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

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This commit is contained in:
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/src/frame_handler_base.cpp
+8 -8
View File
@@ -120,14 +120,14 @@ int FrameHandlerBase::finishFrameProcessingCommon(
num_obs_last_ = num_observations;
SVO_STOP_TIMER("tot_time");
#ifdef SVO_TRACE
g_permon->writeToFile();
{
boost::unique_lock<boost::mutex> lock(map_.point_candidates_.mut_);
size_t n_candidates = map_.point_candidates_.candidates_.size();
SVO_LOG(n_candidates);
}
#endif
#ifdef SVO_TRACE
g_permon->writeToFile();
{
boost::unique_lock<boost::mutex> lock(map_.point_candidates_.mut_);
size_t n_candidates = map_.point_candidates_.candidates_.size();
SVO_LOG(n_candidates);
}
#endif
// reset if failure or requested
if(dropout == RESULT_FAILURE || set_reset_)
svo/src/frame_handler_mono.cpp
+1 -1
View File
@@ -91,7 +91,7 @@ void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame)
FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame()
{
new_frame_->T_f_w_ = T_f_w_init_;
new_frame_->T_f_w_ = SE3(Matrix3d::Identity(), Vector3d::Zero());
if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE)
return RESULT_NO_KEYFRAME;
new_frame_->setKeyframe();