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small fix

This commit is contained in:
Vladyslav Usenko 2019-07-19 23:22:38 +02:00
parent 7000268f7c
commit 843942bf44
1 changed files with 5 additions and 5 deletions
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10
src/vi_estimator/keypoint_vio.cpp
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@ -112,9 +112,10 @@ void KeypointVioEstimator::initialize(const Eigen::Vector3d& bg,
OpticalFlowResult::Ptr prev_frame, curr_frame; OpticalFlowResult::Ptr prev_frame, curr_frame;
IntegratedImuMeasurement::Ptr meas; IntegratedImuMeasurement::Ptr meas;
Eigen::Vector3d accel_cov, gyro_cov; const Eigen::Vector3d accel_cov =
accel_cov = calib.dicreete_time_accel_noise_std().array().square(); calib.dicreete_time_accel_noise_std().array().square();
gyro_cov = calib.dicreete_time_gyro_noise_std().array().square(); const Eigen::Vector3d gyro_cov =
calib.dicreete_time_gyro_noise_std().array().square();
ImuData::Ptr data; ImuData::Ptr data;
imu_data_queue.pop(data); imu_data_queue.pop(data);
@ -167,8 +168,7 @@ void KeypointVioEstimator::initialize(const Eigen::Vector3d& bg,
} }
while (data->t_ns <= curr_frame->t_ns) { while (data->t_ns <= curr_frame->t_ns) {
meas->integrate(*data, calib.dicreete_time_accel_noise_std(), meas->integrate(*data, accel_cov, gyro_cov);
calib.dicreete_time_gyro_noise_std());
imu_data_queue.pop(data); imu_data_queue.pop(data);
if (!data.get()) break; if (!data.get()) break;
} }