Added check to make sure input odometry poses are invertible. Source/DB: added stereo to depth option.

2026-09-02 09:30:25 +08:00 · 2020-11-06 21:37:59 -05:00
parent 4b527f9c36
commit 7be22d1b67
7 changed files with 96 additions and 13 deletions
--- a/corelib/include/rtabmap/core/Transform.h
+++ b/corelib/include/rtabmap/core/Transform.h
@@ -98,6 +98,7 @@ public:

 	float theta() const;

+	bool isInvertible() const;
 	Transform inverse() const;
 	Transform rotation() const;
 	Transform translation() const;