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CRITICAL: Now publishing camera in world frame. before it was the opposite.

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Christian Forster
2014-04-28 14:23:39 +02:00
parent 3ad948a0f1
commit 5e48a22f4d
6 changed files with 33 additions and 31 deletions
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svo/include/svo/frame_handler_base.h
-4
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@@ -63,9 +63,6 @@ public:
virtual ~FrameHandlerBase();
/// Set initial pose of the camera.
void setInitialPose(const SE3& T_frame_from_world) { T_f_w_init_ = T_frame_from_world; }
/// Get the current map.
const Map& map() const { return map_; }
@@ -92,7 +89,6 @@ protected:
bool set_reset_; //!< Flag that the user can set. Will reset the system before the next iteration.
bool set_start_; //!< Flag the user can set to start the system when the next image is received.
Map map_; //!< Map of keyframes created by the slam system.
SE3 T_f_w_init_; //!< Initial pose of the camera.
vk::Timer timer_; //!< Stopwatch to measure time to process frame.
vk::RingBuffer<double> acc_frame_timings_; //!< Total processing time of the last 10 frames, used to give some user feedback on the performance.
vk::RingBuffer<size_t> acc_num_obs_; //!< Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance.