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Fix scale estimation calculation #62

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Fix scale estimation calculation #62

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6 changes: 2 additions & 4 deletions src/stateestimation/PTAMWrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -431,8 +431,6 @@ void PTAMWrapper::HandleFrame()
filterPosePostPTAM = filter->getCurrentPoseSpeedAsVec();
pthread_mutex_unlock( &filter->filter_CS );

TooN::Vector<6> filterPosePostPTAMBackTransformed = filter->backTransformPTAMObservation(filterPosePostPTAM.slice<0,6>());


// if interval is started: add one step.
int includedTime = mimFrameTime_workingCopy - ptamPositionForScaleTakenTimestamp;
Expand All @@ -451,7 +449,7 @@ void PTAMWrapper::HandleFrame()

if(includedTime >= 2000 && framesIncludedForScaleXYZ > 1) // ADD! (if too many, was resetted before...)
{
TooN::Vector<3> diffPTAM = filterPosePostPTAMBackTransformed.slice<0,3>() - PTAMPositionForScale;
TooN::Vector<3> diffPTAM = PTAMResult.slice<0,3>() - PTAMPositionForScale;
bool zCorrupted, allCorrupted;
float pressureStart = 0, pressureEnd = 0;
TooN::Vector<3> diffIMU = evalNavQue(ptamPositionForScaleTakenTimestamp - filter->delayVideo + filter->delayXYZ,mimFrameTime_workingCopy - filter->delayVideo + filter->delayXYZ,&zCorrupted, &allCorrupted, &pressureStart, &pressureEnd);
Expand Down Expand Up @@ -484,7 +482,7 @@ void PTAMWrapper::HandleFrame()
if(framesIncludedForScaleXYZ == -1) // RESET!
{
framesIncludedForScaleXYZ = 0;
PTAMPositionForScale = filterPosePostPTAMBackTransformed.slice<0,3>();
PTAMPositionForScale = PTAMResult.slice<0,3>();
//predIMUOnlyForScale->resetPos(); // also resetting z corrupted flag etc. (NOT REquired as reset is done in eval)
ptamPositionForScaleTakenTimestamp = mimFrameTime_workingCopy;
}
Expand Down