goldbattle

$cwd = $PSScriptRoot+"\"
$gosdk = $cwd+"go"
$zip7 = $cwd+"7z"
$mingw = $cwd+"mingw64"
$gitdir = $cwd+"git"
$gopath = $cwd+"gopath"

# Install Go
if (-Not (Test-Path $gosdk)) {
  echo "Installing Go into: "$gosdk

goldbattle

<?xml version="1.0" encoding="ISO-8859-15"?>
<launch>

  <param name="imuRate" type="int" value="200" />
  <param name="camRate" type="int" value="28" />
  
  <!-- VI- Sensor node -->
  <node name="visensor_node" pkg="visensor_node" type="visensor_node" output="screen">
    <remap from="/cam0/image_raw" to="/raw/cam0/image_raw" />
    <remap from="/cam1/image_raw" to="/raw/cam1/image_raw" />

goldbattle

#include <cstdio>


/**
 * This function has a local reference to a pointer
 * Thus the memory address of the pointer is different
 * But the value the pointer contains remains the same
 */
void function(double* ptrlocal) {
    printf("ptr = %p [function ptr address]\n", &ptrlocal);

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void Subscriber::imageCallback(const sensor_msgs::ImageConstPtr& msg,/*
 const sensor_msgs::CameraInfoConstPtr& info,*/
                               unsigned int cameraIndex)
{
  //==============================================================================
  // Copy the ros image message to cv::Mat.
  // Note we force reading it in as a MONO image (we don't handle color images)
  cv_bridge::CvImageConstPtr cv_ptr;
  try {
    cv_ptr = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::MONO8);

goldbattle

cmake_minimum_required(VERSION 2.8.12)
project(msckf_vio)

add_compile_options(-std=c++11)

# Modify cmake module path if new .cmake files are required
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")

find_package(catkin REQUIRED COMPONENTS
  roscpp

goldbattle

#include <boost/math/distributions/chi_squared.hpp>


/// Chi squared 95th percentile table
std::map<int, double> chi_squared_table;

// Initialize the chi squared test table with confidence level 0.95
// https://github.com/KumarRobotics/msckf_vio/blob/050c50defa5a7fd9a04c1eed5687b405f02919b5/src/msckf_vio.cpp#L215-L221
for (int i = 1; i < 100; ++i) {
    boost::math::chi_squared chi_squared_dist(i);

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#
#   This file is part of m.css.
#
#   Copyright © 2017, 2018, 2019 Vladimír Vondruš <[email protected]>
#
#   Permission is hereby granted, free of charge, to any person obtaining a
#   copy of this software and associated documentation files (the "Software"),
#   to deal in the Software without restriction, including without limitation
#   the rights to use, copy, modify, merge, publish, distribute, sublicense,
#   and/or sell copies of the Software, and to permit persons to whom the

goldbattle

#!/bin/sh


# update from old OPENCV to the newest OPENCV 3/4
# https://github.com/CMU-Perceptual-Computing-Lab/openpose/issues/912#issue-377202823
# place this file in your /kalibr/ directory and run it

# -> you will still need to comment out cvStartWindowThread(); function calls
# -> aslamcv_helper.hpp needs to be corrected for the pointer logic
# 		-> cv::Ptr<cv::Mat> _pts(new cv::Mat(1, N * N, CV_32FC2));

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<launch>
  <!-- Determine this using rosrun pointgrey_camera_driver list_cameras. -->
  <!-- If not specified, defaults to first camera found. -->
  <arg name="camera_name"      default="bkfy" />
  <arg name="camera_serial"    default="17371919" />
  <arg name="calibrated"       default="0" />
  <arg name="framerate"        default="20" />
  <arg name="shutterspeed"     default="0.005" />

  <group ns="$(arg camera_name)">

goldbattle

// A simple quickref for Eigen. Add anything that's missing.
// Main author: Keir Mierle

#include <Eigen/Dense>

Matrix<double, 3, 3> A;               // Fixed rows and cols. Same as Matrix3d.
Matrix<double, 3, Dynamic> B;         // Fixed rows, dynamic cols.
Matrix<double, Dynamic, Dynamic> C;   // Full dynamic. Same as MatrixXd.
Matrix<double, 3, 3, RowMajor> E;     // Row major; default is column-major.
Matrix3f P, Q, R;                     // 3x3 float matrix.