publishCamPose funtion frame->features size == 0 ?

tum-vision / LDSO

DSO with SIM(3) pose graph optimization and loop closure

GNU General Public License v3.0

669 stars 236 forks source link

Open match08 opened 5 years ago

match08 commented 5 years ago

publishCamPose funtion frame->features size == 0 ? Always 0

NikolausDemmel commented 5 years ago

I'm not 100% sure, but I think this called directly after insertion of a new Keyframe. A new keyframe doesn't have any active features yet.

Maybe try publishKeyframes.