gyro_noise_std().array().square(); ImuData::Ptr data; imu_data_queue.pop(data); diff --git a/src/vio_sim.cpp b/src/vio_sim.cpp index af29be8..e0efeef 100644 --- a/src/vio_sim.cpp +++ b/src/vio_sim.cpp @@ -595,9 +595,9 @@ void compute_projections() { void gen_data() { std::normal_distribution<> gyro_noise_dist{ - 0, calib.dicreete_time_gyro_noise_std()[0]}; + 0, calib.dicrete_time_gyro_noise_std()[0]}; std::normal_distribution<> accel_noise_dist{ - 0, calib.dicreete_time_accel_noise_std()[0]}; + 0, calib.dicrete_time_accel_noise_std()[0]}; std::normal_distribution<> gyro_bias_dist{0, calib.gyro_bias_std[0]}; std::normal_distribution<> accel_bias_dist{0, calib.accel_bias_std[0]}; diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers index d169d69..12b6290 160000 --- a/thirdparty/basalt-headers +++ b/thirdparty/basalt-headers @@ -1 +1 @@ -Subproject commit d169d697f8902ca684e41887eee3bedf91176e56 +Subproject commit 12b6290f01aa49c15cfec4d8ed8f347323678297