From bb6e2d93a6d56534d745e247f8f5c66f961f836c Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 15 Jan 2020 16:17:48 +0200
Subject: [PATCH] pose from vision node
---
applications/reconstruct/src/main.cpp | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index f44f1eaca..e8caf3c83 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -114,7 +114,8 @@ static ftl::rgbd::Generator *createSourceGenerator(const std::vector<ftl::rgbd::
input->setPose(input->getPose());
continue;
}
- input->setPose(T->second);
+ //input->setPose(T->second);
+
}
}
@@ -122,6 +123,7 @@ static ftl::rgbd::Generator *createSourceGenerator(const std::vector<ftl::rgbd::
for (auto s : srcs) {
s->setChannel(Channel::Depth);
grp->addSource(s);
+ LOG(INFO) << s->getPose();
}
return grp;
}
@@ -233,6 +235,7 @@ static void run(ftl::Configurable *root) {
auto reconstr = ftl::create<ftl::Reconstruction>(root, std::string("recon")+std::to_string(i), std::to_string(i));
//reconstr->setGenerator(gen);
gen->onFrameSet([stream, reconstr](ftl::rgbd::FrameSet &fs) {
+ LOG(INFO) << fs.frames[0].getPose();
stream->select(fs.id, Channel::Colour + Channel::Depth);
return reconstr->post(fs);
});
--
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