re enable rendering after call to odometry

lagadic · Oct 15, 2024 · 52dbbb0 · 52dbbb0
1 parent 656d4c9
commit 52dbbb0
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/modules/python/bindings/include/rbt/mask.hpp b/modules/python/bindings/include/rbt/mask.hpp
@@ -22,7 +22,6 @@ class TrampolineObjectMask : public vpObjectMask
     // Try to look up the overridden method on the Python side.
     pybind11::function override = pybind11::get_override(this, "updateMask");
     if (override) {  // method is found
-      // Pybind seems to copy the frames, so we pass the pointers
       override(&frame, &previousFrame, &mask);
     }
   }

diff --git a/modules/tracker/rbt/src/core/vpRBTracker.cpp b/modules/tracker/rbt/src/core/vpRBTracker.cpp
@@ -291,6 +291,7 @@ void vpRBTracker::track(vpRBFeatureTrackerInput &input)
     vpHomogeneousMatrix cnTc = m_odometry->getCameraMotion();
     m_cMo = cnTc * m_cMo;
     std::cout << "Odometry camera cnTc = " << vpPoseVector(cnTc).t() << std::endl;
+    updateRender(input);
     m_logger.setOdometryTime(m_logger.endTimer());
   }
 
@@ -380,9 +381,6 @@ void vpRBTracker::track(vpRBFeatureTrackerInput &input)
     tracker->onTrackingIterEnd();
   }
   //m_cMo = m_kalman.filter(m_cMo, 1.0 / 20.0);
-#if VP_DEBUG_RB_TRACKER
-  std::cout << m_logger << std::endl;
-#endif
   if (m_currentFrame.I.getSize() == 0) {
     m_currentFrame = input;
     m_previousFrame = input;
@@ -396,6 +394,9 @@ void vpRBTracker::track(vpRBFeatureTrackerInput &input)
     m_driftDetector->update(m_previousFrame, m_currentFrame, m_cMo, m_cMoPrev);
   }
   m_logger.setDriftDetectionTime(m_logger.endTimer());
+#if VP_DEBUG_RB_TRACKER
+  std::cout << m_logger << std::endl;
+#endif
 }
 
 void vpRBTracker::updateRender(vpRBFeatureTrackerInput &frame)