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Added OdometryFLOAM (Odom/Strategy=11)

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matlabbe
2021-09-09 17:38:54 -04:00
parent 263e0170f1
commit 3ba02d2ef6
14 changed files with 337 additions and 19 deletions
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5
corelib/src/camera/CameraStereoImages.cpp
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@@ -83,6 +83,8 @@ CameraStereoImages::~CameraStereoImages()
bool CameraStereoImages::init(const std::string & calibrationFolder, const std::string & cameraName)
{
UINFO("Calibration folder: \"%s\", name=\"%s\"", calibrationFolder.c_str(), cameraName.c_str());
// look for calibration files
if(!calibrationFolder.empty() && !cameraName.empty())
{
@@ -105,8 +107,7 @@ bool CameraStereoImages::init(const std::string & calibrationFolder, const std::
stereoModel_.setName(cameraName);
if(this->isImagesRectified() && !stereoModel_.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid.");
return false;
UWARN("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid for rectification. This can be ignored if input images are already rectified.");
}
//desactivate before init as we will do it in this class instead for convenience