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Merge branch 'master' of https://github.com/uzh-rpg/rpg_svo

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This commit is contained in:
Christian Forster
2014-05-27 20:39:01 +02:00
parent b49d2f8573 4001f6a736
commit f22ab69430
1 changed files with 2 additions and 2 deletions
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svo_ros/src/visualizer.cpp
+2 -2
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@@ -161,7 +161,7 @@ void Visualizer::publishMinimal(
pub_images_.publish(img_msg.toImageMsg()); pub_images_.publish(img_msg.toImageMsg());
} }
if(pub_pose_.getNumSubscribers() > 0) if(pub_pose_.getNumSubscribers() > 0 && slam.stage() == FrameHandlerBase::STAGE_DEFAULT_FRAME)
{ {
Quaterniond q; Quaterniond q;
Vector3d p; Vector3d p;
@@ -300,7 +300,7 @@ void Visualizer::exportToDense(const FramePtr& frame)
// publish cam in world frame // publish cam in world frame
SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse()); SE3 T_world_from_cam(T_world_from_vision_*frame->T_f_w_.inverse());
Quaterniond q(T_world_from_cam.rotation_matrix()*T_world_from_vision_.rotation_matrix().transpose()); Quaterniond q(T_world_from_cam.rotation_matrix());
Vector3d p(T_world_from_cam.translation()); Vector3d p(T_world_from_cam.translation());
msg.pose.position.x = p[0]; msg.pose.position.x = p[0];