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Merge pull request #124 from uzh-rpg/feature/use_camera_marker

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use pyramid camera marker for visualization
This commit is contained in:
zhangzichao
2015-12-03 11:08:14 +01:00
parent 6de35f5123 4691e302a9
commit 35a137ca44
1 changed files with 2 additions and 2 deletions
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svo_ros/src/visualizer.cpp
+2 -2
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@@ -211,9 +211,9 @@ void Visualizer::visualizeMarkers(
if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0) 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_), 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( vk::output_helper::publishPointMarker(
pub_points_, T_world_from_vision_*frame->pos(), "trajectory", pub_points_, T_world_from_vision_*frame->pos(), "trajectory",
ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5)); ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5));