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Fixed compilation error about stereoCameraModel() not found (#905) with odometry approaches: Fovis, MSCKF, Okvis, VINS, Viso2.

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matlabbe
2022-09-27 18:56:05 +00:00
parent 55546132a0
commit 675dad5f76
6 changed files with 50 additions and 51 deletions
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corelib/src/odometry/OdometryViso2.cpp
+7 -8
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@@ -121,9 +121,8 @@ Transform OdometryViso2::computeTransform(
return t;
}
if(!(data.stereoCameraModel().isValidForProjection() &&
data.stereoCameraModel().left().isValidForReprojection() &&
data.stereoCameraModel().right().isValidForReprojection()))
if(!(data.stereoCameraModels().size() == 1 &&
data.stereoCameraModels()[0].isValidForProjection()))
{
UERROR("Invalid stereo camera model!");
return t;
@@ -161,10 +160,10 @@ Transform OdometryViso2::computeTransform(
if(viso2_ == 0)
{
VisualOdometryStereo::parameters params;
params.base = params.match.base = data.stereoCameraModel().baseline();
params.calib.cu = params.match.cu = data.stereoCameraModel().left().cx();
params.calib.cv = params.match.cv = data.stereoCameraModel().left().cy();
params.calib.f = params.match.f = data.stereoCameraModel().left().fx();
params.base = params.match.base = data.stereoCameraModels()[0].baseline();
params.calib.cu = params.match.cu = data.stereoCameraModels()[0].left().cx();
params.calib.cv = params.match.cv = data.stereoCameraModels()[0].left().cy();
params.calib.f = params.match.f = data.stereoCameraModels()[0].left().fx();
Parameters::parse(viso2Parameters_, Parameters::kOdomViso2RansacIters(), params.ransac_iters);
Parameters::parse(viso2Parameters_, Parameters::kOdomViso2InlierThreshold(), params.inlier_threshold);
@@ -255,7 +254,7 @@ Transform OdometryViso2::computeTransform(
}
}
const Transform & localTransform = data.stereoCameraModel().localTransform();
const Transform & localTransform = data.stereoCameraModels()[0].localTransform();
if(!t.isNull() && !t.isIdentity() && !localTransform.isIdentity() && !localTransform.isNull())
{
// from camera frame to base frame