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Added multi-camera feature

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Mathieu Labbe
2015-05-29 14:46:48 -04:00
parent e6923daf1c
commit c6d0d47b1c
51 changed files with 2833 additions and 2297 deletions
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corelib/src/Odometry.cpp
+10 -5
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@@ -89,16 +89,21 @@ Transform Odometry::process(const SensorData & data, OdometryInfo * info)
_pose.setIdentity(); // initialized
}
UASSERT(!data.image().empty());
UASSERT(!data.imageRaw().empty());
if(dynamic_cast<OdometryMono*>(this) == 0)
{
UASSERT(!data.depthOrRightImage().empty());
UASSERT(!data.depthOrRightRaw().empty());
}
if(data.fx() <= 0 || data.fyOrBaseline() <= 0)
if(data.cameraModels().size() > 1)
{
UERROR("Rectified images required! Calibrate your camera. (fx=%f, fy/baseline=%f, cx=%f, cy=%f)",
data.fx(), data.fyOrBaseline(), data.cx(), data.cy());
UERROR("Odometry doesn't support multi-camera yet.");
return Transform();
}
else if(!data.stereoCameraModel().isValid() &&
(data.cameraModels().size() == 0 || !data.cameraModels()[0].isValid()))
{
UERROR("Rectified images required! Calibrate your camera.");
return Transform();
}