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Commit 89862d1e authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Use sensor noise to create new captures

parent edd4a13f
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1 merge request!317Motion cleanup
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src/processor/processor_motion.cpp
+ 5
− 5
View file @ 89862d1e
...@@ -136,7 +136,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr) ...@@ -136,7 +136,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
getSensor(), getSensor(),
ts_from_callback, ts_from_callback,
Eigen::VectorXs::Zero(data_size_), Eigen::VectorXs::Zero(data_size_),
capture_origin->getDataCovariance(), getSensor()->getNoiseCov(),
calib_origin, calib_origin,
calib_origin, calib_origin,
keyframe_origin); keyframe_origin);
...@@ -215,7 +215,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr) ...@@ -215,7 +215,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
getSensor(), getSensor(),
ts_from_callback, ts_from_callback,
Eigen::VectorXs::Zero(data_size_), Eigen::VectorXs::Zero(data_size_),
origin_ptr_->getDataCovariance(), getSensor()->getNoiseCov(),
calib_origin, calib_origin,
calib_origin, calib_origin,
keyframe_origin); keyframe_origin);
...@@ -297,7 +297,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr) ...@@ -297,7 +297,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
getSensor(), getSensor(),
key_frame_ptr->getTimeStamp(), key_frame_ptr->getTimeStamp(),
Eigen::VectorXs::Zero(data_size_), Eigen::VectorXs::Zero(data_size_),
Eigen::MatrixXs::Zero(data_size_, data_size_), getSensor()->getNoiseCov(),
last_ptr_->getCalibration(), last_ptr_->getCalibration(),
last_ptr_->getCalibration(), last_ptr_->getCalibration(),
key_frame_ptr); key_frame_ptr);
...@@ -382,7 +382,7 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame) ...@@ -382,7 +382,7 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame)
getSensor(), getSensor(),
_origin_frame->getTimeStamp(), _origin_frame->getTimeStamp(),
Eigen::VectorXs::Zero(data_size_), Eigen::VectorXs::Zero(data_size_),
Eigen::MatrixXs::Zero(data_size_, data_size_), getSensor()->getNoiseCov(),
getSensor()->getCalibration(), getSensor()->getCalibration(),
getSensor()->getCalibration(), getSensor()->getCalibration(),
nullptr); nullptr);
...@@ -397,7 +397,7 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame) ...@@ -397,7 +397,7 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame)
getSensor(), getSensor(),
_origin_frame->getTimeStamp(), _origin_frame->getTimeStamp(),
Eigen::VectorXs::Zero(data_size_), Eigen::VectorXs::Zero(data_size_),
Eigen::MatrixXs::Zero(data_size_, data_size_), getSensor()->getNoiseCov(),
getSensor()->getCalibration(), getSensor()->getCalibration(),
getSensor()->getCalibration(), getSensor()->getCalibration(),
_origin_frame); _origin_frame);
......
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