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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
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@@ -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_)