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manage moving window saves copies of images

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This commit is contained in:
Raphael Maenle
2019-04-10 19:10:31 +02:00
parent b0dca3b15c
commit a6af82a269
2 changed files with 5 additions and 4 deletions
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7
src/msckf_vio.cpp
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@@ -259,7 +259,6 @@ void MsckfVio::imageCallback (
const sensor_msgs::ImageConstPtr& cam1_img,
const CameraMeasurementConstPtr& feature_msg)
{
ROS_INFO("In Callback");
// Return if the gravity vector has not been set.
if (!is_gravity_set) return;
@@ -357,9 +356,11 @@ void MsckfVio::manageMovingWindow(
const cv_bridge::CvImageConstPtr& cam1_image_ptr,
const CameraMeasurementConstPtr& feature_msg) {
cam0_moving_window[state_server.imu_state.id] = cam0_image_ptr->image;
cam1_moving_window[state_server.imu_state.id] = cam1_image_ptr->image;
cam0_moving_window[state_server.imu_state.id] = cam0_image_ptr->image.clone();
cam1_moving_window[state_server.imu_state.id] = cam1_image_ptr->image.clone();
std::cout << cam0_moving_window.begin()->second << std::endl;
//TODO handle massive overflow correctly (should be pruned, before this ever triggers)
while(cam0_moving_window.size() > 100)
{
cam1_moving_window.erase(cam1_moving_window.begin());