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small fix

This commit is contained in:
Vladyslav Usenko 2019-10-30 13:16:33 +01:00
parent 89a7296bfa
commit b4b9beff49
1 changed files with 3 additions and 2 deletions
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5
src/calibration/vignette.cpp
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@ -250,7 +250,7 @@ void VignetteEstimator::optimize() {
void VignetteEstimator::compute_data_log( void VignetteEstimator::compute_data_log(
std::vector<std::vector<float>> &vign_data_log) { std::vector<std::vector<float>> &vign_data_log) {
std::vector<std::vector<double>> num_proj_points( std::vector<std::vector<double>> num_proj_points(
2, std::vector<double>(vign_size, 0)); vio_dataset->get_num_cams(), std::vector<double>(vign_size, 0));
for (const auto &kv : reprojected_vignette) { for (const auto &kv : reprojected_vignette) {
const TimeCamId &tcid = kv.first; const TimeCamId &tcid = kv.first;
@ -264,7 +264,8 @@ void VignetteEstimator::compute_data_log(
for (size_t i = 0; i < points_2d.size(); i++) { for (size_t i = 0; i < points_2d.size(); i++) {
if (points_2d[i][2] >= 0) { if (points_2d[i][2] >= 0) {
size_t loc = (points_2d[i].head<2>() - oc).norm(); size_t loc = (points_2d[i].head<2>() - oc).norm();
num_proj_points[tcid.cam_id][loc] += 1.;
if (loc < vign_size) num_proj_points[tcid.cam_id][loc] += 1.;
} }
} }
} }