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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_ros/include/svo_ros/visualizer.h
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@@ -59,6 +59,7 @@ public:
ros::Publisher pub_dense_;
image_transport::Publisher pub_images_;
tf::TransformBroadcaster br_;
SE3 T_world_from_vision_;
Visualizer();
~Visualizer() {};