debug

demos/cosyslam.cpp

@@ -172,7 +172,7 @@ int main()
     ///////////////
 
 
-    double t_cur = 999;
+    double t_cur = 0;
     for (int i = 0; i < len; i++)
     {
         std::cout << i << std::endl;
@@ -185,14 +185,11 @@ int main()
         object_name = csv_values.at(idx_obj).second.at(i);
         double t;
         t = std::stod(csv_values.at(idx_t).second.at(i));
-        ObjectDetection det = {.measurement = isometry_to_posevec(*c_M_o), .meas_cov = cov, .object_type = object_name};
+        ObjectDetection det = {.measurement = isometry_to_posevec(c_M_o), .meas_cov = cov, .object_type = object_name};
 
         if (t == t_cur){
             // Capture on the current frame
             dets.push_back(det);
-        } else if (t_cur == 999){
-            // Capture on the first frame
-            dets.push_back(det);
         } else if (i == len-1){
             // Capture on the last frame
             dets.push_back(det);