Use update_pose_2d

stella-cv · Oct 31, 2021 · db3e17e · db3e17e
1 parent e0c4ee1
commit db3e17e
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/openvslam_ros.cc b/src/openvslam_ros.cc
@@ -145,7 +145,8 @@ void system::init_pose_callback(
                                    * initialpose_affine * base_link_to_camera_affine)
                                       .matrix();
 
-    if (!SLAM_.update_pose(cam_pose_cv)) {
+    const Eigen::Vector3d normal_vector = (Eigen::Vector3d() << 0., 1., 0.).finished();
+    if (!SLAM_.update_pose_2d(cam_pose_cv, normal_vector)) {
         ROS_ERROR("Can not set initial pose");
     }
 }