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Odom: support features-only frames

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matlabbe
2026-09-19 16:20:40 -07:00
parent 1fe713cc1f
commit 78d423b818
1 changed files with 8 additions and 1 deletions
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corelib/src/Odometry.cpp
+8 -1
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@@ -817,7 +817,14 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
}
}
}
else if(!data.imageRaw().empty() || !data.laserScanRaw().isEmpty() || (this->canProcessAsyncIMU() && !data.imu().empty()))
// A frame that brings its own features carries no image, and a frame whose scene was
// empty carries no feature either, so neither says whether there is a frame at all.
// The calibration does: it is there when a camera produced this data.
else if(!data.imageRaw().empty() ||
!data.cameraModels().empty() ||
!data.stereoCameraModels().empty() ||
!data.laserScanRaw().isEmpty() ||
(this->canProcessAsyncIMU() && !data.imu().empty()))
{
t = this->computeTransform(data, guess, info);
}