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removed default value for timestamp in frame constructor

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This commit is contained in:
Christian Forster
2014-03-21 20:22:22 +01:00
parent de6b9da46e
commit ddc3d6b7e1
3 changed files with 5 additions and 7 deletions
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svo/include/svo/frame.h
+1 -3
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@@ -17,7 +17,6 @@
#ifndef SVO_FRAME_H_ #ifndef SVO_FRAME_H_
#define SVO_FRAME_H_ #define SVO_FRAME_H_
#include <algorithm>
#include <sophus/se3.h> #include <sophus/se3.h>
#include <vikit/math_utils.h> #include <vikit/math_utils.h>
#include <vikit/abstract_camera.h> #include <vikit/abstract_camera.h>
@@ -32,7 +31,6 @@ typedef g2o::VertexSE3Expmap g2oFrameSE3;
namespace svo { namespace svo {
class Point; class Point;
class Frame;
struct Feature; struct Feature;
typedef list<Feature*> Features; typedef list<Feature*> Features;
@@ -57,7 +55,7 @@ public:
g2oFrameSE3* v_kf_; //!< Temporary pointer to the g2o node object of the keyframe. g2oFrameSE3* v_kf_; //!< Temporary pointer to the g2o node object of the keyframe.
int last_published_ts_; //!< Timestamp of last publishing. 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(); ~Frame();
/// Initialize new frame and create image pyramid. /// Initialize new frame and create image pyramid.
svo/test/test_depth_filter.cpp
+2 -2
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@@ -118,7 +118,7 @@ void DepthFilterTest::testReconstruction(
if(i == 0) if(i == 0)
{ {
// create reference frame and load ground truth depthmap // 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(); frame_ref_->T_f_w_ = T_w_f.inverse();
depth_filter_->addKeyframe(frame_ref_, 3, 1); depth_filter_->addKeyframe(frame_ref_, 3, 1);
vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/" + (*it).image_name_ + "_0.depth", *cam_, depth_ref_); 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; 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(); frame_cur_->T_f_w_ = T_w_f.inverse();
depth_filter_->addFrame(frame_cur_); depth_filter_->addFrame(frame_cur_);
n_converged_per_iteration.push_back(n_converged_seeds_); n_converged_per_iteration.push_back(n_converged_seeds_);
svo/test/test_sparse_img_align.cpp
+2 -2
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@@ -86,7 +86,7 @@ void SparseImgAlignTest::testSequence(
if(i==0) if(i==0)
{ {
// set reference frame // 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; frame_ref_->T_f_w_ = T_gt_w;
// load ground-truth depth // load ground-truth depth
@@ -115,7 +115,7 @@ void SparseImgAlignTest::testSequence(
continue; 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_ = frame_ref_->T_f_w_; // start at reference frame
frame_cur_->T_f_w_ = T_prev_w; // start at last frame frame_cur_->T_f_w_ = T_prev_w; // start at last frame