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Fixed OdometryOpenVINS build errors with latest OpenVINS code.

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matlabbe
2021-09-28 17:12:08 -04:00
parent aee034c5ed
commit 533d78d570
1 changed files with 2 additions and 3 deletions
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5
corelib/src/odometry/OdometryOpenVINS.cpp
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@@ -130,9 +130,6 @@ Transform OdometryOpenVINS::computeTransform(
params.state_options.num_cameras = 2; params.state_options.num_cameras = 2;
//params.dt_slam_delay = 2; //params.dt_slam_delay = 2;
params.stereo_pairs.emplace_back(0, 1);
params.state_options.num_unique_cameras = 1;
// Set what representation we should be using // Set what representation we should be using
//params.state_options.feat_rep_msckf = LandmarkRepresentation::from_string("ANCHORED_MSCKF_INVERSE_DEPTH"); // default GLOBAL_3D //params.state_options.feat_rep_msckf = LandmarkRepresentation::from_string("ANCHORED_MSCKF_INVERSE_DEPTH"); // default GLOBAL_3D
//params.state_options.feat_rep_slam = LandmarkRepresentation::from_string("ANCHORED_MSCKF_INVERSE_DEPTH"); // default GLOBAL_3D //params.state_options.feat_rep_slam = LandmarkRepresentation::from_string("ANCHORED_MSCKF_INVERSE_DEPTH"); // default GLOBAL_3D
@@ -339,6 +336,8 @@ Transform OdometryOpenVINS::computeTransform(
message.sensor_ids.push_back(1); message.sensor_ids.push_back(1);
message.images.push_back(left); message.images.push_back(left);
message.images.push_back(right); message.images.push_back(right);
message.masks.push_back(cv::Mat::zeros(left.size(), CV_8UC1));
message.masks.push_back(cv::Mat::zeros(right.size(), CV_8UC1));
// send it to our VIO system // send it to our VIO system
vioManager_->feed_measurement_camera(message); vioManager_->feed_measurement_camera(message);