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adding assert after reprojectMap in frame mono handler.cpp

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VahdPourAmin
2021-08-26 12:14:12 +02:00
parent f2f8b73637
commit efe9eac195
1 changed files with 1 additions and 1 deletions
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GPU_version/vio/src/frame_handler_mono.cpp
+1 -1
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@@ -171,7 +171,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_); SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_);
if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE; if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE;
reprojector_.reprojectMap(new_frame_, overlap_kfs_); reprojector_.reprojectMap(new_frame_, overlap_kfs_);
// assert // TODO assert (false);
/* /*
std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second
<<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_ <<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_