diff --git a/src/constraints/constraint_autodiff_apriltag.h b/src/constraints/constraint_autodiff_apriltag.h index f122cbaa4158fd1684abbcc2ba3edf12112ea46a..ee701d29b7fa3f0bb44dcc079518250430c11861 100644 --- a/src/constraints/constraint_autodiff_apriltag.h +++ b/src/constraints/constraint_autodiff_apriltag.h @@ -72,7 +72,7 @@ ConstraintAutodiffApriltag::ConstraintAutodiffApriltag( nullptr, _landmark_other_ptr, nullptr, - false, + true, CTR_ACTIVE, _sensor_ptr->getPPtr(), _sensor_ptr->getOPtr(), _frame_ptr->getPPtr(), _frame_ptr->getOPtr(), diff --git a/src/processors/processor_tracker_landmark_apriltag.cpp b/src/processors/processor_tracker_landmark_apriltag.cpp index ac75903b0e6a066f4e12c45b66d3b7d690c3c929..1593b80e1fc4820e583f9fd0b1e119dcd9780868 100644 --- a/src/processors/processor_tracker_landmark_apriltag.cpp +++ b/src/processors/processor_tracker_landmark_apriltag.cpp @@ -549,6 +549,8 @@ FeatureBaseList ProcessorTrackerLandmarkApriltag::getLastDetections() const void ProcessorTrackerLandmarkApriltag::configure(SensorBasePtr _sensor) { +// _sensor->useRectifiedImages(); + // get camera intrinsic parameters Eigen::Vector4s k(_sensor->getIntrinsicPtr()->getState()); //[cx cy fx fy]