From fea790f621c1a2d27913fe45c8047336caf1c244 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 25 Apr 2022 01:34:37 +0200
Subject: [PATCH] Update processor_visual_odometry.cpp
---
src/processor/processor_visual_odometry.cpp | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index 1d8238d83..3025c32d3 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -486,16 +486,16 @@ LandmarkBasePtr ProcessorVisualOdometry::emplaceLandmark(FeatureBasePtr _feat)
Eigen::Vector3d point3d;
point3d = pinhole::backprojectPoint(
- getSensor()->getIntrinsic()->getState(),
- (std::static_pointer_cast<SensorCamera>(getSensor()))->getCorrectionVector(),
- point2d);
+ getSensor()->getIntrinsic()->getState(),
+ (std::static_pointer_cast<SensorCamera>(getSensor()))->getCorrectionVector(),
+ point2d);
- //double distance = params_bundle_adjustment_->distance; // arbitrary value
+ // double distance = params_bundle_adjustment_->distance; // arbitrary value
double distance = 1;
Eigen::Vector4d vec_homogeneous_c;
vec_homogeneous_c = {point3d(0),point3d(1),point3d(2),point3d.norm()/distance};
- //TODO: lmk from camera to world coordinate frame.
+ // lmk from camera to world coordinate frame.
Transform<double,3,Isometry> T_w_r
= Translation<double,3>(feat_pi->getFrame()->getP()->getState())
* Quaterniond(_feat->getFrame()->getO()->getState().data());
--
GitLab