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Added OdomBow/FixedLocalMapPath parameter

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matlabbe
2015-06-25 16:04:42 -04:00
parent 91a4506956
commit 01f2f1348c
12 changed files with 209 additions and 56 deletions
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corelib/src/Odometry.cpp
+3 -2
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@@ -162,9 +162,10 @@ Transform Odometry::process(const SensorData & data, OdometryInfo * info)
}
UASSERT(!data.imageRaw().empty());
if(dynamic_cast<OdometryMono*>(this) == 0)
if(dynamic_cast<OdometryMono*>(this) == 0 && dynamic_cast<OdometryBOW*>(this) == 0)
{
UASSERT(!data.depthOrRightRaw().empty());
UERROR("Depth or stereo images required with the odometry selected!");
return Transform();
}
if(!data.stereoCameraModel().isValid() &&