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Edit02 #15

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Edit02 #15

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84f8b74
assigning timestamps and saving camera poses
jahaniam Apr 18, 2017
6222a34
deleting some extra printf.
jahaniam Apr 18, 2017
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6 changes: 2 additions & 4 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,6 +159,7 @@ void vidCb(const sensor_msgs::ImageConstPtr img)

MinimalImageB minImg((int)cv_ptr->image.cols, (int)cv_ptr->image.rows,(unsigned char*)cv_ptr->image.data);
ImageAndExposure* undistImg = undistorter->undistort<unsigned char>(&minImg, 1,0, 1.0f);
undistImg->timestamp=cv_ptr->header.stamp.toSec();
fullSystem->addActiveFrame(undistImg, frameID);
frameID++;
delete undistImg;
Expand All @@ -173,8 +174,6 @@ int main( int argc, char** argv )
{
ros::init(argc, argv, "dso_live");



for(int i=1; i<argc;i++) parseArgument(argv[i]);


Expand Down Expand Up @@ -224,13 +223,12 @@ int main( int argc, char** argv )
ros::Subscriber imgSub = nh.subscribe("image", 1, &vidCb);

ros::spin();

fullSystem->printResult("result1.txt");
for(IOWrap::Output3DWrapper* ow : fullSystem->outputWrapper)
{
ow->join();
delete ow;
}

delete undistorter;
delete fullSystem;

Expand Down