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Added OdomBow/FixedLocalMapPath parameter

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matlabbe
2015-06-25 16:04:42 -04:00
parent 91a4506956
commit 01f2f1348c
12 changed files with 209 additions and 56 deletions
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corelib/src/OdometryThread.cpp
+2 -1
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@@ -105,7 +105,7 @@ void OdometryThread::mainLoop()
void OdometryThread::addData(const SensorData & data)
{
if(dynamic_cast<OdometryMono*>(_odometry) == 0)
if(dynamic_cast<OdometryMono*>(_odometry) == 0 && dynamic_cast<OdometryBOW*>(_odometry) == 0)
{
if(data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValid()))
{
@@ -115,6 +115,7 @@ void OdometryThread::addData(const SensorData & data)
}
else
{
// Mono and BOW can accept RGB only
if(data.imageRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValid()))
{
ULOGGER_ERROR("Missing some information (image empty or missing calibration)!?");