From fa200b8323e2e97719ffc4728ef34d9d465cdd8c Mon Sep 17 00:00:00 2001 From: mederic_fourmy <mederic.fourmy@gmail.com> Date: Mon, 11 Feb 2019 14:40:03 +0100 Subject: [PATCH] Minor --- src/constraints/constraint_autodiff_apriltag.h | 2 +- src/processors/processor_tracker_landmark_apriltag.cpp | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/src/constraints/constraint_autodiff_apriltag.h b/src/constraints/constraint_autodiff_apriltag.h index f122cbaa4..ee701d29b 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 ac75903b0..1593b80e1 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] -- GitLab