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Fixed DBReader odometry ignored

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matlabbe
2024-06-25 12:04:37 -07:00
parent 1ab0133f14
commit 7d970ef020
5 changed files with 21 additions and 5 deletions
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7
guilib/src/MainWindow.cpp
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@@ -5851,7 +5851,12 @@ void MainWindow::startDetection()
}
}
if(_preferencesDialog->getOdomSourceDriver() != PreferencesDialog::kSrcUndef)
if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase &&
camera && camera->odomProvided())
{
odomSensor = camera;
}
else if(_preferencesDialog->getOdomSourceDriver() != PreferencesDialog::kSrcUndef)
{
if(camera == 0 ||
(_preferencesDialog->getOdomSourceDriver() != _preferencesDialog->getSourceDriver() &&