i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 09:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added util3d::laserScanFomrDepthImage() and some refactoring

Browse Source
This commit is contained in:
Mathieu Labbe
2015-05-31 01:26:57 -04:00
parent 9e13642a47
commit bd9fb1027b
14 changed files with 177 additions and 226 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Odometry.cpp
+2 -7
View File
@@ -95,13 +95,8 @@ Transform Odometry::process(const SensorData & data, OdometryInfo * info)
UASSERT(!data.depthOrRightRaw().empty());
}
if(data.cameraModels().size() > 1)
{
UERROR("Odometry doesn't support multi-camera yet.");
return Transform();
}
else if(!data.stereoCameraModel().isValid() &&
(data.cameraModels().size() == 0 || !data.cameraModels()[0].isValid()))
if(!data.stereoCameraModel().isValid() &&
(data.cameraModels().size() == 0 || !data.cameraModels()[0].isValid()))
{
UERROR("Rectified images required! Calibrate your camera.");
return Transform();