added functionality to set first frame. used for benchmark node

2014-03-21 20:22:56 +01:00
parent ddc3d6b7e1
commit e9404c4ed8
2 changed files with 12 additions and 0 deletions
@@ -74,6 +74,15 @@ addImage(const cv::Mat& img, double timestamp)
  finishFrameProcessingCommon(last_frame_->id_, res, last_frame_->nObs());
 }

+void FrameHandlerMono::
+setFirstFrame(const FramePtr& first_frame)
+{
+  resetAll();
+  last_frame_ = first_frame;
+  map_.addKeyframe(last_frame_);
+  stage_ = DEFAULT_FRAME;
+}
+
 FrameHandlerMono::UpdateResult FrameHandlerMono::
 processFirstFrame()
 {