public/vio
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

publish markers and images also in benchmark node

Browse Source
This commit is contained in:
Christian Forster
2014-04-09 18:00:26 +02:00
parent c7e87f188e
commit bc4ad77fe5
1 changed files with 7 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
svo_ros/src/benchmark_node.cpp
+7 -7
View File
@@ -134,13 +134,10 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir)
return; return;
} }
// Add image to VO
vo_->addImage(img, it->timestamp_); vo_->addImage(img, it->timestamp_);
// Visualize
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_);
// write pose to tracefile
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_);
} }
@@ -213,17 +210,20 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir)
continue; continue;
} }
// Add image to VO SVO_DEBUG_STREAM("Processing image "<<it->image_name_<<".");
vo_->addImage(img, it->timestamp_); vo_->addImage(img, 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)
continue; {
SVO_ERROR_STREAM("SVO failed before entire dataset could be processed.");
break;
}
// Compute pose error and trace to file // Compute pose error and trace to file
Sophus::SE3 T_f_gt(vo_->lastFrame()->T_f_w_*T_w_gt); Sophus::SE3 T_f_gt(vo_->lastFrame()->T_f_w_*T_w_gt);
tracePoseError(T_f_gt, it->timestamp_); tracePoseError(T_f_gt, it->timestamp_);
// write pose to tracefile
tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_);
} }
} }