From 4691e302a95b2d274f01d80c84a7813d368014e4 Mon Sep 17 00:00:00 2001 From: Zichao Zhang Date: Thu, 3 Dec 2015 10:58:53 +0100 Subject: [PATCH] use pyramid camera marker for visualization --- svo_ros/src/visualizer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index a17589f..951f713 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -211,9 +211,9 @@ void Visualizer::visualizeMarkers( if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) { - vk::output_helper::publishHexacopterMarker( + vk::output_helper::publishCameraMarker( pub_frames_, "cam_pos", "cams", ros::Time(frame->timestamp_), - 1, 0, 0.3, Vector3d(0.,0.,1.)); + 1, 0.3, Vector3d(0.,0.,1.)); vk::output_helper::publishPointMarker( pub_points_, T_world_from_vision_*frame->pos(), "trajectory", ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5));