i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-06 17:57:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.11.7: Added ZED sdk support

Browse Source
This commit is contained in:
matlabbe
2016-05-31 19:09:49 -04:00
parent b2bb421063
commit 6f1f490370
31 changed files with 711 additions and 131 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Odometry.cpp
+1 -1
View File
@@ -253,7 +253,7 @@ Transform Odometry::process(SensorData & data, OdometryInfo * info)
// transform back the keypoints in the original image
std::vector<cv::KeyPoint> kpts = decimatedData.keypoints();
double log2value = log(_imageDecimation)/log(2);
double log2value = log(double(_imageDecimation))/log(2.0);
for(unsigned int i=0; i<kpts.size(); ++i)
{
kpts[i].pt.x *= _imageDecimation;