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use pyramid camera marker for visualization #124

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Dec 3, 2015
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use pyramid camera marker for visualization #124

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use pyramid camera marker for visualization
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@zhangzichao
zhangzichao committed Dec 3, 2015
commit 4691e302a95b2d274f01d80c84a7813d368014e4
4 changes: 2 additions & 2 deletions svo_ros/src/visualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -211,9 +211,9 @@ void Visualizer::visualizeMarkers(

if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0)
{
vk::output_helper::publishHexacopterMarker(
vk::output_helper::publishCameraMarker(
pub_frames_, "cam_pos", "cams", ros::Time(frame->timestamp_),
1, 0, 0.3, Vector3d(0.,0.,1.));
1, 0.3, Vector3d(0.,0.,1.));
vk::output_helper::publishPointMarker(
pub_points_, T_world_from_vision_*frame->pos(), "trajectory",
ros::Time::now(), trace_id_, 0, 0.006, Vector3d(0.,0.,0.5));
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