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tested and fixed setFirstFrame() function

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This commit is contained in:
Christian Forster
2014-03-24 15:01:33 +01:00
parent 797480a84c
commit 1311ed95a0
2 changed files with 2 additions and 1 deletions
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svo/src/frame_handler_base.cpp
+1 -1
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@@ -96,7 +96,6 @@ startFrameProcessingCommon()
{ {
resetAll(); resetAll();
stage_ = FIRST_FRAME; stage_ = FIRST_FRAME;
set_start_ = false;
} }
if(stage_ == PAUSED) if(stage_ == PAUSED)
@@ -145,6 +144,7 @@ resetCommon()
map_.reset(); map_.reset();
stage_ = PAUSED; stage_ = PAUSED;
set_reset_ = false; set_reset_ = false;
set_start_ = false;
tracking_quality_ = BAD; tracking_quality_ = BAD;
depth_filter_->reset(); depth_filter_->reset();
num_obs_last_ = 0; num_obs_last_ = 0;
svo/src/frame_handler_mono.cpp
+1
View File
@@ -79,6 +79,7 @@ setFirstFrame(const FramePtr& first_frame)
{ {
resetAll(); resetAll();
last_frame_ = first_frame; last_frame_ = first_frame;
last_frame_->setKeyframe();
map_.addKeyframe(last_frame_); map_.addKeyframe(last_frame_);
stage_ = DEFAULT_FRAME; stage_ = DEFAULT_FRAME;
} }