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Fixing prior and gravity constraints support for SBA with orbslam dep… (#1683)

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* Fixing prior and gravity constraints support for SBA with orbslam dependency

* Updated an error log msg
This commit is contained in:
matlabbe
2026-04-05 12:36:54 -07:00
committed by GitHub
parent 1ea8fa2e06
commit 8fd701aabe
7 changed files with 188 additions and 124 deletions
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corelib/src/odometry/OdometryORBSLAM3.cpp
+8 -1
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@@ -430,7 +430,14 @@ Transform OdometryORBSLAM3::computeTransform(
(data.stereoCameraModels().size() == 1 &&
data.stereoCameraModels()[0].isValidForProjection())))
{
UERROR("Invalid camera model!");
if(data.cameraModels().size() > 1 || data.stereoCameraModels().size() > 1)
{
UERROR("Multi-camera not supported with ORB_SLAM integration!");
}
else
{
UERROR("Invalid camera model!");
}
return t;
}