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Updated error message when SBA is done on multicam setup.

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matlabbe
2020-05-26 11:04:23 -04:00
parent 208f1e5b7c
commit 0902ccc340
2 changed files with 8 additions and 1 deletions
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7
corelib/src/Optimizer.cpp
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@@ -489,6 +489,13 @@ std::map<int, Transform> Optimizer::optimizeBA(
model.localTransform(),
-signatures.at(iter->first).sensorData().stereoCameraModel().baseline()*model.fx());
}
else if(signatures.at(iter->first).sensorData().cameraModels().size() > 1)
{
UERROR("Multi-cameras (%d) is not supported (id=%d).",
signatures.at(iter->first).sensorData().cameraModels().size(),
iter->first);
return std::map<int, Transform>();
}
else
{
UERROR("Missing calibration for node %d", iter->first);