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publish markers in benchmark node

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Christian Forster
2014-04-16 10:26:29 +02:00
parent cf2b188894
commit 7d59376358
1 changed files with 1 additions and 0 deletions
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svo_ros/src/benchmark_node.cpp
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@@ -137,6 +137,7 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir)
vo_->addImage(img, it->timestamp_); vo_->addImage(img, it->timestamp_);
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_);
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());
if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME)
tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_);