Misc. fix-ups #188
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Misc. fix-ups #188
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Causes major breakage in LLVM C++ compiler where shared pointers are somehow always NULL.
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I also added a launch file for launching the SVO stuff together with two ways of running a webcam, for easy testing. Thought others might find it useful. |
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Got the code to run after a few days of struggling.
libuvc_cameradoesn't set the proper timestamps for its ROS messages, confusing the VO node because there is evidently no time deltas between the frames. I added a check for time zero, then assume the frame is from right now.frame_handler_mono.h, they somehow returned NULL values. I don't know what that was about; likely a linking-related issue as the header would be compiled intosvo_ros's binary, whereas the object file resulting from the implementation would end up in thelibsvodynamic library.installdirectives where necessary as I use an install-only workspace (ROS on macOS requires this.)So basically, I got this to work on macOS.