From c7beabd8775777a9b07fb691d519cdacd6e16abd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C3=AFc=20Perruchoud?= Date: Fri, 23 Apr 2021 12:27:33 +0200 Subject: [PATCH] Return the current frame for non keyframe frontend output - Allow to use frontend results between the keyframes. In particular, it is useful to have access to the timestamp of the current frame. --- src/frontend/MonoVisionImuFrontend.cpp | 2 +- src/frontend/StereoVisionImuFrontend.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/frontend/MonoVisionImuFrontend.cpp b/src/frontend/MonoVisionImuFrontend.cpp index d340ebd2a..e309ad148 100644 --- a/src/frontend/MonoVisionImuFrontend.cpp +++ b/src/frontend/MonoVisionImuFrontend.cpp @@ -174,7 +174,7 @@ MonoFrontendOutput::UniquePtr MonoVisionImuFrontend::nominalSpinMono( TrackingStatus::DISABLED, // This is a stereo status only gtsam::Pose3::identity(), // don't pass stereo pose to Backend! mono_camera_->getBodyPoseCam(), - *mono_frame_lkf_, //! This is really the current keyframe in this if + *mono_frame_km1_, pim, input->getImuAccGyrs(), feature_tracks, diff --git a/src/frontend/StereoVisionImuFrontend.cpp b/src/frontend/StereoVisionImuFrontend.cpp index 63daea479..76e1ff0c0 100644 --- a/src/frontend/StereoVisionImuFrontend.cpp +++ b/src/frontend/StereoVisionImuFrontend.cpp @@ -220,7 +220,7 @@ StereoFrontendOutput::UniquePtr StereoVisionImuFrontend::nominalSpinStereo( : gtsam::Pose3::identity(), stereo_camera_->getBodyPoseLeftCamRect(), stereo_camera_->getBodyPoseRightCamRect(), - *stereoFrame_lkf_, + *stereoFrame_km1_, pim, input->getImuAccGyrs(), feature_tracks,