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set second frame as keyframe before it is handed to depth filter. otherwise no new seeds are initialized for this frame.

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Christian Forster
2014-04-30 22:28:56 +02:00
parent 68e1e05048
commit 8d3ed5078c
1 changed files with 1 additions and 1 deletions
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svo/src/frame_handler_mono.cpp
+1 -1
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@@ -120,12 +120,12 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
ba::twoViewBA(new_frame_.get(), map_.lastKeyframe().get(), Config::lobaThresh(), map_); ba::twoViewBA(new_frame_.get(), map_.lastKeyframe().get(), Config::lobaThresh(), map_);
#endif #endif
new_frame_->setKeyframe();
double depth_mean, depth_min; double depth_mean, depth_min;
frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min);
depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min);
// add frame to map // add frame to map
new_frame_->setKeyframe();
map_.addKeyframe(new_frame_); map_.addKeyframe(new_frame_);
stage_ = STAGE_DEFAULT_FRAME; stage_ = STAGE_DEFAULT_FRAME;
klt_homography_init_.reset(); klt_homography_init_.reset();