From ddc3d6b7e1ec8d513aca73dec0c858b13b7e466a Mon Sep 17 00:00:00 2001
From: Christian Forster <ch.forster@gmail.com>
Date: Fri, 21 Mar 2014 20:22:22 +0100
Subject: [PATCH] removed default value for timestamp in frame constructor

---
 svo/include/svo/frame.h            | 4 +---
 svo/test/test_depth_filter.cpp     | 4 ++--
 svo/test/test_sparse_img_align.cpp | 4 ++--
 3 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/svo/include/svo/frame.h b/svo/include/svo/frame.h
index 68aa548..f4413e7 100644
--- a/svo/include/svo/frame.h
+++ b/svo/include/svo/frame.h
@@ -17,7 +17,6 @@
 #ifndef SVO_FRAME_H_
 #define SVO_FRAME_H_
 
-#include <algorithm>
 #include <sophus/se3.h>
 #include <vikit/math_utils.h>
 #include <vikit/abstract_camera.h>
@@ -32,7 +31,6 @@ typedef g2o::VertexSE3Expmap g2oFrameSE3;
 namespace svo {
 
 class Point;
-class Frame;
 struct Feature;
 
 typedef list<Feature*> Features;
@@ -57,7 +55,7 @@ public:
   g2oFrameSE3*                  v_kf_;                  //!< Temporary pointer to the g2o node object of the keyframe.
   int                           last_published_ts_;     //!< Timestamp of last publishing.
 
-  Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp=0.0);
+  Frame(vk::AbstractCamera* cam, const cv::Mat& img, double timestamp);
   ~Frame();
 
   /// Initialize new frame and create image pyramid.
diff --git a/svo/test/test_depth_filter.cpp b/svo/test/test_depth_filter.cpp
index 09d0034..545d9bc 100644
--- a/svo/test/test_depth_filter.cpp
+++ b/svo/test/test_depth_filter.cpp
@@ -118,7 +118,7 @@ void DepthFilterTest::testReconstruction(
     if(i == 0)
     {
       // create reference frame and load ground truth depthmap
-      frame_ref_.reset(new svo::Frame(cam_, img));
+      frame_ref_.reset(new svo::Frame(cam_, img, 0.0));
       frame_ref_->T_f_w_ = T_w_f.inverse();
       depth_filter_->addKeyframe(frame_ref_, 3, 1);
       vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/" + (*it).image_name_ + "_0.depth", *cam_, depth_ref_);
@@ -126,7 +126,7 @@ void DepthFilterTest::testReconstruction(
     }
 
     n_converged_seeds_=0;
-    frame_cur_ = svo::FramePtr(new svo::Frame(cam_, img));
+    frame_cur_ = svo::FramePtr(new svo::Frame(cam_, img, 0.0));
     frame_cur_->T_f_w_ = T_w_f.inverse();
     depth_filter_->addFrame(frame_cur_);
     n_converged_per_iteration.push_back(n_converged_seeds_);
diff --git a/svo/test/test_sparse_img_align.cpp b/svo/test/test_sparse_img_align.cpp
index 1c4437c..51950a8 100644
--- a/svo/test/test_sparse_img_align.cpp
+++ b/svo/test/test_sparse_img_align.cpp
@@ -86,7 +86,7 @@ void SparseImgAlignTest::testSequence(
     if(i==0)
     {
       // set reference frame
-      frame_ref_.reset(new svo::Frame(cam_, img));
+      frame_ref_.reset(new svo::Frame(cam_, img, 0.0));
       frame_ref_->T_f_w_ = T_gt_w;
 
       // load ground-truth depth
@@ -115,7 +115,7 @@ void SparseImgAlignTest::testSequence(
       continue;
     }
 
-    frame_cur_.reset(new svo::Frame(cam_, img));
+    frame_cur_.reset(new svo::Frame(cam_, img, 0.0));
     //frame_cur_->T_f_w_ = frame_ref_->T_f_w_; // start at reference frame
     frame_cur_->T_f_w_ = T_prev_w; // start at last frame