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merged multicamera branch into devel branch

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Mathieu Labbe
2015-06-16 17:41:51 -04:00
parent 6a7a9fb9b0 039ae45d57
commit 50eeda5b95
61 changed files with 3383 additions and 2918 deletions
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9
corelib/src/OdometryThread.cpp
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@@ -97,8 +97,9 @@ void OdometryThread::mainLoop()
{
OdometryInfo info;
Transform pose = _odometry->process(data, &info);
data.setPose(pose, info.variance, info.variance); // a null pose notify that odometry could not be computed
this->post(new OdometryEvent(data, info));
// a null pose notify that odometry could not be computed
double variance = info.variance>0?info.variance:1;
this->post(new OdometryEvent(data, pose, variance, variance, info));
}
}
@@ -106,7 +107,7 @@ void OdometryThread::addData(const SensorData & data)
{
if(dynamic_cast<OdometryMono*>(_odometry) == 0)
{
if(data.image().empty() || data.depthOrRightImage().empty() || data.fx() == 0.0f || data.fyOrBaseline() == 0.0f)
if(data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValid()))
{
ULOGGER_ERROR("Missing some information (images empty or missing calibration)!?");
return;
@@ -114,7 +115,7 @@ void OdometryThread::addData(const SensorData & data)
}
else
{
if(data.image().empty() || data.fx() == 0.0f || data.fyOrBaseline() == 0.0f)
if(data.imageRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValid()))
{
ULOGGER_ERROR("Missing some information (image empty or missing calibration)!?");
return;