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Merge branch 'master' of gitlab.vision.in.tum.de:slam/basalt

This commit is contained in:
Vladyslav Usenko 2019-07-31 10:59:08 +02:00
parent dd81f1444e 0012722df7
commit 8524056e0c
5 changed files with 8 additions and 8 deletions
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4
include/basalt/optimization/spline_optimize.h
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@ -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;
}

2
include/basalt/vi_estimator/ba_base.h
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@ -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;

4
src/vi_estimator/keypoint_vio.cpp
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@ -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);

4
src/vio_sim.cpp
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@ -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]};

2
thirdparty/basalt-headers vendored

@ -1 +1 @@
Subproject commit d169d697f8902ca684e41887eee3bedf91176e56
Subproject commit 12b6290f01aa49c15cfec4d8ed8f347323678297