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removed user input and marker visualization in benchmark node

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This commit is contained in:
Christian Forster
2014-03-21 19:00:47 +01:00
parent 978763d814
commit 24b644d82f
1 changed files with 2 additions and 21 deletions
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svo_ros/src/benchmark_node.cpp
+2 -21
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@@ -25,7 +25,6 @@
#include <vikit/params_helper.h> #include <vikit/params_helper.h>
#include <vikit/camera_loader.h> #include <vikit/camera_loader.h>
#include <vikit/abstract_camera.h> #include <vikit/abstract_camera.h>
#include <vikit/user_input_thread.h>
#include <svo/config.h> #include <svo/config.h>
#include <svo/frame.h> #include <svo/frame.h>
#include <svo/map.h> #include <svo/map.h>
@@ -39,11 +38,9 @@ class BenchmarkNode
{ {
svo::FrameHandlerMono* vo_; svo::FrameHandlerMono* vo_;
svo::Visualizer visualizer_; svo::Visualizer visualizer_;
vk::UserInputThread user_input_thread_;
int frame_count_; int frame_count_;
std::ofstream trace_est_pose_; std::ofstream trace_est_pose_;
vk::AbstractCamera* cam_; vk::AbstractCamera* cam_;
bool quit_;
public: public:
BenchmarkNode(ros::NodeHandle& nh); BenchmarkNode(ros::NodeHandle& nh);
@@ -54,8 +51,7 @@ public:
BenchmarkNode::BenchmarkNode(ros::NodeHandle& nh) : BenchmarkNode::BenchmarkNode(ros::NodeHandle& nh) :
vo_(NULL), vo_(NULL),
frame_count_(0), frame_count_(0)
quit_(false)
{ {
// Create Camera // Create Camera
if(!vk::camera_loader::loadFromRosNs("svo", cam_)) if(!vk::camera_loader::loadFromRosNs("svo", cam_))
@@ -103,13 +99,10 @@ void BenchmarkNode::runCamImuBenchmark()
throw std::runtime_error("Image could not be loaded."); throw std::runtime_error("Image could not be loaded.");
// Add image to VO // Add image to VO
processUserActions();
vo_->addImage(img, it->stamp_); vo_->addImage(img, it->stamp_);
// Visualize // Visualize
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->stamp_); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->stamp_);
if(vo_->stage() != svo::FrameHandlerMono::PAUSED)
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());
// write pose to tracefile // write pose to tracefile
if(vo_->stage() == svo::FrameHandlerMono::DEFAULT_FRAME) if(vo_->stage() == svo::FrameHandlerMono::DEFAULT_FRAME)
@@ -123,23 +116,11 @@ void BenchmarkNode::runCamImuBenchmark()
trace_est_pose_ << p.x() << " " << p.y() << " " << p.z() << " " trace_est_pose_ << p.x() << " " << p.y() << " " << p.z() << " "
<< q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl; << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl;
} }
if (!ros::ok() || quit_) if (!ros::ok())
break; break;
} }
} }
void BenchmarkNode::processUserActions()
{
char input = user_input_thread_.getInput();
switch(input)
{
case 'q': quit_ = true; break;
case 'r': vo_->reset(); break;
case 's': vo_->start(); break;
default: ;
}
}
} // namespace svo } // namespace svo
int main(int argc, char** argv) int main(int argc, char** argv)