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small fixes

This commit is contained in:
Vladyslav Usenko 2019-08-11 12:23:23 +02:00
parent f6a33469f5
commit 4099457045
2 changed files with 4 additions and 4 deletions
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6
scripts/eval_full/gen_results.py
View File

@ -62,14 +62,14 @@ print '\nVisual-Inertial Odometry'
print row_format.format(*datasets_short) print row_format.format(*datasets_short)
print row_format.format(*vio['ate']) print row_format.format(*vio['ate'])
print row_format.format(*vio['time']) #print row_format.format(*vio['time'])
print row_format.format(*vio['num_frames']) print row_format.format(*vio['num_frames'])
print '\nVisual-Inertial Mapping' print '\nVisual-Inertial Mapping'
print row_format.format(*datasets_short) print row_format.format(*datasets_short)
print row_format.format(*mapping['ate']) print row_format.format(*mapping['ate'])
print row_format.format(*mapping['time']) #print row_format.format(*mapping['time'])
print row_format.format(*mapping['num_frames']) print row_format.format(*mapping['num_frames'])
@ -77,6 +77,6 @@ print '\nPose-Graph optimization (Identity weights for all factors)'
print row_format.format(*datasets_short) print row_format.format(*datasets_short)
print row_format.format(*pose_graph['ate']) print row_format.format(*pose_graph['ate'])
print row_format.format(*pose_graph['time']) #print row_format.format(*pose_graph['time'])
print row_format.format(*pose_graph['num_frames']) print row_format.format(*pose_graph['num_frames'])

2
src/vi_estimator/keypoint_vio.cpp
View File

@ -143,7 +143,7 @@ void KeypointVioEstimator::initialize(const Eigen::Vector3d& bg,
if (!data.get()) break; if (!data.get()) break;
data->accel = calib.calib_accel_bias.getCalibrated(data->accel); data->accel = calib.calib_accel_bias.getCalibrated(data->accel);
data->gyro = calib.calib_gyro_bias.getCalibrated(data->gyro); data->gyro = calib.calib_gyro_bias.getCalibrated(data->gyro);
std::cout << "Skipping IMU data.." << std::endl; // std::cout << "Skipping IMU data.." << std::endl;
} }
Eigen::Vector3d vel_w_i_init; Eigen::Vector3d vel_w_i_init;