adjust build feature position

Update README.md fix bug in bias sliding
yuannuaa · Jul 7, 2017 · 7af5030 · 7af5030
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diff --git a/README.md b/README.md
@@ -25,8 +25,15 @@ alt="Mobile platform" width="240" height="180" border="10" /></a>
 
 **Related Papers**
 * **VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator**, Tong Qin, Peiliang Li, Zhenfei Yang, Shaojie Shen [techincal report](https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/master/support_files/paper/tro_technical_report.pdf) 
-* **Autonomous Aerial Navigation Using Monocular Visual-Inertial Fusion**, Yi Lin, Fei Gao, Tong Qin, Wenliang Gao, Tianbo Liu, William Wu, Zhenfei Yang, Shaojie Shen (***JFR*** accepted) [pdf](https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/master/support_files/paper/jfr2017yi.pdf)  
-
+* **Autonomous Aerial Navigation Using Monocular Visual-Inertial Fusion**, Yi Lin, Fei Gao, Tong Qin, Wenliang Gao, Tianbo Liu, William Wu, Zhenfei Yang, Shaojie Shen, J Field Robotics. 2017;00:1–29. [https://doi.org/10.1002/rob.21732](https://doi.org/10.1002/rob.21732)  
+```
+@misc{vins-mono,
+    author = "T. Qin and P. Li and Z. Yang and S. Shen",
+    title = "VINS-Mono",
+    howpublished = "\url{https://github.com/HKUST-Aerial-Robotics/VINS-Mono}",
+     year = {2017}
+    }
+```
 *If you use VINS-Mono for your academic research, please cite at least one of our related papers.*
 
 ## 1. Prerequisites

diff --git a/support_files/paper/jfr2017yi.pdf b/support_files/paper/jfr2017yi.pdf
diff --git a/vins_estimator/src/estimator.cpp b/vins_estimator/src/estimator.cpp
@@ -994,6 +994,8 @@ void Estimator::slideWindow()
                 Headers[i] = Headers[i + 1];
                 Ps[i].swap(Ps[i + 1]);
                 Vs[i].swap(Vs[i + 1]);
+                Bas[i].swap(Bas[i + 1]);
+                Bgs[i].swap(Bgs[i + 1]);
             }
             Headers[WINDOW_SIZE] = Headers[WINDOW_SIZE - 1];
             Ps[WINDOW_SIZE] = Ps[WINDOW_SIZE - 1];

diff --git a/vins_estimator/src/estimator_node.cpp b/vins_estimator/src/estimator_node.cpp
@@ -239,7 +239,6 @@ void process_loop_detection()
         if (cur_kf != NULL)
         {
             cur_kf->global_index = global_frame_cnt;
-            cur_kf->buildKeyFrameFeatures(estimator, m_camera);
             m_keyframedatabase_resample.lock();
             keyframe_database.add(cur_kf);
             m_keyframedatabase_resample.unlock();
@@ -518,6 +517,7 @@ void process()
                     cur_R = relocalize_r * vio_R_w_i;
                     KeyFrame* keyframe = new KeyFrame(estimator.Headers[WINDOW_SIZE - 2].stamp.toSec(), vio_T_w_i, vio_R_w_i, cur_T, cur_R, image_buf.front().first, pattern_file);
                     keyframe->setExtrinsic(estimator.tic[0], estimator.ric[0]);
+                    keyframe->buildKeyFrameFeatures(estimator, m_camera);
                     m_keyframe_buf.lock();
                     keyframe_buf.push(keyframe);
                     m_keyframe_buf.unlock();