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Commit ac48d108 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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Hotfix

parent fab8fab6
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1 merge request!25Hotfix
...@@ -101,7 +101,7 @@ stages: ...@@ -101,7 +101,7 @@ stages:
- cd $CI_PROJECT_DIR - cd $CI_PROJECT_DIR
- mkdir -pv build - mkdir -pv build
- cd build - cd build
- cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=ON .. - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=ON -DBUILD_DEMOS=ON ..
- make -j$(nproc) - make -j$(nproc)
- ctest -j$(nproc) - ctest -j$(nproc)
- make install - make install
......
...@@ -31,15 +31,15 @@ ...@@ -31,15 +31,15 @@
#include "vision/sensor/sensor_camera.h" #include "vision/sensor/sensor_camera.h"
#include "vision/capture/capture_image.h" #include "vision/capture/capture_image.h"
#include <core/ceres_wrapper/solver_ceres.h> #include <core/ceres_wrapper/solver_ceres.h>
#include "vision/landmark/landmark_HP.h" #include "vision/landmark/landmark_hp.h"
#include "vision/internal/config.h" #include "vision/internal/config.h"
// Vision utils includes // Vision utils includes
#include <vision_utils.h> #include "vision_utils/vision_utils.h"
#include <sensors.h> #include "vision_utils/sensors.h"
#include <common_class/buffer.h> #include "vision_utils/common_class/buffer.h"
#include <common_class/frame.h> #include "vision_utils/common_class/frame.h"
////Mvbluefox includes ////Mvbluefox includes
//#include <iri/mvbluefox3/mvbluefox3.h> //#include <iri/mvbluefox3/mvbluefox3.h>
...@@ -138,7 +138,7 @@ int main(int argc, char** argv) ...@@ -138,7 +138,7 @@ int main(int argc, char** argv)
camera->setImgHeight(img_height); camera->setImgHeight(img_height);
// Install processor // Install processor
ProcessorParamsBundleAdjustmentPtr params = std::make_shared<ProcessorParamsBundleAdjustment>(); ParamsProcessorBundleAdjustmentPtr params = std::make_shared<ParamsProcessorBundleAdjustment>();
params->delete_ambiguities = true; params->delete_ambiguities = true;
params->yaml_file_params_vision_utils = wolf_vision_root + "/demos/processor_bundle_adjustment_vision_utils.yaml"; params->yaml_file_params_vision_utils = wolf_vision_root + "/demos/processor_bundle_adjustment_vision_utils.yaml";
params->pixel_noise_std = 1.0; params->pixel_noise_std = 1.0;
...@@ -173,9 +173,9 @@ int main(int argc, char** argv) ...@@ -173,9 +173,9 @@ int main(int argc, char** argv)
camera->process(image); camera->process(image);
// solve only when new KFs are added // solve only when new KFs are added
if (problem->getTrajectory()->getFrameList().size() > number_of_KFs) if (problem->getTrajectory()->getFrameMap().size() > number_of_KFs)
{ {
number_of_KFs = problem->getTrajectory()->getFrameList().size(); number_of_KFs = problem->getTrajectory()->getFrameMap().size();
std::string report = solver->solve(wolf::SolverManager::ReportVerbosity::BRIEF); std::string report = solver->solve(wolf::SolverManager::ReportVerbosity::BRIEF);
std::cout << report << std::endl; std::cout << report << std::endl;
if (number_of_KFs > 5) if (number_of_KFs > 5)
......
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