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Fixed compilation warnings

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matlabbe
2022-01-16 15:27:52 -05:00
parent 9622fe8393
commit 7a5c50cb0e
4 changed files with 15 additions and 6 deletions
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9
corelib/src/odometry/OdometryMono.cpp
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@@ -205,7 +205,14 @@ Transform OdometryMono::computeTransform(SensorData & data, const Transform & gu
{
cv::Mat newFrame;
cv::cvtColor(data.imageRaw(), newFrame, cv::COLOR_BGR2GRAY);
data.setImageRaw(newFrame);
if(data.stereoCameraModel().isValidForProjection())
{
data.setStereoImage(newFrame, data.rightRaw(), data.stereoCameraModel());
}
else
{
data.setRGBDImage(newFrame, data.depthRaw(), data.cameraModels());
}
}
if(!localMap_.empty())